isar 1.29.0__tar.gz → 1.30.1__tar.gz

{isar-1.29.0 → isar-1.30.1}/PKG-INFO

@@ -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 → isar-1.30.1}/src/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-1.29.0 → isar-1.30.1}/src/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-1.29.0 → isar-1.30.1}/src/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-1.29.0 → isar-1.30.1}/src/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-1.29.0 → isar-1.30.1}/src/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-1.29.0 → isar-1.30.1}/src/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 → isar-1.30.1}/src/isar.egg-info/PKG-INFO

@@ -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 → isar-1.30.1}/src/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)

{isar-1.29.0 → isar-1.30.1}/tests/isar/apis/scheduler/test_scheduler_router.py

@@ -179,7 +179,7 @@ class TestStartMission:
         assert re.match(
             "Bad Request - Robot is not capable of performing mission.", response_detail
         )
-        assert re.search("return_to_home", response_detail)
+        assert re.search("take_thermal_image", response_detail)
         assert re.search("take_image", response_detail)
 
 

{isar-1.29.0 → isar-1.30.1}/tests/isar/storage/test_blob_storage.py

@@ -7,11 +7,12 @@ from robot_interface.models.inspection.inspection import ImageMetadata
 MISSION_ID = "some-mission-id"
 ARBITRARY_IMAGE_METADATA = ImageMetadata(
     start_time=datetime.now(),
-    pose=Pose(
+    robot_pose=Pose(
         Position(0, 0, 0, Frame("asset")),
         Orientation(0, 0, 0, 1, Frame("asset")),
         Frame("asset"),
     ),
+    target_position=Position(0, 0, 0, Frame("asset")),
     file_type="jpg",
 )
 DATA_BYTES: bytes = b"Lets say this is some image data"

{isar-1.29.0 → isar-1.30.1}/tests/isar/storage/test_uploader.py

@@ -19,11 +19,12 @@ from tests.mocks.blob_storage import StorageMock
 MISSION_ID = "some-mission-id"
 ARBITRARY_IMAGE_METADATA = ImageMetadata(
     start_time=datetime.now(),
-    pose=Pose(
+    robot_pose=Pose(
         Position(0, 0, 0, Frame("asset")),
         Orientation(x=0, y=0, z=0, w=1, frame=Frame("asset")),
         Frame("asset"),
     ),
+    target_position=Position(0, 0, 0, Frame("asset")),
     file_type="jpg",
 )
 

{isar-1.29.0 → isar-1.30.1}/tests/mocks/robot_interface.py

@@ -16,7 +16,7 @@ from robot_interface.models.inspection.inspection import (
 )
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import MissionStatus, 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, MediaConnectionType
 from robot_interface.robot_interface import RobotInterface
 
@@ -43,9 +43,6 @@ class MockRobot(RobotInterface):
     def initiate_mission(self, mission: Mission) -> None:
         return
 
-    def initiate_task(self, task: Task) -> None:
-        return
-
     def task_status(self, task_id: str) -> TaskStatus:
         return self.task_status_return_value
 
@@ -92,11 +89,12 @@ class MockRobot(RobotInterface):
 def mock_image_metadata() -> ImageMetadata:
     return ImageMetadata(
         start_time=datetime.now(),
-        pose=Pose(
+        robot_pose=Pose(
             Position(0, 0, 0, Frame("robot")),
             Orientation(0, 0, 0, 1, Frame("robot")),
             Frame("robot"),
         ),
+        target_position=Position(0, 0, 0, Frame("robot")),
         file_type="jpg",
     )