isar 1.26.4__py3-none-any.whl → 1.27.0__py3-none-any.whl

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Files changed (44) hide show
  1. isar/apis/api.py +25 -0
  2. isar/apis/models/start_mission_definition.py +1 -7
  3. isar/apis/schedule/scheduling_controller.py +17 -1
  4. isar/config/settings.py +4 -1
  5. isar/models/communication/queues/events.py +1 -0
  6. isar/models/communication/queues/queue_utils.py +6 -0
  7. isar/modules.py +13 -6
  8. isar/robot/robot.py +10 -1
  9. isar/robot/robot_status.py +11 -5
  10. isar/services/utilities/scheduling_utilities.py +60 -7
  11. isar/state_machine/state_machine.py +51 -121
  12. isar/state_machine/states/await_next_mission.py +92 -0
  13. isar/state_machine/states/blocked_protective_stop.py +2 -5
  14. isar/state_machine/states/home.py +87 -0
  15. isar/state_machine/states/monitor.py +8 -3
  16. isar/state_machine/states/offline.py +3 -5
  17. isar/state_machine/states/returning_home.py +186 -0
  18. isar/state_machine/states/{idle.py → robot_standing_still.py} +20 -8
  19. isar/state_machine/states/{stop.py → stopping.py} +16 -4
  20. isar/state_machine/states/unknown_status.py +74 -0
  21. isar/state_machine/states_enum.py +6 -3
  22. isar/state_machine/transitions/functions/return_home.py +38 -0
  23. isar/state_machine/transitions/functions/robot_status.py +27 -0
  24. isar/state_machine/transitions/{start_mission.py → functions/start_mission.py} +1 -1
  25. isar/state_machine/transitions/mission.py +119 -0
  26. isar/state_machine/transitions/return_home.py +69 -0
  27. isar/state_machine/transitions/robot_status.py +73 -0
  28. {isar-1.26.4.dist-info → isar-1.27.0.dist-info}/METADATA +14 -7
  29. {isar-1.26.4.dist-info → isar-1.27.0.dist-info}/RECORD +43 -35
  30. {isar-1.26.4.dist-info → isar-1.27.0.dist-info}/WHEEL +1 -1
  31. robot_interface/models/exceptions/robot_exceptions.py +14 -0
  32. robot_interface/models/mission/mission.py +8 -1
  33. robot_interface/models/mission/status.py +2 -0
  34. robot_interface/models/mission/task.py +0 -1
  35. isar/state_machine/states/off.py +0 -18
  36. /isar/state_machine/transitions/{fail_mission.py → functions/fail_mission.py} +0 -0
  37. /isar/state_machine/transitions/{finish_mission.py → functions/finish_mission.py} +0 -0
  38. /isar/state_machine/transitions/{pause.py → functions/pause.py} +0 -0
  39. /isar/state_machine/transitions/{resume.py → functions/resume.py} +0 -0
  40. /isar/state_machine/transitions/{stop.py → functions/stop.py} +0 -0
  41. /isar/state_machine/transitions/{utils.py → functions/utils.py} +0 -0
  42. {isar-1.26.4.dist-info → isar-1.27.0.dist-info}/entry_points.txt +0 -0
  43. {isar-1.26.4.dist-info → isar-1.27.0.dist-info}/licenses/LICENSE +0 -0
  44. {isar-1.26.4.dist-info → isar-1.27.0.dist-info}/top_level.txt +0 -0
isar/state_machine/transitions/mission.py ADDED
@@ -0,0 +1,119 @@
1
+ from typing import TYPE_CHECKING, List
2
+
3
+ from isar.state_machine.transitions.functions.fail_mission import (
4
+ report_failed_mission_and_finalize,
5
+ )
6
+ from isar.state_machine.transitions.functions.finish_mission import finish_mission
7
+ from isar.state_machine.transitions.functions.pause import pause_mission
8
+ from isar.state_machine.transitions.functions.resume import resume_mission
9
+ from isar.state_machine.transitions.functions.start_mission import (
10
+ initialize_robot,
11
+ initiate_mission,
12
+ put_start_mission_on_queue,
13
+ set_mission_to_in_progress,
14
+ trigger_start_mission_event,
15
+ )
16
+ from isar.state_machine.transitions.functions.stop import (
17
+ stop_mission_cleanup,
18
+ trigger_stop_mission_event,
19
+ )
20
+ from isar.state_machine.transitions.functions.utils import def_transition
21
+
22
+ if TYPE_CHECKING:
23
+ from isar.state_machine.state_machine import StateMachine
24
+
25
+
26
+ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
27
+ mission_transitions: List[dict] = [
28
+ {
29
+ "trigger": "pause",
30
+ "source": state_machine.monitor_state,
31
+ "dest": state_machine.paused_state,
32
+ "before": def_transition(state_machine, pause_mission),
33
+ },
34
+ {
35
+ "trigger": "resume",
36
+ "source": state_machine.paused_state,
37
+ "dest": state_machine.monitor_state,
38
+ "before": def_transition(state_machine, resume_mission),
39
+ },
40
+ {
41
+ "trigger": "stop",
42
+ "source": [
43
+ state_machine.await_next_mission_state,
44
+ state_machine.robot_standing_still_state,
45
+ state_machine.monitor_state,
46
+ state_machine.returning_home_state,
47
+ state_machine.paused_state,
48
+ ],
49
+ "dest": state_machine.stopping_state,
50
+ "before": def_transition(state_machine, trigger_stop_mission_event),
51
+ },
52
+ {
53
+ "trigger": "mission_stopped",
54
+ "source": state_machine.stopping_state,
55
+ "dest": state_machine.await_next_mission_state,
56
+ "before": def_transition(state_machine, stop_mission_cleanup),
57
+ },
58
+ {
59
+ "trigger": "return_home_mission_stopped",
60
+ "source": state_machine.stopping_state,
61
+ "dest": state_machine.robot_standing_still_state,
62
+ "before": def_transition(state_machine, stop_mission_cleanup),
63
+ },
64
+ {
65
+ "trigger": "request_mission_start",
66
+ "source": [
67
+ state_machine.await_next_mission_state,
68
+ state_machine.home_state,
69
+ state_machine.robot_standing_still_state,
70
+ ],
71
+ "dest": state_machine.monitor_state,
72
+ "prepare": def_transition(state_machine, put_start_mission_on_queue),
73
+ "conditions": [
74
+ def_transition(state_machine, initiate_mission),
75
+ def_transition(state_machine, initialize_robot),
76
+ ],
77
+ "before": [
78
+ def_transition(state_machine, set_mission_to_in_progress),
79
+ def_transition(state_machine, trigger_start_mission_event),
80
+ ],
81
+ },
82
+ {
83
+ "trigger": "request_mission_start",
84
+ "source": state_machine.await_next_mission_state,
85
+ "dest": state_machine.await_next_mission_state,
86
+ "before": def_transition(state_machine, report_failed_mission_and_finalize),
87
+ },
88
+ {
89
+ "trigger": "request_mission_start",
90
+ "source": state_machine.robot_standing_still_state,
91
+ "dest": state_machine.robot_standing_still_state,
92
+ "before": def_transition(state_machine, report_failed_mission_and_finalize),
93
+ },
94
+ {
95
+ "trigger": "request_mission_start",
96
+ "source": state_machine.home_state,
97
+ "dest": state_machine.home_state,
98
+ "before": def_transition(state_machine, report_failed_mission_and_finalize),
99
+ },
100
+ {
101
+ "trigger": "request_mission_start",
102
+ "source": state_machine.returning_home_state,
103
+ "dest": state_machine.returning_home_state,
104
+ "before": def_transition(state_machine, report_failed_mission_and_finalize),
105
+ },
106
+ {
107
+ "trigger": "mission_failed_to_start",
108
+ "source": state_machine.monitor_state,
109
+ "dest": state_machine.robot_standing_still_state,
110
+ "before": def_transition(state_machine, report_failed_mission_and_finalize),
111
+ },
112
+ {
113
+ "trigger": "mission_finished",
114
+ "source": state_machine.monitor_state,
115
+ "dest": state_machine.await_next_mission_state,
116
+ "before": def_transition(state_machine, finish_mission),
117
+ },
118
+ ]
119
+ return mission_transitions
isar/state_machine/transitions/return_home.py ADDED
@@ -0,0 +1,69 @@
1
+ from typing import TYPE_CHECKING, List
2
+
3
+ from isar.state_machine.transitions.functions.fail_mission import (
4
+ report_failed_mission_and_finalize,
5
+ )
6
+ from isar.state_machine.transitions.functions.return_home import (
7
+ return_home_finished,
8
+ set_return_home_status,
9
+ start_return_home_mission,
10
+ )
11
+ from isar.state_machine.transitions.functions.start_mission import (
12
+ initialize_robot,
13
+ trigger_start_mission_event,
14
+ )
15
+ from isar.state_machine.transitions.functions.utils import def_transition
16
+
17
+ if TYPE_CHECKING:
18
+ from isar.state_machine.state_machine import StateMachine
19
+
20
+
21
+ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
22
+ return_home_transitions: List[dict] = [
23
+ {
24
+ "trigger": "request_return_home",
25
+ "source": [
26
+ state_machine.await_next_mission_state,
27
+ state_machine.home_state,
28
+ state_machine.robot_standing_still_state,
29
+ ],
30
+ "dest": state_machine.returning_home_state,
31
+ "conditions": [
32
+ def_transition(state_machine, start_return_home_mission),
33
+ def_transition(state_machine, set_return_home_status),
34
+ def_transition(state_machine, initialize_robot),
35
+ ],
36
+ "before": def_transition(state_machine, trigger_start_mission_event),
37
+ },
38
+ {
39
+ "trigger": "request_return_home",
40
+ "source": state_machine.await_next_mission_state,
41
+ "dest": state_machine.await_next_mission_state,
42
+ "before": def_transition(state_machine, report_failed_mission_and_finalize),
43
+ },
44
+ {
45
+ "trigger": "request_return_home",
46
+ "source": state_machine.home_state,
47
+ "dest": state_machine.home_state,
48
+ "before": def_transition(state_machine, report_failed_mission_and_finalize),
49
+ },
50
+ {
51
+ "trigger": "request_return_home",
52
+ "source": state_machine.robot_standing_still_state,
53
+ "dest": state_machine.robot_standing_still_state,
54
+ "before": def_transition(state_machine, report_failed_mission_and_finalize),
55
+ },
56
+ {
57
+ "trigger": "returned_home",
58
+ "source": state_machine.returning_home_state,
59
+ "dest": state_machine.home_state,
60
+ "before": def_transition(state_machine, return_home_finished),
61
+ },
62
+ {
63
+ "trigger": "return_home_failed",
64
+ "source": state_machine.returning_home_state,
65
+ "dest": state_machine.robot_standing_still_state,
66
+ "before": def_transition(state_machine, return_home_finished),
67
+ },
68
+ ]
69
+ return return_home_transitions
isar/state_machine/transitions/robot_status.py ADDED
@@ -0,0 +1,73 @@
1
+ from typing import TYPE_CHECKING, List
2
+
3
+ from isar.state_machine.transitions.functions.robot_status import (
4
+ is_available,
5
+ is_blocked_protective_stop,
6
+ is_home,
7
+ is_offline,
8
+ )
9
+ from isar.state_machine.transitions.functions.utils import def_transition
10
+
11
+ if TYPE_CHECKING:
12
+ from isar.state_machine.state_machine import StateMachine
13
+
14
+
15
+ def get_robot_status_transitions(state_machine: "StateMachine") -> List[dict]:
16
+ robot_status_transitions: List[dict] = [
17
+ {
18
+ "trigger": "robot_status_changed",
19
+ "source": [
20
+ state_machine.home_state,
21
+ state_machine.blocked_protective_stopping_state,
22
+ state_machine.offline_state,
23
+ state_machine.unknown_status_state,
24
+ ],
25
+ "dest": state_machine.robot_standing_still_state,
26
+ "conditions": def_transition(state_machine, is_available),
27
+ },
28
+ {
29
+ "trigger": "robot_status_changed",
30
+ "source": [
31
+ state_machine.robot_standing_still_state,
32
+ state_machine.blocked_protective_stopping_state,
33
+ state_machine.offline_state,
34
+ state_machine.unknown_status_state,
35
+ ],
36
+ "dest": state_machine.home_state,
37
+ "conditions": def_transition(state_machine, is_home),
38
+ },
39
+ {
40
+ "trigger": "robot_status_changed",
41
+ "source": [
42
+ state_machine.robot_standing_still_state,
43
+ state_machine.home_state,
44
+ state_machine.offline_state,
45
+ state_machine.unknown_status_state,
46
+ ],
47
+ "dest": state_machine.blocked_protective_stopping_state,
48
+ "conditions": def_transition(state_machine, is_blocked_protective_stop),
49
+ },
50
+ {
51
+ "trigger": "robot_status_changed",
52
+ "source": [
53
+ state_machine.robot_standing_still_state,
54
+ state_machine.home_state,
55
+ state_machine.blocked_protective_stopping_state,
56
+ state_machine.unknown_status_state,
57
+ ],
58
+ "dest": state_machine.offline_state,
59
+ "conditions": def_transition(state_machine, is_offline),
60
+ },
61
+ {
62
+ "trigger": "robot_status_changed",
63
+ "source": [
64
+ state_machine.robot_standing_still_state,
65
+ state_machine.home_state,
66
+ state_machine.blocked_protective_stopping_state,
67
+ state_machine.offline_state,
68
+ state_machine.unknown_status_state,
69
+ ],
70
+ "dest": state_machine.unknown_status_state,
71
+ },
72
+ ]
73
+ return robot_status_transitions
{isar-1.26.4.dist-info → isar-1.27.0.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: isar
3
- Version: 1.26.4
3
+ Version: 1.27.0
4
4
  Summary: Integration and Supervisory control of Autonomous Robots
5
5
  Author-email: Equinor ASA <fg_robots_dev@equinor.com>
6
6
  License: Eclipse Public License version 2.0
@@ -331,22 +331,29 @@ The system consists of two main components.
331
331
  The state machine handles interaction with the robots API and monitors the execution of missions. It also enables
332
332
  interacting with the robot before, during and after missions.
333
333
 
334
- The state machine is based on the [transitions](https://github.com/pytransitions/transitions) package for Python. An visualization of the state machine can be seen below:
335
- ![State Machine](./docs/state_machine_diagram.png)
334
+ The state machine is based on the [transitions](https://github.com/pytransitions/transitions) package for Python. The following are some visualizations of the state machine:
335
+
336
+ Mission behavior without the robot status changed transition that enable the resting states to transition between each other if the robot status changes:
337
+ ![State Machine extended](./docs/extended_state_machine_diagram.png)
338
+
339
+ Robot status changed transition:
340
+ ![State Machine robot status changed](./docs/robot_status_state_machine_diagram.png)
341
+
342
+ Full state machine:
343
+ ![State Machine full](./docs/full_state_machine_diagram.png)
336
344
 
337
345
  In general the states
338
346
 
339
347
  ```
340
- States.Off,
341
- States.Stop,
348
+ States.Stopping,
342
349
  States.Monitor,
343
350
  States.Paused,
344
351
  ```
345
352
 
346
- indicates that the state machine is already running. For running a mission the state machine need to be in the state
353
+ indicates that the state machine is already running. For running a mission the state machine need to be in the states
347
354
 
348
355
  ```
349
- States.Idle
356
+ States.Home, States.RobotStandingStill, States.AwaitNextMission or States.ReturningHome
350
357
  ```
351
358
 
352
359
  ### FastAPI
{isar-1.26.4.dist-info → isar-1.27.0.dist-info}/RECORD RENAMED
@@ -1,14 +1,14 @@
1
1
  isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
2
- isar/modules.py,sha256=shiuwpl3LCAZvl7a-8vE8L0ZxD1EW8wiZtvHbPOhMHk,4793
2
+ isar/modules.py,sha256=CO3Ikr3evmlNk7-EXfcdafATxaXVtSd-I1Dzr3uHpts,5095
3
3
  isar/script.py,sha256=VOI4nSEObDj53cSAFfzVBFDMwbu20uOsUZLZYyDZfBE,6083
4
4
  isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
5
- isar/apis/api.py,sha256=K0fYrLUo7dA1oD5oSkYinFPp3s4_DDnIJnY8BL3H1vQ,12610
5
+ isar/apis/api.py,sha256=1-RmRH7NReCpOo_NSwP5hS2lDQm6_Dx2ZWe2460GhJY,13770
6
6
  isar/apis/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
7
7
  isar/apis/models/models.py,sha256=HzLaWhjAv0uJRBWipIgYg_F75eaQ5jl9Pi4UnYbDJ-M,1749
8
- isar/apis/models/start_mission_definition.py,sha256=rGpdb51LIrGRE5RjBONWflumow4ev8oTbDTx5Ph2_Pc,6210
8
+ isar/apis/models/start_mission_definition.py,sha256=rGnMOSStAgGCEYG9jyQiVd0yxXZPwmf3Z4SOZJOyt-k,6011
9
9
  isar/apis/robot_control/robot_controller.py,sha256=7EVukShJDhYez12wYeGWZXH-BrfQ4Wu2so0-fSWN2Zo,1277
10
10
  isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
11
- isar/apis/schedule/scheduling_controller.py,sha256=zEeRo9ep5QHkWl-xbXmBxnRtH3FZfLgkEQ1TajOvIsM,7820
11
+ isar/apis/schedule/scheduling_controller.py,sha256=6QNn3dMu--UCvUfiPEqt9pD6rjjj9_8Mt5E6ECv6kcU,8351
12
12
  isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
13
13
  isar/apis/security/authentication.py,sha256=Se2puhe2TUBmfio2RLma52-VSLRhqvWgu0Cd1bhdwMo,2000
14
14
  isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -16,7 +16,7 @@ isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5
16
16
  isar/config/log.py,sha256=SzEWbzXU1DpN7YONIRT8k0zBOGm_qVkXlJuuZtb8STc,2300
17
17
  isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
18
18
  isar/config/settings.env,sha256=cLIlcXTM8x0N-6XjXmC0Qclx5dfDC6myqa25tvVwmRw,500
19
- isar/config/settings.py,sha256=cFKINb2VRBrLLCzSK0zmRny2fu7S3sGKbDCBv28DxHI,12859
19
+ isar/config/settings.py,sha256=Scr9clvqarBGzLceAcjPivBMAZ3GGPuaV5OB3J6B5_s,12966
20
20
  isar/config/certs/ca-cert.pem,sha256=qoNljfad_qcMxhXJIUMLd7nT-Qwf_d4dYSdoOFEOE8I,2179
21
21
  isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
22
22
  isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
@@ -44,15 +44,15 @@ isar/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
44
44
  isar/models/communication/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
45
45
  isar/models/communication/message.py,sha256=ge2EdUXRnYkiEu5TIAYJFQET_5w-N8MRgc2Y31vetno,155
46
46
  isar/models/communication/queues/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
47
- isar/models/communication/queues/events.py,sha256=2UjFWmjQeYavRzF336H4rqe20gjMoShlX3-BXyb1W4w,2340
47
+ isar/models/communication/queues/events.py,sha256=o_oMos8Md6aTv91ymRNY0fNDWwj5QxWcBm6rxHQz5TY,2413
48
48
  isar/models/communication/queues/queue_io.py,sha256=AnHWUCkZ0tunkxKKeBarq-OUkRM97IaMfA-a1pmf1cQ,394
49
49
  isar/models/communication/queues/queue_timeout_error.py,sha256=rF8TlNF7RHS_ueTZ5mp7aFkhLY1j0dcwMwH-Ba6lVpE,45
50
- isar/models/communication/queues/queue_utils.py,sha256=BGydIndLOFbj_Hyd2RiAlwdm7rWrem9BzoAnXH-ulxo,684
50
+ isar/models/communication/queues/queue_utils.py,sha256=wg6bIR3NS35Ek9hnGR5eN8z6i0jd5tOwM-8l30h3uiA,868
51
51
  isar/models/communication/queues/status_queue.py,sha256=on8kvlNsG6MJjEVsyqtBswIpmOdOggQiKr7F5x0T3jw,514
52
52
  isar/models/mission_metadata/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
53
- isar/robot/robot.py,sha256=RNuoE828lBOUBo9b2i5JiWhNsw7RqKpqEX4MlBPdLjI,4683
53
+ isar/robot/robot.py,sha256=ubHX8AM54Iz5CdINfSRkhs7V8VGSIeuH1pZboUfeLMw,5244
54
54
  isar/robot/robot_start_mission.py,sha256=0S5mzOENLtRvW75THr_PTlSDycI3NVMOptJuL9TV0v8,2766
55
- isar/robot/robot_status.py,sha256=3ysyLc639spTP4vuwruHirNTws0pct_pEtvPEaNtfwE,1623
55
+ isar/robot/robot_status.py,sha256=j5fGq5FzpEscmqUL6i8jRWCZEJ56b2g_DUpAgWpE1YI,1935
56
56
  isar/robot/robot_stop_mission.py,sha256=jUyfemvbyigxrlIp9aKPn-PvarhagJEgajQPS_LgJ7g,2442
57
57
  isar/robot/robot_task_status.py,sha256=Rfmw5DUMZWsdjuLyPOegTbfkyAkNN3TW9EcHSoZ7fpo,3305
58
58
  isar/services/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -68,26 +68,34 @@ isar/services/service_connections/stid/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JC
68
68
  isar/services/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
69
69
  isar/services/utilities/queue_utilities.py,sha256=Pw3hehSwkXJNeDv-bDVDfs58VOwtt3i5hpiJ2ZpphuQ,1225
70
70
  isar/services/utilities/robot_utilities.py,sha256=J3miRs0t74HNBoMIzVMceMCibp5DozP9Ai1_i7B3kWI,573
71
- isar/services/utilities/scheduling_utilities.py,sha256=yYwNUCIasjVkH2-LVmHEdRCzUOOB3qr9xfVJdSpqlKY,8256
71
+ isar/services/utilities/scheduling_utilities.py,sha256=SVmpAuU7101FVUx6x4tcMDrxYaWBPhgOkntFxX_d6Zc,10179
72
72
  isar/services/utilities/threaded_request.py,sha256=py4G-_RjnIdHljmKFAcQ6ddqMmp-ZYV39Ece-dqRqjs,1874
73
73
  isar/state_machine/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
74
- isar/state_machine/state_machine.py,sha256=0A2VKmstY50hgC1gV-OdxmzCIGzkMZHOsdTAztn0gl0,15479
75
- isar/state_machine/states_enum.py,sha256=uqa3VD2Ig0PR5xG7s4-q5OLWiGdvEn-KYClv3KpRJ68,276
74
+ isar/state_machine/state_machine.py,sha256=EvPTMTWkJuZlrr65cDsNXiyxvjk-B_81Q9U1O_ipS00,12864
75
+ isar/state_machine/states_enum.py,sha256=Z3dO6k6JmQAZ1lzcR58oVCxoCky_-ZS9MaL3RSaNbZ4,434
76
76
  isar/state_machine/states/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
77
- isar/state_machine/states/blocked_protective_stop.py,sha256=LVguaE3fPkZwBBkxp1xpdFCeKajMqzQTZTsHwxQRitQ,1887
78
- isar/state_machine/states/idle.py,sha256=ybi2q2Rg4vaLMg0CRZ8pauc5rYpIrE282lYkV6A-B_0,3076
79
- isar/state_machine/states/monitor.py,sha256=hLhS-Eq1iTcxtAbhwVaJbcIOhWy8KMhhEmh88TWIePA,9536
80
- isar/state_machine/states/off.py,sha256=4d2rMaXK19Xi9eE8PrRLXrDv_hri_B1B0mYsk5L5RHo,545
81
- isar/state_machine/states/offline.py,sha256=ysXES4o3FLt6GMZ5v7SzxMDqsBMnePMOYBBhBk1Akfk,1685
77
+ isar/state_machine/states/await_next_mission.py,sha256=Afmg2mtWQrlGLlsHJuHLeLWm0RT1lngN8MfRQrGUvXA,3227
78
+ isar/state_machine/states/blocked_protective_stop.py,sha256=Se7ZkZEb2TUYMWBwBDfetNnRH9vkmIwHlsHMqZhmDxg,1714
79
+ isar/state_machine/states/home.py,sha256=YKcOuoj_Z4Z61l_74mOnNQl0mKjRnfuJSl2nk1d6wXE,2956
80
+ isar/state_machine/states/monitor.py,sha256=FLXJEXyD5GJBwffeHF-ykaEe9lXL8XqMN-C61eIVtYQ,9631
81
+ isar/state_machine/states/offline.py,sha256=aqHv8EH68pfq4yTIxOxxDW7VMkPWcQZX3fNgz90_EbE,1503
82
82
  isar/state_machine/states/paused.py,sha256=NgEl48GjLvnqGfPipYZZ6Yj8vdTb-fFLAK2tUu8i9j8,1461
83
- isar/state_machine/states/stop.py,sha256=lF3uppwt_Qj66xWlRBeq26U1sUKo_DEu45V3cT-vmm4,2451
84
- isar/state_machine/transitions/fail_mission.py,sha256=_6HqBMALDinFZ4yh5GMpeqqgV5tw5i8OVMj5UDdqesg,495
85
- isar/state_machine/transitions/finish_mission.py,sha256=TRQrk7HdllmAkwsp25HRZAFAk46Y1hLx3jmkIAKrHDI,1442
86
- isar/state_machine/transitions/pause.py,sha256=aoDkq2nV6wBY0YQX3KbjvBR1ojP2o_SCRT_gfz0BulI,889
87
- isar/state_machine/transitions/resume.py,sha256=9KQjH_6YBGyxFhb7G5dgDe3WH0xHawhEIw6yTVEm9os,998
88
- isar/state_machine/transitions/start_mission.py,sha256=BJdJvk0O5kq2DZkRHroVtkBziMivNTsZVX3KLJ-m7YQ,2524
89
- isar/state_machine/transitions/stop.py,sha256=NzPvr6C1tmDqji5XJf5vw9up_Ow7ApuhjAzDVlJLZPw,1368
90
- isar/state_machine/transitions/utils.py,sha256=Wa72Ocq4QT1E6qkpEJZQ3h5o33pGvx7Tlkt2JZ2Grbk,314
83
+ isar/state_machine/states/returning_home.py,sha256=UErxB5xQMtjHtCmg-GLJutli2D6Lc29tbhdNcdxIC2M,6973
84
+ isar/state_machine/states/robot_standing_still.py,sha256=h2a0CTxXIjE8YKT9_8hkU80q0caq4TYCxHaOYB54cKc,3378
85
+ isar/state_machine/states/stopping.py,sha256=fxebBwB5rgRQQ1BPpmqrPBo0PxVvFdlXuQAidOGa4nY,3074
86
+ isar/state_machine/states/unknown_status.py,sha256=tOwfHW_4bKKkUTpKD7qc5gIwGT_fTXaCNxXcogGw-wo,2416
87
+ isar/state_machine/transitions/mission.py,sha256=B2d409Q8rJfG4kIY7ZWQWnyxB81xinCUsvm_VWfxMr4,4817
88
+ isar/state_machine/transitions/return_home.py,sha256=LeOMnckUUQYzBYRidD2ge6M0KdxGDTgo-ioXR7_9r8A,2714
89
+ isar/state_machine/transitions/robot_status.py,sha256=c1ceyWRGCtx-KTDtxHXRD7oPbt8TQ2ej24A0wyim8vc,2720
90
+ isar/state_machine/transitions/functions/fail_mission.py,sha256=_6HqBMALDinFZ4yh5GMpeqqgV5tw5i8OVMj5UDdqesg,495
91
+ isar/state_machine/transitions/functions/finish_mission.py,sha256=TRQrk7HdllmAkwsp25HRZAFAk46Y1hLx3jmkIAKrHDI,1442
92
+ isar/state_machine/transitions/functions/pause.py,sha256=aoDkq2nV6wBY0YQX3KbjvBR1ojP2o_SCRT_gfz0BulI,889
93
+ isar/state_machine/transitions/functions/resume.py,sha256=9KQjH_6YBGyxFhb7G5dgDe3WH0xHawhEIw6yTVEm9os,998
94
+ isar/state_machine/transitions/functions/return_home.py,sha256=UlniwYvpz74hxqgN0TyVv3LCmiMsqsosKEtEGLqkNj0,1139
95
+ isar/state_machine/transitions/functions/robot_status.py,sha256=xhKZ5u_X8uDvnhvGnAIABuKaPXeVqFjkgj4H2Om-j_A,1013
96
+ isar/state_machine/transitions/functions/start_mission.py,sha256=w8UDiq9pOHu-ei61ng6rWGjfrh6nk_qSokEVdzBHwzY,2516
97
+ isar/state_machine/transitions/functions/stop.py,sha256=NzPvr6C1tmDqji5XJf5vw9up_Ow7ApuhjAzDVlJLZPw,1368
98
+ isar/state_machine/transitions/functions/utils.py,sha256=Wa72Ocq4QT1E6qkpEJZQ3h5o33pGvx7Tlkt2JZ2Grbk,314
91
99
  isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
92
100
  isar/storage/blob_storage.py,sha256=Qci6bO508nlTHKPuPtVU5QcvGA4T7mv8cFrKWRcfw4g,3226
93
101
  isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY,1855
@@ -95,20 +103,20 @@ isar/storage/slimm_storage.py,sha256=DJVvTce4cb8m0_b_r6yog41UuxO_9VKb1hYCZUTEhR0
95
103
  isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
96
104
  isar/storage/uploader.py,sha256=M7FEr0iLsrSil8SqP7vmB3hswIOA2HTrnakj6aOQbvg,6749
97
105
  isar/storage/utilities.py,sha256=fitsdQ1ox5gr9fk9VuSk_iTBiEAIS8NZAnHabUZORh0,3173
98
- isar-1.26.4.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
106
+ isar-1.27.0.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
99
107
  robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
100
108
  robot_interface/robot_interface.py,sha256=Bkk-joyIzRHxv8iZt7FLPFnlE8chlJad9vgjwc-fDkw,8786
101
109
  robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
102
110
  robot_interface/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
103
111
  robot_interface/models/exceptions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
104
- robot_interface/models/exceptions/robot_exceptions.py,sha256=u0vK1ny5UTX6767n0xeFLdLGL0ZbqiiBYuo6WgvVrnY,9436
112
+ robot_interface/models/exceptions/robot_exceptions.py,sha256=VrsWPf4g0qN5sJRKhc3ER_Wt5drK0MZRuECU-csIlDA,10026
105
113
  robot_interface/models/initialize/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
106
114
  robot_interface/models/inspection/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
107
115
  robot_interface/models/inspection/inspection.py,sha256=Q8vyiTMV2Ws1B4N10kQ3C1AZkck0Mh5pwOyWux7OQms,2318
108
116
  robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
109
- robot_interface/models/mission/mission.py,sha256=GR_X9-dIf-15oogfv_c6JNIKnTIk5u80rWLNUk95xm0,738
110
- robot_interface/models/mission/status.py,sha256=48y8HEiT7QQbMLBUBYxXR92iZOrnBOukPZ7o09CCR1Q,686
111
- robot_interface/models/mission/task.py,sha256=0yDg940gOTTxbpFeh9K5iIbBSf10v16PPTy-iOBJvDQ,4896
117
+ robot_interface/models/mission/mission.py,sha256=MQ9p5cuclLXexaZu9bkDh5-aN99eunvYC0vP-Z_kUwI,960
118
+ robot_interface/models/mission/status.py,sha256=UOCARLfLxLFXJEjfIH7aXYXO7xajOKBJsxz-Wd6gZQ4,740
119
+ robot_interface/models/mission/task.py,sha256=Vbyp8JzyoLA2Q90TyEAGWUg6BrV0OBhEm0ut0iBwwXc,4859
112
120
  robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
113
121
  robot_interface/models/robots/battery_state.py,sha256=ktOtJ8ltdK0k_i7BoqYfhc5dbOzIG6Oo-uWC67fCWio,98
114
122
  robot_interface/models/robots/media.py,sha256=8A-CuuubfngzPprs6zWB9hSaqe3jzgsE8rcCzRX2Uto,227
@@ -119,8 +127,8 @@ robot_interface/telemetry/payloads.py,sha256=m55aFrIczI-PDwQXvsFA6M7YNCTy83w7Ff-
119
127
  robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
120
128
  robot_interface/utilities/json_service.py,sha256=qkzVkb60Gi_pto-b5n1vNzCrQze2yqgIJqSLNLYj1Fg,1034
121
129
  robot_interface/utilities/uuid_string_factory.py,sha256=_NQIbBQ56w0qqO0MUDP6aPpHbxW7ATRhK8HnQiBSLkc,76
122
- isar-1.26.4.dist-info/METADATA,sha256=zt2X0TY9WP-ihTk-e-8eWxZzcfb-TFDZXK6TGCtFiZk,30263
123
- isar-1.26.4.dist-info/WHEEL,sha256=SmOxYU7pzNKBqASvQJ7DjX3XGUF92lrGhMb3R6_iiqI,91
124
- isar-1.26.4.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
125
- isar-1.26.4.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
126
- isar-1.26.4.dist-info/RECORD,,
130
+ isar-1.27.0.dist-info/METADATA,sha256=OBbuMdSc9sbPALQ2Y4DYubr37T0Xn2jh-Bu9cL__KeU,30709
131
+ isar-1.27.0.dist-info/WHEEL,sha256=ck4Vq1_RXyvS4Jt6SI0Vz6fyVs4GWg7AINwpsaGEgPE,91
132
+ isar-1.27.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
133
+ isar-1.27.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
134
+ isar-1.27.0.dist-info/RECORD,,
{isar-1.26.4.dist-info → isar-1.27.0.dist-info}/WHEEL RENAMED
@@ -1,5 +1,5 @@
1
1
  Wheel-Version: 1.0
2
- Generator: setuptools (79.0.1)
2
+ Generator: setuptools (80.0.0)
3
3
  Root-Is-Purelib: true
4
4
  Tag: py3-none-any
5
5
 
robot_interface/models/exceptions/robot_exceptions.py CHANGED
@@ -15,6 +15,7 @@ class ErrorReason(str, Enum):
15
15
  RobotInitializeException = "robot_initialize_exception"
16
16
  RobotRetrieveDataException = "robot_retrieve_data_exception"
17
17
  RobotRetrieveInspectionException = "robot_retrieve_inspection_exception"
18
+ RobotStillStartingMissionException = "robot_still_starting_mission_exception"
18
19
  RobotTelemetryException = "robot_telemetry_exception"
19
20
  RobotTelemetryNoUpdateException = "robot_telemetry_no_update_exception"
20
21
  RobotTelemetryPoseException = "robot_telemetry_pose_exception"
@@ -174,6 +175,19 @@ class RobotRetrieveInspectionException(RobotException):
174
175
  pass
175
176
 
176
177
 
178
+ # An exception which should be thrown by the robot package if it is still starting the
179
+ # mission when another action is requested. An example of this can be trying to stop
180
+ # the robot while it is still starting the mission.
181
+ class RobotStillStartingMissionException(RobotException):
182
+ def __init__(self, error_description: str) -> None:
183
+ super().__init__(
184
+ error_reason=ErrorReason.RobotStillStartingMissionException,
185
+ error_description=error_description,
186
+ )
187
+
188
+ pass
189
+
190
+
177
191
  # An exception which should be thrown by the robot package if it is unable to retrieve
178
192
  # telemetry data. It should be used exclusively by the telemetry publishers and their
179
193
  # functions.
robot_interface/models/mission/mission.py CHANGED
@@ -5,7 +5,7 @@ from pydantic import BaseModel, Field
5
5
 
6
6
  from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
7
7
  from robot_interface.models.mission.status import MissionStatus
8
- from robot_interface.models.mission.task import TASKS
8
+ from robot_interface.models.mission.task import TASKS, TaskTypes
9
9
  from robot_interface.utilities.uuid_string_factory import uuid4_string
10
10
 
11
11
 
@@ -16,3 +16,10 @@ class Mission(BaseModel):
16
16
  start_pose: Optional[Pose] = Field(default=None, frozen=True)
17
17
  status: MissionStatus = MissionStatus.NotStarted
18
18
  error_message: Optional[ErrorMessage] = Field(default=None)
19
+
20
+ def _is_return_to_home_mission(self) -> bool:
21
+ if len(self.tasks) != 1:
22
+ return False
23
+ if self.tasks[0].type != TaskTypes.ReturnToHome:
24
+ return False
25
+ return True
robot_interface/models/mission/status.py CHANGED
@@ -24,6 +24,8 @@ class TaskStatus(str, Enum):
24
24
  class RobotStatus(Enum):
25
25
  Available = "available"
26
26
  Busy = "busy"
27
+ Home = "home"
27
28
  Offline = "offline"
28
29
  Blocked = "blocked"
29
30
  BlockedProtectiveStop = "blockedprotectivestop"
31
+ ReturningHome = "returninghome"
robot_interface/models/mission/task.py CHANGED
@@ -74,7 +74,6 @@ class ReturnToHome(Task):
74
74
  Task which cases the robot to return home
75
75
  """
76
76
 
77
- pose: Pose = Field(default=None)
78
77
  type: Literal[TaskTypes.ReturnToHome] = TaskTypes.ReturnToHome
79
78
 
80
79
 
isar/state_machine/states/off.py DELETED
@@ -1,18 +0,0 @@
1
- import logging
2
- from typing import TYPE_CHECKING
3
-
4
- from transitions import State
5
-
6
- if TYPE_CHECKING:
7
- from isar.state_machine.state_machine import StateMachine
8
-
9
-
10
- class Off(State):
11
- def __init__(self, state_machine: "StateMachine"):
12
- super().__init__(name="off", on_enter=self.start)
13
- self.logger = logging.getLogger("state_machine")
14
- self.state_machine: "StateMachine" = state_machine
15
-
16
- def start(self):
17
- self.state_machine.update_state()
18
- self.logger.info("State: %s", self.state_machine.current_state)