isar 1.29.0__py3-none-any.whl → 1.30.1__py3-none-any.whl

isar/config/predefined_missions/default.json

@@ -9,22 +9,30 @@
           "x": -2,
           "y": -2,
           "z": 0,
-          "frame": {"name": "asset"}
+          "frame": {
+            "name": "asset"
+          }
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": {"name": "asset"}
+          "frame": {
+            "name": "asset"
+          }
         },
-        "frame": {"name": "asset"}
+        "frame": {
+          "name": "asset"
+        }
       },
       "target": {
         "x": 2,
         "y": 2,
         "z": 0,
-        "frame": {"name": "asset"}
+        "frame": {
+          "name": "asset"
+        }
       }
     },
     {
@@ -34,41 +42,30 @@
           "x": -2,
           "y": 2,
           "z": 0,
-          "frame": {"name": "asset"}
+          "frame": {
+            "name": "asset"
+          }
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": {"name": "asset"}
+          "frame": {
+            "name": "asset"
+          }
         },
-        "frame": {"name": "asset"}
+        "frame": {
+          "name": "asset"
+        }
       },
       "target": {
         "x": 2,
         "y": 2,
         "z": 0,
-        "frame": {"name": "asset"}
-      }
-    },
-    {
-      "type": "return_to_home",
-      "pose": {
-        "position": {
-          "x": 2,
-          "y": 2,
-          "z": 0,
-          "frame": {"name": "asset"}
-        },
-        "orientation": {
-          "x": 0,
-          "y": 0,
-          "z": 0.4794255,
-          "w": 0.8775826,
-          "frame": {"name": "asset"}
-        },
-        "frame": {"name": "asset"}
+        "frame": {
+          "name": "asset"
+        }
       }
     }
   ]

isar/config/settings.py

@@ -284,6 +284,7 @@ class Settings(BaseSettings):
         "TOPIC_ISAR_ROBOT_INFO",
         "TOPIC_ISAR_ROBOT_HEARTBEAT",
         "TOPIC_ISAR_INSPECTION_RESULT",
+        "TOPIC_ISAR_INSPECTION_VALUE",
     )
     @classmethod
     def prefix_isar_topics(cls, v: Any, info: ValidationInfo):

isar/state_machine/transitions/functions/start_mission.py

@@ -18,10 +18,11 @@ def put_start_mission_on_queue(state_machine: "StateMachine") -> bool:
 
 def initiate_mission(state_machine: "StateMachine") -> bool:
     state_machine.logger.info(
-        f"Initialization successful. Starting new mission: "
-        f"{state_machine.current_mission.id}"
+        "Initialization successful. Starting new mission:\n"
+        f"  Mission ID: {state_machine.current_mission.id}\n"
+        f"  Mission Name: {state_machine.current_mission.name}\n"
+        f"  Number of Tasks: {len(state_machine.current_mission.tasks)}"
     )
-    state_machine.log_mission_overview(mission=state_machine.current_mission)
 
     state_machine.current_mission.status = MissionStatus.InProgress
     state_machine.publish_mission_status()

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-1.30.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.29.0
+Version: 1.30.1
 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-1.29.0.dist-info → isar-1.30.1.dist-info}/RECORD

@@ -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=pXRWjvnLIlOJIXlYVJq16AqZPjotkTH7-y6dVj3cQew,13076
+isar/config/settings.py,sha256=IM1T8rIo7DaOvLRlrgtftgdJ0cGohn52ByP-ZRD3AB8,13115
 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
@@ -33,7 +33,7 @@ isar/config/predefined_mission_definition/default_exr.json,sha256=diSi4KMnGQY01Z
 isar/config/predefined_mission_definition/default_mission.json,sha256=NAspX-kTaHh9VygJGrytJGNjebEIPbiTnWHhj7qt9rk,2722
 isar/config/predefined_mission_definition/default_turtlebot.json,sha256=20ee7q1EIx7bIIojMucSwdBafuCG5sewbMQn9gJuPEo,3704
 isar/config/predefined_missions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/config/predefined_missions/default.json,sha256=EDMfPQi2D_517jlfeU2BBFySkbvhYG7uEK6cbiK7DRM,1464
+isar/config/predefined_missions/default.json,sha256=NWo9y5noPmpjlNUxLnZK95Sz7DIEaUR-ISYlw3MP8i0,1251
 isar/config/predefined_missions/default_turtlebot.json,sha256=8Vk1_0P0BBsG0vwh4vwIYINiiWioErHZ0Ppjq3ctaPM,2143
 isar/mission_planner/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/mission_planner/local_planner.py,sha256=6JxAR_V2JB-pVzZ8xajRa1tlKO3d3x-5oe-5NodgkvU,2579
@@ -93,17 +93,17 @@ isar/state_machine/transitions/functions/pause.py,sha256=aoDkq2nV6wBY0YQX3KbjvBR
 isar/state_machine/transitions/functions/resume.py,sha256=9KQjH_6YBGyxFhb7G5dgDe3WH0xHawhEIw6yTVEm9os,998
 isar/state_machine/transitions/functions/return_home.py,sha256=UlniwYvpz74hxqgN0TyVv3LCmiMsqsosKEtEGLqkNj0,1139
 isar/state_machine/transitions/functions/robot_status.py,sha256=xhKZ5u_X8uDvnhvGnAIABuKaPXeVqFjkgj4H2Om-j_A,1013
-isar/state_machine/transitions/functions/start_mission.py,sha256=w8UDiq9pOHu-ei61ng6rWGjfrh6nk_qSokEVdzBHwzY,2516
+isar/state_machine/transitions/functions/start_mission.py,sha256=NXFLEWZ5ZbsulbIQVgDz2mRUOULP3mfpgSheiw4LSYw,2593
 isar/state_machine/transitions/functions/stop.py,sha256=aIj3EPnpgNLdsJwOK1ehhI1TpenQa9JjBxZH0Nm6dLg,1649
 isar/state_machine/transitions/functions/utils.py,sha256=Wa72Ocq4QT1E6qkpEJZQ3h5o33pGvx7Tlkt2JZ2Grbk,314
 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-1.30.1.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-1.30.1.dist-info/METADATA,sha256=xUgD7-Nd_NsYwXuICFQcwldiAqSfrw8cMwJ3-hLQpb4,30709
+isar-1.30.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.30.1.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.30.1.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.30.1.dist-info/RECORD,,

{isar-1.29.0.dist-info → isar-1.30.1.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.8.0)
+Generator: setuptools (80.9.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

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)