isar 1.29.0__py3-none-any.whl → 1.30.0__py3-none-any.whl

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

@@ -213,9 +213,9 @@ class Uploader:
             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,
+            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(

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-1.29.0.dist-info → isar-1.30.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.29.0
+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-1.29.0.dist-info → isar-1.30.0.dist-info}/RECORD

@@ -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=TS_O0p-zlHk4DZyotNjygxxU5JvKuzoi4VIYbU7faT4,9505
-isar/storage/utilities.py,sha256=TcNYyF4nj7egEzBvYblr3IWFXLeqlXS6V7DQxgxNzj0,3340
-isar-1.29.0.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
@@ -112,7 +112,7 @@ 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=tDqSi_x-vq5nwN0SVLXRRjKbfSbm7Y5DTHxjhuX8tOA,2474
+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
@@ -127,8 +127,8 @@ robot_interface/telemetry/payloads.py,sha256=78EVedDyRhYIquwXWdwjhA3RntMboCcuPWE
 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-1.29.0.dist-info/METADATA,sha256=Gl_4L-DbxpGB4jw-U8hDzhL7ksj3HyjiQca5Hl-rRwQ,30709
-isar-1.29.0.dist-info/WHEEL,sha256=zaaOINJESkSfm_4HQVc5ssNzHCPXhJm0kEUakpsEHaU,91
-isar-1.29.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.29.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.29.0.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)