isar 1.28.4__py3-none-any.whl → 1.30.0__py3-none-any.whl

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/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/storage/slimm_storage.py

@@ -102,7 +102,7 @@ class SlimmStorage(StorageInterface):
         filename: str, inspection: Inspection, mission: Mission
     ) -> MultipartEncoder:
         array_of_orientation = (
-            inspection.metadata.pose.orientation.to_quat_array().tolist()
+            inspection.metadata.robot_pose.orientation.to_quat_array().tolist()
         )
         multiform_body: MultipartEncoder = MultipartEncoder(
             fields={
@@ -118,9 +118,9 @@ class SlimmStorage(StorageInterface):
                 "Mission.MissionId": mission.id,
                 "Mission.Client": "Equinor",
                 "ImageMetadata.Timestamp": inspection.metadata.start_time.isoformat(),  # noqa: E501
-                "ImageMetadata.X": str(inspection.metadata.pose.position.x),
-                "ImageMetadata.Y": str(inspection.metadata.pose.position.y),
-                "ImageMetadata.Z": str(inspection.metadata.pose.position.z),
+                "ImageMetadata.X": str(inspection.metadata.robot_pose.position.x),
+                "ImageMetadata.Y": str(inspection.metadata.robot_pose.position.y),
+                "ImageMetadata.Z": str(inspection.metadata.robot_pose.position.z),
                 "ImageMetadata.CameraOrientation1": str(array_of_orientation[0]),
                 "ImageMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "ImageMetadata.CameraOrientation3": str(array_of_orientation[2]),
@@ -148,7 +148,7 @@ class SlimmStorage(StorageInterface):
         mission: Mission,
     ) -> MultipartEncoder:
         array_of_orientation = (
-            inspection.metadata.pose.orientation.to_quat_array().tolist()
+            inspection.metadata.robot_pose.orientation.to_quat_array().tolist()
         )
         multiform_body: MultipartEncoder = MultipartEncoder(
             fields={
@@ -166,9 +166,9 @@ class SlimmStorage(StorageInterface):
                 "VideoMetadata.Timestamp": inspection.metadata.start_time.isoformat(),  # noqa: E501
                 # Converting to int because SLIMM expects an int, while we use floats in operations.
                 "VideoMetadata.Duration": str(int(inspection.metadata.duration)),  # type: ignore
-                "VideoMetadata.X": str(inspection.metadata.pose.position.x),
-                "VideoMetadata.Y": str(inspection.metadata.pose.position.y),
-                "VideoMetadata.Z": str(inspection.metadata.pose.position.z),
+                "VideoMetadata.X": str(inspection.metadata.robot_pose.position.x),
+                "VideoMetadata.Y": str(inspection.metadata.robot_pose.position.y),
+                "VideoMetadata.Z": str(inspection.metadata.robot_pose.position.z),
                 "VideoMetadata.CameraOrientation1": str(array_of_orientation[0]),
                 "VideoMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "VideoMetadata.CameraOrientation3": str(array_of_orientation[2]),

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.robot_pose.position.x,
+            y=inspection.metadata.robot_pose.position.y,
+            z=inspection.metadata.robot_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/storage/utilities.py

@@ -41,23 +41,26 @@ def construct_metadata_file(
             "isar_id": settings.ISAR_ID,
             "robot_name": settings.ROBOT_NAME,
             "inspection_description": inspection.metadata.inspection_description,
+            "tag": inspection.metadata.tag_id,
+            "robot_pose": {
+                "position": {
+                    "x": inspection.metadata.robot_pose.position.x,
+                    "y": inspection.metadata.robot_pose.position.y,
+                    "z": inspection.metadata.robot_pose.position.z,
+                },
+                "orientation": inspection.metadata.robot_pose.orientation.to_quat_array(),
+            },
+            "target_position": {
+                "x": inspection.metadata.target_position.x,
+                "y": inspection.metadata.target_position.y,
+                "z": inspection.metadata.target_position.z,
+            },
+            "timestamp": inspection.metadata.start_time,
         },
-        "data": [
+        "data_files": [
             {
                 "folder": f"/{get_foldername(mission=mission)}",
-                "files": [
-                    {
-                        "file_name": filename,
-                        "timestamp": inspection.metadata.start_time,
-                        "x": inspection.metadata.pose.position.x,
-                        "y": inspection.metadata.pose.position.y,
-                        "z": inspection.metadata.pose.position.z,
-                        "tag": inspection.metadata.tag_id,
-                        "additional_media_metadata": {
-                            "orientation": inspection.metadata.pose.orientation.to_quat_array()  # noqa: E501
-                        },
-                    }
-                ],
+                "file_name": filename,
             }
         ],
     }

{isar-1.28.4.dist-info → isar-1.30.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.28.4
+Version: 1.30.0
 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-1.28.4.dist-info → isar-1.30.0.dist-info}/RECORD

@@ -5,7 +5,7 @@ isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/api.py,sha256=1-RmRH7NReCpOo_NSwP5hS2lDQm6_Dx2ZWe2460GhJY,13770
 isar/apis/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/models/models.py,sha256=HzLaWhjAv0uJRBWipIgYg_F75eaQ5jl9Pi4UnYbDJ-M,1749
-isar/apis/models/start_mission_definition.py,sha256=5Ri4rW0iu8_PffMYaNCj-epVIKyg7TMttkos8UaUCLc,6152
+isar/apis/models/start_mission_definition.py,sha256=S87i_vrgXTY1nTMTiXMJAnx_q5uVxuiRNcrQrAYWKeo,6152
 isar/apis/robot_control/robot_controller.py,sha256=7EVukShJDhYez12wYeGWZXH-BrfQ4Wu2so0-fSWN2Zo,1277
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/schedule/scheduling_controller.py,sha256=ggoWjYKxgMwJ5trs8gsU8SGj6CQlmb7Ee1SjRg7hSTw,9671
@@ -16,7 +16,7 @@ isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5
 isar/config/log.py,sha256=SzEWbzXU1DpN7YONIRT8k0zBOGm_qVkXlJuuZtb8STc,2300
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
 isar/config/settings.env,sha256=cLIlcXTM8x0N-6XjXmC0Qclx5dfDC6myqa25tvVwmRw,500
-isar/config/settings.py,sha256=Scr9clvqarBGzLceAcjPivBMAZ3GGPuaV5OB3J6B5_s,12966
+isar/config/settings.py,sha256=pXRWjvnLIlOJIXlYVJq16AqZPjotkTH7-y6dVj3cQew,13076
 isar/config/certs/ca-cert.pem,sha256=qoNljfad_qcMxhXJIUMLd7nT-Qwf_d4dYSdoOFEOE8I,2179
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
@@ -99,11 +99,11 @@ isar/state_machine/transitions/functions/utils.py,sha256=Wa72Ocq4QT1E6qkpEJZQ3h5
 isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/storage/blob_storage.py,sha256=Qci6bO508nlTHKPuPtVU5QcvGA4T7mv8cFrKWRcfw4g,3226
 isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY,1855
-isar/storage/slimm_storage.py,sha256=4YsQ1RBztfx6n3pEblwb5G3ndoQN_IZm7bujRktpTx4,8748
+isar/storage/slimm_storage.py,sha256=DwrryuiddMf5eRmjt3Di0f1GuoTG2faQTfRh378GHu0,8796
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
-isar/storage/uploader.py,sha256=XoNnDS7_ILRZMGnQCBpRERmgSbFYPfgKRYk1tNHSFxQ,6868
-isar/storage/utilities.py,sha256=TcNYyF4nj7egEzBvYblr3IWFXLeqlXS6V7DQxgxNzj0,3340
-isar-1.28.4.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar/storage/uploader.py,sha256=HAC3ssuPQCQ1xH4aTQfHIaq-ZoEzKwONWmsAOpNXOzw,9523
+isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
+isar-1.30.0.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/robot_interface.py,sha256=9I6c_7Qi8lOwb8M96p12iX2KwrRhcAXz1Ug_tnBEKcU,7821
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
@@ -112,23 +112,23 @@ robot_interface/models/exceptions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeR
 robot_interface/models/exceptions/robot_exceptions.py,sha256=VrsWPf4g0qN5sJRKhc3ER_Wt5drK0MZRuECU-csIlDA,10026
 robot_interface/models/initialize/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/inspection/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/models/inspection/inspection.py,sha256=AKyca_j2TMQSF-LEjU1_obZTpFS03e8xSH9qWqVVmg4,2254
+robot_interface/models/inspection/inspection.py,sha256=2T8czQcNt9J1M96tKGQA6P3s5CikdZ7-0RevXQ4-CfA,2520
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/mission/mission.py,sha256=MQ9p5cuclLXexaZu9bkDh5-aN99eunvYC0vP-Z_kUwI,960
 robot_interface/models/mission/status.py,sha256=UOCARLfLxLFXJEjfIH7aXYXO7xajOKBJsxz-Wd6gZQ4,740
-robot_interface/models/mission/task.py,sha256=tEvgq15lcRA0AHHtQGNe-GWc_e-V5BlDsA4IYJ1djN0,4864
+robot_interface/models/mission/task.py,sha256=7g4Xu-2yn3A7JVqrqg-XHHIX1uwYuIrRB00GrOchjio,4820
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/robots/battery_state.py,sha256=ktOtJ8ltdK0k_i7BoqYfhc5dbOzIG6Oo-uWC67fCWio,98
 robot_interface/models/robots/media.py,sha256=8A-CuuubfngzPprs6zWB9hSaqe3jzgsE8rcCzRX2Uto,227
 robot_interface/models/robots/robot_model.py,sha256=-0jNKWPcEgtF_2klb1It3u0SCoAR0hSW9nce58Zq0Co,417
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/telemetry/mqtt_client.py,sha256=ueXdtIFNCwciTj4spvdJj9emd-IOmUuJjpsXQSSWZPY,2987
-robot_interface/telemetry/payloads.py,sha256=75hR-FYwmcbQVqorLzaStOrx_6DI3_CTxFpNIe2xFUc,2394
+robot_interface/telemetry/payloads.py,sha256=78EVedDyRhYIquwXWdwjhA3RntMboCcuPWE7TI_gDf0,2721
 robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/utilities/json_service.py,sha256=qkzVkb60Gi_pto-b5n1vNzCrQze2yqgIJqSLNLYj1Fg,1034
 robot_interface/utilities/uuid_string_factory.py,sha256=_NQIbBQ56w0qqO0MUDP6aPpHbxW7ATRhK8HnQiBSLkc,76
-isar-1.28.4.dist-info/METADATA,sha256=o2dqDYzeonSya0kYVlQ0llx9ZZlRoWJ0CgkHtOo83Es,30709
-isar-1.28.4.dist-info/WHEEL,sha256=zaaOINJESkSfm_4HQVc5ssNzHCPXhJm0kEUakpsEHaU,91
-isar-1.28.4.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.28.4.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.28.4.dist-info/RECORD,,
+isar-1.30.0.dist-info/METADATA,sha256=Kj9vQrIn0f8Ykkq6J9BSOfnvbKnPk2lI8aRDi6YnVuo,30709
+isar-1.30.0.dist-info/WHEEL,sha256=zaaOINJESkSfm_4HQVc5ssNzHCPXhJm0kEUakpsEHaU,91
+isar-1.30.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.30.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.30.0.dist-info/RECORD,,

robot_interface/models/inspection/inspection.py

@@ -3,14 +3,15 @@ from dataclasses import dataclass, field
 from datetime import datetime
 from typing import Optional, Type
 
-from alitra import Pose
+from alitra import Pose, Position
 from pydantic import BaseModel, Field
 
 
 @dataclass
 class InspectionMetadata(ABC):
     start_time: datetime
-    pose: Pose
+    robot_pose: Pose
+    target_position: Position
     file_type: str
     tag_id: Optional[str] = field(default=None, init=False)
     inspection_description: Optional[str] = field(default=None, init=False)
@@ -49,14 +50,22 @@ 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 +73,7 @@ class Image(Inspection):
         return ImageMetadata
 
 
-class ThermalImage(Inspection):
+class ThermalImage(InspectionBlob):
     metadata: ThermalImageMetadata
 
     @staticmethod
@@ -72,7 +81,7 @@ class ThermalImage(Inspection):
         return ThermalImageMetadata
 
 
-class Video(Inspection):
+class Video(InspectionBlob):
     metadata: VideoMetadata
 
     @staticmethod
@@ -80,7 +89,7 @@ class Video(Inspection):
         return VideoMetadata
 
 
-class ThermalVideo(Inspection):
+class ThermalVideo(InspectionBlob):
     metadata: ThermalVideoMetadata
 
     @staticmethod
@@ -88,7 +97,7 @@ class ThermalVideo(Inspection):
         return ThermalVideoMetadata
 
 
-class Audio(Inspection):
+class Audio(InspectionBlob):
     metadata: AudioMetadata
 
     @staticmethod
@@ -96,9 +105,13 @@ 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

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,
 ]

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