isar 1.27.2__tar.gz → 1.28.1__tar.gz

{isar-1.27.2 → isar-1.28.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.27.2
+Version: 1.28.1
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0

{isar-1.27.2 → isar-1.28.1}/requirements.txt

@@ -12,13 +12,13 @@ anyio==4.9.0
     # via
     #   httpx
     #   starlette
-azure-core==1.33.0
+azure-core==1.34.0
     # via
     #   azure-identity
     #   azure-keyvault-secrets
     #   azure-storage-blob
     #   opencensus-ext-azure
-azure-identity==1.21.0
+azure-identity==1.23.0
     # via
     #   isar (pyproject.toml)
     #   opencensus-ext-azure
@@ -30,20 +30,20 @@ backoff==2.2.1
     # via isar (pyproject.toml)
 cachetools==5.5.2
     # via google-auth
-certifi==2025.1.31
+certifi==2025.4.26
     # via
     #   httpcore
     #   httpx
     #   requests
 cffi==1.17.1
     # via cryptography
-charset-normalizer==3.4.1
+charset-normalizer==3.4.2
     # via requests
-click==8.1.8
+click==8.2.0
     # via
     #   isar (pyproject.toml)
     #   uvicorn
-cryptography==44.0.2
+cryptography==44.0.3
     # via
     #   azure-identity
     #   azure-storage-blob
@@ -64,7 +64,7 @@ fastapi-azure-auth==5.1.1
     # via isar (pyproject.toml)
 google-api-core==2.24.2
     # via opencensus
-google-auth==2.39.0
+google-auth==2.40.1
     # via google-api-core
 googleapis-common-protos==1.70.0
     # via google-api-core
@@ -85,7 +85,7 @@ isodate==0.7.2
     # via
     #   azure-keyvault-secrets
     #   azure-storage-blob
-msal==1.32.2
+msal==1.32.3
     # via
     #   azure-identity
     #   msal-extensions
@@ -113,7 +113,7 @@ paho-mqtt==2.1.0
     # via isar (pyproject.toml)
 proto-plus==1.26.1
     # via google-api-core
-protobuf==6.30.2
+protobuf==6.31.0
     # via
     #   google-api-core
     #   googleapis-common-protos
@@ -128,12 +128,12 @@ pyasn1-modules==0.4.2
     # via google-auth
 pycparser==2.22
     # via cffi
-pydantic==2.11.3
+pydantic==2.11.4
     # via
     #   fastapi
     #   isar (pyproject.toml)
     #   pydantic-settings
-pydantic-core==2.33.1
+pydantic-core==2.33.2
     # via pydantic
 pydantic-settings==2.9.1
     # via isar (pyproject.toml)
@@ -161,7 +161,7 @@ requests-toolbelt==1.0.0
     # via isar (pyproject.toml)
 rsa==4.9.1
     # via google-auth
-scipy==1.15.2
+scipy==1.15.3
     # via alitra
 six==1.17.0
     # via

{isar-1.27.2 → isar-1.28.1}/src/isar/apis/models/start_mission_definition.py

@@ -39,9 +39,8 @@ class TaskType(str, Enum):
 class StartMissionInspectionDefinition(BaseModel):
     type: InspectionTypes = Field(default=InspectionTypes.image)
     inspection_target: InputPosition
-    analysis_type: Optional[str] = None
+    inspection_description: Optional[str] = None
     duration: Optional[float] = None
-    metadata: Optional[dict] = None
 
 
 class StartMissionTaskDefinition(BaseModel):
@@ -107,8 +106,8 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             id=task_definition.id if task_definition.id else uuid4_string(),
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
+            inspection_description=task_definition.inspection.inspection_description,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
-            metadata=task_definition.inspection.metadata,
             zoom=task_definition.zoom,
         )
     elif inspection_definition.type == InspectionTypes.video:
@@ -116,9 +115,9 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             id=task_definition.id if task_definition.id else uuid4_string(),
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
+            inspection_description=task_definition.inspection.inspection_description,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
             duration=inspection_definition.duration,
-            metadata=task_definition.inspection.metadata,
             zoom=task_definition.zoom,
         )
     elif inspection_definition.type == InspectionTypes.thermal_image:
@@ -126,8 +125,8 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             id=task_definition.id if task_definition.id else uuid4_string(),
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
+            inspection_description=task_definition.inspection.inspection_description,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
-            metadata=task_definition.inspection.metadata,
             zoom=task_definition.zoom,
         )
     elif inspection_definition.type == InspectionTypes.thermal_video:
@@ -135,9 +134,9 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             id=task_definition.id if task_definition.id else uuid4_string(),
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
+            inspection_description=task_definition.inspection.inspection_description,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
             duration=inspection_definition.duration,
-            metadata=task_definition.inspection.metadata,
             zoom=task_definition.zoom,
         )
     elif inspection_definition.type == InspectionTypes.audio:
@@ -145,16 +144,16 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             id=task_definition.id if task_definition.id else uuid4_string(),
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
+            inspection_description=task_definition.inspection.inspection_description,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
             duration=inspection_definition.duration,
-            metadata=task_definition.inspection.metadata,
         )
     elif inspection_definition.type == InspectionTypes.gas_measurement:
         return TakeGasMeasurement(
             id=task_definition.id if task_definition.id else uuid4_string(),
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
-            metadata=task_definition.inspection.metadata,
+            inspection_description=task_definition.inspection.inspection_description,
         )
     else:
         raise ValueError(

{isar-1.27.2 → isar-1.28.1}/src/isar/apis/schedule/scheduling_controller.py

@@ -1,5 +1,6 @@
 import logging
 from http import HTTPStatus
+from threading import Lock
 
 from dependency_injector.wiring import inject
 from fastapi import Body, HTTPException, Path
@@ -29,6 +30,7 @@ class SchedulingController:
     ):
         self.scheduling_utilities: SchedulingUtilities = scheduling_utilities
         self.logger = logging.getLogger("api")
+        self.start_mission_lock: Lock = Lock()
 
     def start_mission_by_id(
         self,
@@ -67,46 +69,76 @@ class SchedulingController:
         self.logger.info("Received request to start new mission")
 
         if not mission_definition:
-            error_message: str = (
+            error_message_no_mission_definition: str = (
                 "Unprocessable entity - 'mission_definition' empty or invalid"
             )
-            self.logger.error(error_message)
+            self.logger.error(error_message_no_mission_definition)
             raise HTTPException(
-                status_code=HTTPStatus.UNPROCESSABLE_ENTITY, detail=error_message
+                status_code=HTTPStatus.UNPROCESSABLE_ENTITY,
+                detail=error_message_no_mission_definition,
             )
 
-        state: States = self.scheduling_utilities.get_state()
-        self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
+        if not self.start_mission_lock.acquire(blocking=False):
+            error_message_another_mission_starting: str = (
+                "Conflict - Another mission is currently being started"
+            )
+            self.logger.warning(error_message_another_mission_starting)
+            raise HTTPException(
+                status_code=HTTPStatus.CONFLICT,
+                detail=error_message_another_mission_starting,
+            )
 
         try:
-            mission: Mission = to_isar_mission(
-                start_mission_definition=mission_definition
+            state: States = self.scheduling_utilities.get_state()
+            self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(
+                state
             )
-        except MissionPlannerError as e:
-            error_message = f"Bad Request - Cannot create ISAR mission: {e}"
-            self.logger.warning(error_message)
-            raise HTTPException(
-                status_code=HTTPStatus.BAD_REQUEST,
-                detail=error_message,
+
+            try:
+                mission: Mission = to_isar_mission(
+                    start_mission_definition=mission_definition
+                )
+            except MissionPlannerError as e:
+                error_message = f"Bad Request - Cannot create ISAR mission: {e}"
+                self.logger.warning(error_message)
+                raise HTTPException(
+                    status_code=HTTPStatus.BAD_REQUEST,
+                    detail=error_message,
+                )
+
+            self.scheduling_utilities.verify_robot_capable_of_mission(
+                mission=mission, robot_capabilities=robot_settings.CAPABILITIES
             )
 
-        self.scheduling_utilities.verify_robot_capable_of_mission(
-            mission=mission, robot_capabilities=robot_settings.CAPABILITIES
-        )
+            self.logger.info("Starting mission: %s", mission.id)
+            self.scheduling_utilities.start_mission(mission=mission)
+            return self._api_response(mission)
 
-        self.logger.info("Starting mission: %s", mission.id)
-        self.scheduling_utilities.start_mission(mission=mission)
-        return self._api_response(mission)
+        finally:
+            self.start_mission_lock.release()
 
     def return_home(self) -> None:
         self.logger.info("Received request to return home")
 
-        state: States = self.scheduling_utilities.get_state()
-        self.scheduling_utilities.verify_state_machine_ready_to_receive_return_home_mission(
-            state
-        )
+        if not self.start_mission_lock.acquire(blocking=False):
+            error_message_another_mission_starting: str = (
+                "Conflict - Another mission is currently being started"
+            )
+            self.logger.warning(error_message_another_mission_starting)
+            raise HTTPException(
+                status_code=HTTPStatus.CONFLICT,
+                detail=error_message_another_mission_starting,
+            )
+
+        try:
+            state: States = self.scheduling_utilities.get_state()
+            self.scheduling_utilities.verify_state_machine_ready_to_receive_return_home_mission(
+                state
+            )
 
-        self.scheduling_utilities.return_home()
+            self.scheduling_utilities.return_home()
+        finally:
+            self.start_mission_lock.release()
 
     def pause_mission(self) -> ControlMissionResponse:
         self.logger.info("Received request to pause current mission")

{isar-1.27.2 → isar-1.28.1}/src/isar/config/predefined_mission_definition/default_exr.json

@@ -28,7 +28,6 @@
                             "z": 0.6145,
                             "frame_name": "robot"
                         },
-                        "analysis_types": "CarSeal, Rust",
                         "metadata": {
                             "zoom": "2x"
                         }
@@ -41,7 +40,6 @@
                             "z": 0.6145,
                             "frame_name": "robot"
                         },
-                        "analysis_types": "GasDetection",
                         "duration": 10
                     }
                 ]

{isar-1.27.2 → isar-1.28.1}/src/isar/config/predefined_mission_definition/default_mission.json

@@ -28,7 +28,6 @@
                             "z": 0,
                             "frame_name": "robot"
                         },
-                        "analysis_types": "CarSeal, Rust",
                         "metadata": {
                             "zoom": "2x"
                         }
@@ -41,8 +40,6 @@
                             "z": 0,
                             "frame_name": "robot"
                         },
-                        "analysis_types": "GasDetection"
-                        ,
                         "duration": 10
                     }
                 ]
@@ -72,8 +69,7 @@
                             "y": 0,
                             "z": 0,
                             "frame_name": "robot"
-                        },
-                        "analysis_types": "ColdSpot,HotSpot"
+                        }
                     },
                     {
                         "type": "Video",

{isar-1.27.2 → isar-1.28.1}/src/isar/config/predefined_mission_definition/default_turtlebot.json

@@ -28,8 +28,6 @@
                             "z": 0,
                             "frame": "robot"
                         },
-                        "analysis_types": "CarSeal, Rust"
-                        ,
                         "metadata": {
                             "zoom": "2x"
                         }
@@ -41,8 +39,7 @@
                             "y": 4.9,
                             "z": 0,
                             "frame": "robot"
-                        },
-                        "analysis_types": "GasDetection"
+                        }
                     }
                 ]
             },
@@ -72,9 +69,7 @@
                             "y": 5.2,
                             "z": 0,
                             "frame": "robot"
-                        },
-                        "analysis_types": "ColdSpot, HotSpot"
-                        
+                        }
                     }
                 ]
             },
@@ -104,8 +99,7 @@
                             "y": 5.2,
                             "z": 0,
                             "frame": "robot"
-                        },
-                        "analysis_types": "ColdSpot, HotSpot"
+                        }
                     },
                     {
                         "type": "ThermalImage",
@@ -114,8 +108,7 @@
                             "y": 1.9,
                             "z": 0,
                             "frame": "robot"
-                        },
-                        "analysis_types": "ColdSpot, HotSpot"
+                        }
                     }
                 ]
             }

{isar-1.27.2 → isar-1.28.1}/src/isar/robot/robot.py

@@ -33,7 +33,7 @@ class Robot(object):
         self.start_mission_thread: Optional[RobotStartMissionThread] = None
         self.robot_status_thread: Optional[RobotStatusThread] = None
         self.robot_task_status_thread: Optional[RobotTaskStatusThread] = None
-        self.stop_mission_thread_thread: Optional[RobotStopMissionThread] = None
+        self.stop_mission_thread: Optional[RobotStopMissionThread] = None
         self.signal_thread_quitting: Event = Event()
 
     def stop(self) -> None:
@@ -42,19 +42,16 @@ class Robot(object):
             self.robot_status_thread.join()
         if (
             self.robot_task_status_thread is not None
-            and self.robot_status_thread.is_alive()
+            and self.robot_task_status_thread.is_alive()
         ):
             self.robot_task_status_thread.join()
         if (
             self.start_mission_thread is not None
-            and self.robot_status_thread.is_alive()
+            and self.start_mission_thread.is_alive()
         ):
             self.start_mission_thread.join()
-        if (
-            self.stop_mission_thread_thread is not None
-            and self.stop_mission_thread_thread.is_alive()
-        ):
-            self.stop_mission_thread_thread.join()
+        if self.stop_mission_thread is not None and self.stop_mission_thread.is_alive():
+            self.stop_mission_thread.join()
         self.robot_status_thread = None
         self.robot_task_status_thread = None
         self.start_mission_thread = None
@@ -92,7 +89,15 @@ class Robot(object):
     def _check_and_handle_stop_mission(self, event: Queue) -> None:
         if check_for_event(event):
             if (
-                self.stop_mission_thread_thread is not None
+                self.stop_mission_thread is not None
+                and self.stop_mission_thread.is_alive()
+            ):
+                self.logger.warning(
+                    "Received stop mission event while trying to stop a mission. Aborting stop attempt."
+                )
+                return
+            if (
+                self.start_mission_thread is not None
                 and self.start_mission_thread.is_alive()
             ):
                 error_description = "Received stop mission event while trying to start a mission. Aborting stop attempt."
@@ -104,10 +109,10 @@ class Robot(object):
                     self.robot_service_events.mission_failed_to_stop, error_message
                 )
                 return
-            self.stop_mission_thread_thread = RobotStopMissionThread(
+            self.stop_mission_thread = RobotStopMissionThread(
                 self.robot_service_events, self.robot, self.signal_thread_quitting
             )
-            self.stop_mission_thread_thread.start()
+            self.stop_mission_thread.start()
 
     def run(self) -> None:
         self.robot_status_thread = RobotStatusThread(

{isar-1.27.2 → isar-1.28.1}/src/isar/robot/robot_start_mission.py

@@ -61,6 +61,10 @@ class RobotStartMissionThread(Thread):
                                 error_description=error_description,
                             ),
                         )
+                        break
+
+                    continue
+
                 started_mission = True
         except RobotInfeasibleMissionException as e:
             trigger_event(
@@ -69,4 +73,6 @@ class RobotStartMissionThread(Thread):
                     error_reason=e.error_reason, error_description=e.error_description
                 ),
             )
-        trigger_event_without_data(self.robot_service_events.mission_started)
+
+        if started_mission:
+            trigger_event_without_data(self.robot_service_events.mission_started)

{isar-1.27.2 → isar-1.28.1}/src/isar/storage/slimm_storage.py

@@ -125,13 +125,11 @@ class SlimmStorage(StorageInterface):
                 "ImageMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "ImageMetadata.CameraOrientation3": str(array_of_orientation[2]),
                 "ImageMetadata.CameraOrientation4": str(array_of_orientation[3]),
-                "ImageMetadata.AnalysisMethods": (
-                    inspection.metadata.additional["analysis_type"]
-                    if inspection.metadata.additional
-                    and inspection.metadata.additional["analysis_type"]
+                "ImageMetadata.Description": (
+                    inspection.metadata.inspection_description
+                    if inspection.metadata.inspection_description
                     else "N/A"
                 ),
-                "ImageMetadata.Description": str(inspection.metadata.additional),
                 "ImageMetadata.FunctionalLocation": (
                     inspection.metadata.tag_id  # noqa: E501
                     if inspection.metadata.tag_id
@@ -175,13 +173,11 @@ class SlimmStorage(StorageInterface):
                 "VideoMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "VideoMetadata.CameraOrientation3": str(array_of_orientation[2]),
                 "VideoMetadata.CameraOrientation4": str(array_of_orientation[3]),
-                "VideoMetadata.AnalysisMethods": (
-                    inspection.metadata.additional["analysis_type"]
-                    if inspection.metadata.additional
-                    and inspection.metadata.additional["analysis_type"]
+                "VideoMetadata.Description": (
+                    inspection.metadata.inspection_description
+                    if inspection.metadata.inspection_description
                     else "N/A"
                 ),
-                "VideoMetadata.Description": str(inspection.metadata.additional),
                 "VideoMetadata.FunctionalLocation": (
                     inspection.metadata.tag_id  # noqa: E501
                     if inspection.metadata.tag_id

{isar-1.27.2 → isar-1.28.1}/src/isar/storage/uploader.py

@@ -163,8 +163,10 @@ class Uploader:
             inspection_id=inspection.id,
             inspection_path=inspection_path,
             installation_code=settings.PLANT_SHORT_NAME,
-            analysis_to_be_run=inspection.metadata.analysis_type,
-            timestamp=datetime.now(timezone.utc),
+            tag_id=inspection.metadata.tag_id,
+            inspection_type=type(inspection).__name__,
+            inspection_description=inspection.metadata.inspection_description,
+            timestamp=inspection.metadata.start_time,
         )
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_INSPECTION_RESULT,

{isar-1.27.2 → isar-1.28.1}/src/isar/storage/utilities.py

@@ -1,5 +1,4 @@
 import json
-import time
 from datetime import datetime, timezone
 from pathlib import Path
 from typing import Tuple
@@ -41,11 +40,7 @@ def construct_metadata_file(
             "plant_name": settings.PLANT_NAME,
             "isar_id": settings.ISAR_ID,
             "robot_name": settings.ROBOT_NAME,
-            "analysis_type": (
-                inspection.metadata.additional["analysis_type"]
-                if inspection.metadata.additional
-                else "N/A"
-            ),
+            "inspection_description": inspection.metadata.inspection_description,
         },
         "data": [
             {
@@ -71,12 +66,16 @@ def construct_metadata_file(
 
 
 def get_filename(inspection: Inspection) -> str:
-    inspection_type: str = type(inspection).__name__
+    utc_time: str = datetime.now(timezone.utc).strftime("%Y%m%d-%H%M%S")
     tag: str = inspection.metadata.tag_id if inspection.metadata.tag_id else "no-tag"
-    epoch_time: int = int(time.time())
-    return f"{tag}__{inspection_type}__{epoch_time}"
+    inspection_type: str = type(inspection).__name__
+    inspection_description: str = inspection.metadata.inspection_description.replace(
+        " ", "-"
+    )
+    return f"{tag}__{inspection_type}__{inspection_description}__{utc_time}"
 
 
 def get_foldername(mission: Mission) -> str:
+    utc_date: str = datetime.now(timezone.utc).strftime("%Y-%m-%d")
     mission_name: str = mission.name.replace(" ", "-")
-    return f"{datetime.now(timezone.utc).date()}__{settings.PLANT_SHORT_NAME}__{mission_name}__{mission.id}"
+    return f"{utc_date}__{settings.PLANT_SHORT_NAME}__{mission_name}__{mission.id}"

{isar-1.27.2 → isar-1.28.1}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.27.2
+Version: 1.28.1
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0

{isar-1.27.2 → isar-1.28.1}/src/robot_interface/models/inspection/inspection.py

@@ -12,9 +12,8 @@ class InspectionMetadata(ABC):
     start_time: datetime
     pose: Pose
     file_type: str
-    analysis_type: Optional[str] = field(default=None, init=False)
     tag_id: Optional[str] = field(default=None, init=False)
-    additional: Optional[dict] = field(default_factory=dict, init=False)
+    inspection_description: Optional[str] = field(default=None, init=False)
 
 
 @dataclass

{isar-1.27.2 → isar-1.28.1}/src/robot_interface/models/mission/task.py

@@ -61,7 +61,7 @@ class InspectionTask(Task):
 
     inspection_id: str = Field(default_factory=uuid4_string, frozen=True)
     robot_pose: Pose = Field(default=None, init=True)
-    metadata: Optional[dict] = Field(default_factory=dict)
+    inspection_description: Optional[str] = Field(default=None)
     zoom: Optional[ZoomDescription] = Field(default=None)
 
     @staticmethod

{isar-1.27.2 → isar-1.28.1}/src/robot_interface/telemetry/payloads.py

@@ -111,5 +111,7 @@ class InspectionResultPayload:
     inspection_id: str
     inspection_path: Union[str, dict]
     installation_code: str
-    analysis_to_be_run: Optional[str]
+    tag_id: Optional[str]
+    inspection_type: Optional[str]
+    inspection_description: Optional[str]
     timestamp: datetime