isar 1.28.3__tar.gz → 1.29.0__tar.gz

{isar-1.28.3 → isar-1.29.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.28.3
+Version: 1.29.0
 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-1.28.3 → isar-1.29.0}/requirements.txt

@@ -39,11 +39,11 @@ cffi==1.17.1
     # via cryptography
 charset-normalizer==3.4.2
     # via requests
-click==8.2.0
+click==8.2.1
     # via
     #   isar (pyproject.toml)
     #   uvicorn
-cryptography==44.0.3
+cryptography==45.0.2
     # 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==2.40.1
+google-auth==2.40.2
     # via google-api-core
 googleapis-common-protos==1.70.0
     # via google-api-core
@@ -91,7 +91,7 @@ msal==1.32.3
     #   msal-extensions
 msal-extensions==1.3.1
     # via azure-identity
-numpy==2.2.5
+numpy==2.2.6
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -184,7 +184,7 @@ typing-extensions==4.13.2
     #   pydantic
     #   pydantic-core
     #   typing-inspection
-typing-inspection==0.4.0
+typing-inspection==0.4.1
     # via
     #   pydantic
     #   pydantic-settings

{isar-1.28.3 → isar-1.29.0}/src/isar/apis/models/start_mission_definition.py

@@ -12,7 +12,7 @@ from robot_interface.models.mission.task import (
     TASKS,
     RecordAudio,
     ReturnToHome,
-    TakeGasMeasurement,
+    TakeCO2Measurement,
     TakeImage,
     TakeThermalImage,
     TakeThermalVideo,
@@ -28,7 +28,7 @@ class InspectionTypes(str, Enum):
     video = "Video"
     thermal_video = "ThermalVideo"
     audio = "Audio"
-    gas_measurement = "GasMeasurement"
+    co2_measurement = "CO2Measurement"
 
 
 class TaskType(str, Enum):
@@ -148,8 +148,8 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             target=task_definition.inspection.inspection_target.to_alitra_position(),
             duration=inspection_definition.duration,
         )
-    elif inspection_definition.type == InspectionTypes.gas_measurement:
-        return TakeGasMeasurement(
+    elif inspection_definition.type == InspectionTypes.co2_measurement:
+        return TakeCO2Measurement(
             id=task_definition.id if task_definition.id else uuid4_string(),
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,

{isar-1.28.3 → isar-1.29.0}/src/isar/config/settings.py

@@ -228,6 +228,9 @@ class Settings(BaseSettings):
     TOPIC_ISAR_INSPECTION_RESULT: str = Field(
         default="inspection_result", validate_default=True
     )
+    TOPIC_ISAR_INSPECTION_VALUE: str = Field(
+        default="inspection_value", validate_default=True
+    )
     TOPIC_ISAR_ROBOT_INFO: str = Field(default="robot_info", validate_default=True)
     TOPIC_ISAR_ROBOT_HEARTBEAT: str = Field(
         default="robot_heartbeat", validate_default=True

{isar-1.28.3 → isar-1.29.0}/src/isar/storage/uploader.py

@@ -11,10 +11,17 @@ from dependency_injector.wiring import inject
 from isar.config.settings import settings
 from isar.models.communication.queues.events import Events
 from isar.storage.storage_interface import StorageException, StorageInterface
-from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.inspection.inspection import (
+    Inspection,
+    InspectionBlob,
+    InspectionValue,
+)
 from robot_interface.models.mission.mission import Mission
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
-from robot_interface.telemetry.payloads import InspectionResultPayload
+from robot_interface.telemetry.payloads import (
+    InspectionResultPayload,
+    InspectionValuePayload,
+)
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
 
@@ -22,6 +29,16 @@ from robot_interface.utilities.json_service import EnhancedJSONEncoder
 class UploaderQueueItem:
     inspection: Inspection
     mission: Mission
+
+
+@dataclass
+class ValueItem(UploaderQueueItem):
+    inspection: InspectionValue
+
+
+@dataclass
+class BlobItem(UploaderQueueItem):
+    inspection: InspectionBlob
     storage_handler: StorageInterface
     _retry_count: int
     _next_retry_time: datetime = datetime.now(timezone.utc)
@@ -100,56 +117,116 @@ class Uploader:
                     )
                     continue
 
-                # If new item from thread queue, add one per handler to internal queue:
-                for storage_handler in self.storage_handlers:
-                    new_item: UploaderQueueItem = UploaderQueueItem(
-                        inspection, mission, storage_handler, _retry_count=-1
-                    )
+                new_item: UploaderQueueItem
+                if isinstance(inspection, InspectionValue):
+                    new_item = ValueItem(inspection, mission)
                     self._internal_upload_queue.append(new_item)
+
+                elif isinstance(inspection, InspectionBlob):
+                    # If new item from thread queue, add one per handler to internal queue:
+                    for storage_handler in self.storage_handlers:
+                        new_item = BlobItem(
+                            inspection, mission, storage_handler, _retry_count=-1
+                        )
+                        self._internal_upload_queue.append(new_item)
+                else:
+                    self.logger.warning(
+                        f"Unable to add UploaderQueueItem as its type {type(inspection).__name__} is unsupported"
+                    )
             except Empty:
                 continue
 
-    def _upload(self, upload_item: UploaderQueueItem) -> Union[str, dict]:
+    def _upload(self, item: BlobItem) -> Union[str, dict]:
         inspection_path: Union[str, dict] = ""
         try:
-            inspection_path = upload_item.storage_handler.store(
-                inspection=upload_item.inspection, mission=upload_item.mission
+            inspection_path = item.storage_handler.store(
+                inspection=item.inspection, mission=item.mission
             )
             self.logger.info(
-                f"Storage handler: {type(upload_item.storage_handler).__name__} "
-                f"uploaded inspection {str(upload_item.inspection.id)[:8]}"
+                f"Storage handler: {type(item.storage_handler).__name__} "
+                f"uploaded inspection {str(item.inspection.id)[:8]}"
             )
-            self._internal_upload_queue.remove(upload_item)
+            self._internal_upload_queue.remove(item)
         except StorageException:
-            if upload_item.get_retry_count() < self.max_retry_attempts:
-                upload_item.increment_retry(self.max_wait_time)
+            if item.get_retry_count() < self.max_retry_attempts:
+                item.increment_retry(self.max_wait_time)
                 self.logger.warning(
-                    f"Storage handler: {type(upload_item.storage_handler).__name__} "
+                    f"Storage handler: {type(item.storage_handler).__name__} "
                     f"failed to upload inspection: "
-                    f"{str(upload_item.inspection.id)[:8]}. "
-                    f"Retrying in {upload_item.seconds_until_retry()}s."
+                    f"{str(item.inspection.id)[:8]}. "
+                    f"Retrying in {item.seconds_until_retry()}s."
                 )
             else:
-                self._internal_upload_queue.remove(upload_item)
                 self.logger.error(
-                    f"Storage handler: {type(upload_item.storage_handler).__name__} "
+                    f"Storage handler: {type(item.storage_handler).__name__} "
                     f"exceeded max retries to upload inspection: "
-                    f"{str(upload_item.inspection.id)[:8]}. Aborting upload."
+                    f"{str(item.inspection.id)[:8]}. Aborting upload."
                 )
+                self._internal_upload_queue.remove(item)
         return inspection_path
 
     def _process_upload_queue(self) -> None:
+        def should_upload(_item):
+            if isinstance(_item, ValueItem):
+                return True
+            if _item.is_ready_for_upload():
+                return True
+            return False
+
         ready_items: List[UploaderQueueItem] = [
-            item for item in self._internal_upload_queue if item.is_ready_for_upload()
+            item for item in self._internal_upload_queue if should_upload(item)
         ]
         for item in ready_items:
-            inspection_path = self._upload(item)
-            self._publish_inspection_result(
-                inspection=item.inspection, inspection_path=inspection_path
+            if isinstance(item, ValueItem):
+                self._publish_inspection_value(item.inspection)
+                self.logger.info(
+                    f"Published value for inspection {str(item.inspection.id)[:8]}"
+                )
+                self._internal_upload_queue.remove(item)
+            elif isinstance(item, BlobItem):
+                inspection_path = self._upload(item)
+                self._publish_inspection_result(
+                    inspection=item.inspection, inspection_path=inspection_path
+                )
+            else:
+                self.logger.warning(
+                    f"Unable to process upload item as its type {type(item).__name__} is not supported"
+                )
+
+    def _publish_inspection_value(self, inspection: InspectionValue) -> None:
+        if not self.mqtt_publisher:
+            return
+
+        if not isinstance(inspection, InspectionValue):
+            logging.warning(
+                f"Excpected type InspectionValue but got {type(inspection).__name__} instead"
             )
+            return
+
+        payload: InspectionValuePayload = InspectionValuePayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            inspection_id=inspection.id,
+            installation_code=settings.PLANT_SHORT_NAME,
+            tag_id=inspection.metadata.tag_id,
+            inspection_type=type(inspection).__name__,
+            inspection_description=inspection.metadata.inspection_description,
+            value=inspection.value,
+            unit=inspection.unit,
+            x=inspection.metadata.pose.position.x,
+            y=inspection.metadata.pose.position.y,
+            z=inspection.metadata.pose.position.z,
+            timestamp=inspection.metadata.start_time,
+        )
+        self.mqtt_publisher.publish(
+            topic=settings.TOPIC_ISAR_INSPECTION_VALUE,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
+            qos=1,
+            retain=True,
+        )
 
     def _publish_inspection_result(
-        self, inspection: Inspection, inspection_path: Union[str, dict]
+        self, inspection: InspectionBlob, inspection_path: Union[str, dict]
     ) -> None:
         """Publishes the reference of the inspection result to the MQTT Broker
         along with the analysis type

{isar-1.28.3 → isar-1.29.0}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.28.3
+Version: 1.29.0
 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-1.28.3 → isar-1.29.0}/src/robot_interface/models/inspection/inspection.py

@@ -49,14 +49,22 @@ class GasMeasurementMetadata(InspectionMetadata):
 class Inspection(BaseModel):
     metadata: InspectionMetadata
     id: str = Field(frozen=True)
-    data: Optional[bytes] = Field(default=None, frozen=True)
 
     @staticmethod
     def get_metadata_type() -> Type[InspectionMetadata]:
         return InspectionMetadata
 
 
-class Image(Inspection):
+class InspectionValue(Inspection):
+    value: float = Field(frozen=True)
+    unit: str = Field(frozen=True)
+
+
+class InspectionBlob(Inspection):
+    data: Optional[bytes] = Field(default=None, frozen=True)
+
+
+class Image(InspectionBlob):
     metadata: ImageMetadata
 
     @staticmethod
@@ -64,7 +72,7 @@ class Image(Inspection):
         return ImageMetadata
 
 
-class ThermalImage(Inspection):
+class ThermalImage(InspectionBlob):
     metadata: ThermalImageMetadata
 
     @staticmethod
@@ -72,7 +80,7 @@ class ThermalImage(Inspection):
         return ThermalImageMetadata
 
 
-class Video(Inspection):
+class Video(InspectionBlob):
     metadata: VideoMetadata
 
     @staticmethod
@@ -80,7 +88,7 @@ class Video(Inspection):
         return VideoMetadata
 
 
-class ThermalVideo(Inspection):
+class ThermalVideo(InspectionBlob):
     metadata: ThermalVideoMetadata
 
     @staticmethod
@@ -88,7 +96,7 @@ class ThermalVideo(Inspection):
         return ThermalVideoMetadata
 
 
-class Audio(Inspection):
+class Audio(InspectionBlob):
     metadata: AudioMetadata
 
     @staticmethod
@@ -96,9 +104,13 @@ class Audio(Inspection):
         return AudioMetadata
 
 
-class GasMeasurement(Inspection):
+class GasMeasurement(InspectionValue):
     metadata: GasMeasurementMetadata
 
     @staticmethod
     def get_metadata_type() -> Type[InspectionMetadata]:
         return GasMeasurementMetadata
+
+
+class CO2Measurement(GasMeasurement):
+    pass

{isar-1.28.3 → isar-1.29.0}/src/robot_interface/models/mission/task.py

@@ -7,7 +7,7 @@ from pydantic import BaseModel, Field
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.inspection.inspection import (
     Audio,
-    GasMeasurement,
+    CO2Measurement,
     Image,
     Inspection,
     ThermalImage,
@@ -25,7 +25,7 @@ class TaskTypes(str, Enum):
     TakeThermalImage = "take_thermal_image"
     TakeVideo = "take_video"
     TakeThermalVideo = "take_thermal_video"
-    TakeGasMeasurement = "take_gas_measurement"
+    TakeCO2Measurement = "take_co2_measurement"
     RecordAudio = "record_audio"
 
 
@@ -160,18 +160,16 @@ class RecordAudio(InspectionTask):
         return Audio
 
 
-class TakeGasMeasurement(InspectionTask):
+class TakeCO2Measurement(InspectionTask):
     """
     Task which causes the robot to take a CO2 measurement at its position.
-
-    Duration of audio is given in seconds.
     """
 
-    type: Literal[TaskTypes.TakeGasMeasurement] = TaskTypes.TakeGasMeasurement
+    type: Literal[TaskTypes.TakeCO2Measurement] = TaskTypes.TakeCO2Measurement
 
     @staticmethod
     def get_inspection_type() -> Type[Inspection]:
-        return GasMeasurement
+        return CO2Measurement
 
 
 TASKS = Union[
@@ -181,6 +179,6 @@ TASKS = Union[
     TakeThermalImage,
     TakeVideo,
     TakeThermalVideo,
-    TakeGasMeasurement,
+    TakeCO2Measurement,
     RecordAudio,
 ]

{isar-1.28.3 → isar-1.29.0}/src/robot_interface/robot_interface.py

@@ -6,7 +6,7 @@ from typing import Callable, List, Optional
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import RobotStatus, TaskStatus
-from robot_interface.models.mission.task import InspectionTask, Task
+from robot_interface.models.mission.task import InspectionTask
 from robot_interface.models.robots.media import MediaConfig
 
 
@@ -37,34 +37,6 @@ class RobotInterface(metaclass=ABCMeta):
         """
         raise NotImplementedError
 
-    @abstractmethod
-    def initiate_task(self, task: Task) -> None:
-        """Send a task to the robot and initiate the execution of the task
-
-        Parameters
-        ----------
-        task : Task
-            The task that should be initiated on the robot.
-
-        Returns
-        -------
-        None
-
-        Raises
-        ------
-        RobotInfeasibleTaskException
-            If the task input is infeasible and the task fails to be scheduled in
-            a way that means attempting to schedule again is not necessary
-        RobotException
-            Will catch all RobotExceptions not previously listed and retry scheduling
-            of the task until the number of allowed retries is exceeded before the task
-            will be marked as failed and the mission cancelled
-        NotImplementedError
-            If there is a mismatch between the implemented tasks and listed capabilities
-
-        """
-        raise NotImplementedError
-
     @abstractmethod
     def task_status(self, task_id: str) -> TaskStatus:
         """Gets the status of the currently active task on robot.

{isar-1.28.3 → isar-1.29.0}/src/robot_interface/telemetry/payloads.py

@@ -115,3 +115,20 @@ class InspectionResultPayload:
     inspection_type: Optional[str]
     inspection_description: Optional[str]
     timestamp: datetime
+
+
+@dataclass
+class InspectionValuePayload:
+    isar_id: str
+    robot_name: str
+    inspection_id: str
+    installation_code: str
+    tag_id: Optional[str]
+    inspection_type: Optional[str]
+    inspection_description: Optional[str]
+    value: float
+    unit: str
+    x: float
+    y: float
+    z: float
+    timestamp: datetime

{isar-1.28.3 → isar-1.29.0}/tests/isar/storage/test_uploader.py

@@ -6,7 +6,11 @@ from alitra import Frame, Orientation, Pose, Position
 
 from isar.modules import ApplicationContainer
 from isar.storage.uploader import Uploader
-from robot_interface.models.inspection.inspection import ImageMetadata, Inspection
+from robot_interface.models.inspection.inspection import (
+    ImageMetadata,
+    Inspection,
+    InspectionBlob,
+)
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.task import TakeImage
 from tests.isar.state_machine.test_state_machine import UploaderThreadMock
@@ -33,7 +37,7 @@ def test_should_upload_from_queue(
     mission: Mission = Mission(name="Dummy misson", tasks=[take_image_task])
 
     assert isinstance(mission.tasks[0], TakeImage)
-    inspection = Inspection(
+    inspection = InspectionBlob(
         metadata=ARBITRARY_IMAGE_METADATA, id=mission.tasks[0].inspection_id
     )
 
@@ -57,7 +61,7 @@ def test_should_retry_failed_upload_from_queue(
     uploader_thread.start()
 
     INSPECTION_ID = "123-456"
-    inspection = Inspection(metadata=ARBITRARY_IMAGE_METADATA, id=INSPECTION_ID)
+    inspection = InspectionBlob(metadata=ARBITRARY_IMAGE_METADATA, id=INSPECTION_ID)
     mission: Mission = Mission(name="Dummy Mission")
 
     message: Tuple[Inspection, Mission] = (