isar 1.30.0__py3-none-any.whl → 1.30.2__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

@@ -12,15 +12,6 @@ from robot_interface.telemetry.payloads import DocumentInfo
 
 
 class Settings(BaseSettings):
-    def __init__(self) -> None:
-        try:
-            source = files("isar").joinpath("config").joinpath("settings.env")
-            with as_file(source) as eml:
-                env_file = eml
-        except ModuleNotFoundError:
-            env_file = None
-        super().__init__(_env_file=env_file)
-
     # Determines which robot package ISAR will attempt to import
     # Name must match with an installed python package in the local environment
     ROBOT_PACKAGE: str = Field(default="isar_robot")
@@ -98,7 +89,6 @@ class Settings(BaseSettings):
     # Selecting a different storage module than local may require certain access rights
     STORAGE_LOCAL_ENABLED: bool = Field(default=True)
     STORAGE_BLOB_ENABLED: bool = Field(default=False)
-    STORAGE_SLIMM_ENABLED: bool = Field(default=False)
 
     # Determines whether the MQTT publishing module should be enabled or not
     # The publishing module will attempt to connect to the MQTT broker configured in
@@ -153,21 +143,6 @@ class Settings(BaseSettings):
     # Name of blob container in Azure Blob Storage [slimm test]
     BLOB_CONTAINER: str = Field(default="test")
 
-    # Client ID for SLIMM App Registration
-    SLIMM_CLIENT_ID: str = Field(default="c630ca4d-d8d6-45ab-8cc6-68a363d0de9e")
-
-    # Scope for access to SLIMM Ingestion API
-    SLIMM_APP_SCOPE: str = Field(default=".default")
-
-    # URL for SLIMM endpoint
-    SLIMM_API_URL: str = Field(
-        default="https://scinspectioningestapitest.azurewebsites.net/Ingest"
-    )
-
-    # Whether the results should be copied directly into the SLIMM datalake or only the
-    # metadata
-    COPY_FILES_TO_SLIMM_DATALAKE: bool = Field(default=False)
-
     # The configuration of this section is tightly coupled with the metadata that is
     # submitted with the results once they have been uploaded.
 
@@ -284,6 +259,7 @@ 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):
@@ -297,7 +273,12 @@ class Settings(BaseSettings):
     )
 
 
-load_dotenv()
+env = os.environ.get("ISAR_ENV")
+
+if env == "test":
+    load_dotenv(".env.test", override=True)
+else:
+    load_dotenv()
 settings = Settings()
 
 

isar/modules.py

@@ -14,13 +14,11 @@ from isar.mission_planner.sequential_task_selector import SequentialTaskSelector
 from isar.mission_planner.task_selector_interface import TaskSelectorInterface
 from isar.models.communication.queues.events import Events, SharedState
 from isar.robot.robot import Robot
-from isar.services.service_connections.request_handler import RequestHandler
 from isar.services.utilities.robot_utilities import RobotUtilities
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.state_machine import StateMachine
 from isar.storage.blob_storage import BlobStorage
 from isar.storage.local_storage import LocalStorage
-from isar.storage.slimm_storage import SlimmStorage
 from isar.storage.uploader import Uploader
 from robot_interface.telemetry.mqtt_client import MqttPublisher
 
@@ -77,11 +75,6 @@ class ApplicationContainer(containers.DeclarativeContainer):
     if settings.STORAGE_BLOB_ENABLED:
         blob_storage = providers.Singleton(BlobStorage, keyvault=keyvault)
         storage_handlers_temp.append(blob_storage)
-    if settings.STORAGE_SLIMM_ENABLED:
-        slimm_storage = providers.Singleton(
-            SlimmStorage, request_handler=providers.Singleton(RequestHandler)
-        )
-        storage_handlers_temp.append(slimm_storage)
     storage_handlers = providers.List(*storage_handlers_temp)
 
     # Mqtt client

isar/robot/robot_start_mission.py

@@ -48,7 +48,7 @@ class RobotStartMissionThread(Thread):
                     )
 
                     if retries >= settings.INITIATE_FAILURE_COUNTER_LIMIT:
-                        error_description = (
+                        self.logger.error(
                             f"Mission will be cancelled after failing to initiate "
                             f"{settings.INITIATE_FAILURE_COUNTER_LIMIT} times because: "
                             f"{e.error_description}"
@@ -58,7 +58,7 @@ class RobotStartMissionThread(Thread):
                             self.robot_service_events.mission_failed,
                             ErrorMessage(
                                 error_reason=e.error_reason,
-                                error_description=error_description,
+                                error_description=e.error_description,
                             ),
                         )
                         break

isar/script.py

@@ -68,7 +68,6 @@ def print_startup_info():
     print_setting("Mission planner", settings.MISSION_PLANNER)
     print_setting("Using local storage", settings.STORAGE_LOCAL_ENABLED)
     print_setting("Using blob storage", settings.STORAGE_BLOB_ENABLED)
-    print_setting("Using SLIMM storage", settings.STORAGE_SLIMM_ENABLED)
     print_setting("Using async inspection uploading", settings.UPLOAD_INSPECTIONS_ASYNC)
     print_setting("Plant code", settings.PLANT_CODE)
     print_setting("Plant name", settings.PLANT_NAME)

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-1.30.0.dist-info → isar-1.30.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.30.0
+Version: 1.30.2
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -132,7 +132,6 @@ Requires-Dist: isort; extra == "dev"
 Requires-Dist: mypy; extra == "dev"
 Requires-Dist: pip-tools; extra == "dev"
 Requires-Dist: pre-commit; extra == "dev"
-Requires-Dist: pytest-dotenv; extra == "dev"
 Requires-Dist: pytest-mock; extra == "dev"
 Requires-Dist: pytest-xdist; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
@@ -236,7 +235,7 @@ ISAR_DEFAULT_MAP = turtleworld
 To run ISAR:
 
 ```bash
-python main.py
+isar-start
 ```
 
 Note, running the full system requires that an implementation of a robot has been installed. See
@@ -281,6 +280,20 @@ There are two methods of specifying configuration.
    By adding environment variables with the prefix `ISAR_` to the [settings.env](./src/isar/config/settings.env) file
    the configuration variables will be overwritten by the values in this file.
 
+### Setup for testing
+To be able to execute the tests you need to set the `ISAR_ENV` environment variable beforehand. Depending on your operating system and the command line you are using you can use one of the following commands:
+
+**Bash/Zsh**
+```bash
+export ISAR_ENV=test
+```
+**Windows Command prompt**
+```cmd
+set ISAR_ENV=test
+```
+
+Remember to set `ISAR_ENV` back to `None` when you want to run `isar-start` afterwards.
+
 ### Running tests
 
 After following the steps in [Development](#install), you can run the tests:
@@ -375,10 +388,10 @@ overriding the configuration through an environment variable. It accepts a json
 in the list to retrieve the corresponding handler. The current options are
 
 ```
-ISAR_STORAGE = '["local", "blob", "slimm"]'
+ISAR_STORAGE = '["local", "blob"]'
 ```
 
-Note that the `blob` and `slimm` options require special configuration to authenticate to these endpoints.
+Note that the `blob` option requires special configuration to authenticate to these endpoints.
 
 ### Implement your own storage module
 

{isar-1.30.0.dist-info → isar-1.30.2.dist-info}/RECORD

@@ -1,6 +1,6 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
-isar/modules.py,sha256=CO3Ikr3evmlNk7-EXfcdafATxaXVtSd-I1Dzr3uHpts,5095
-isar/script.py,sha256=VOI4nSEObDj53cSAFfzVBFDMwbu20uOsUZLZYyDZfBE,6083
+isar/modules.py,sha256=73cB5KgYUURsNR2bps1aVUXNY7gv6HHQyZ3qwnFpbJA,4742
+isar/script.py,sha256=mcZGMkIbUKkdLY5CwQOO16HSLlNJZRFaozAppmTMfTQ,6010
 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
@@ -15,8 +15,7 @@ isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5ATfKc,46
 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=IYnL8aMOIlEIKzVMtJVFM1LlNlNdmW-VxiEEvvnhcqk,12324
 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 +32,7 @@ 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
@@ -51,7 +50,7 @@ isar/models/communication/queues/queue_utils.py,sha256=wg6bIR3NS35Ek9hnGR5eN8z6i
 isar/models/communication/queues/status_queue.py,sha256=on8kvlNsG6MJjEVsyqtBswIpmOdOggQiKr7F5x0T3jw,514
 isar/models/mission_metadata/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/robot/robot.py,sha256=h-Z_1xCACekHvaj-vPJAhdzixSlcW4zMpe9__ui0zv8,5490
-isar/robot/robot_start_mission.py,sha256=QcNtGwM8ukf6iL3830AwAnBszmVDSgYe2J_xaFYLP0g,2860
+isar/robot/robot_start_mission.py,sha256=jTTTAA_S3fIdzN57BsfVm_kgDzZZNMCn9UY5MkEncu8,2859
 isar/robot/robot_status.py,sha256=j5fGq5FzpEscmqUL6i8jRWCZEJ56b2g_DUpAgWpE1YI,1935
 isar/robot/robot_stop_mission.py,sha256=jUyfemvbyigxrlIp9aKPn-PvarhagJEgajQPS_LgJ7g,2442
 isar/robot/robot_task_status.py,sha256=71SYPnoqaFbTe1bELLTvAUigAJ-McpomC2sjYQNQs_A,3290
@@ -93,17 +92,16 @@ 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=DwrryuiddMf5eRmjt3Di0f1GuoTG2faQTfRh378GHu0,8796
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
 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
+isar-1.30.2.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
@@ -127,8 +125,8 @@ 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-1.30.0.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,,
+isar-1.30.2.dist-info/METADATA,sha256=olWUSdkBtmv0INgMAqJYIS3IB7VzBdCMQ96SH3Z8lZ4,31063
+isar-1.30.2.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.30.2.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.30.2.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.30.2.dist-info/RECORD,,

{isar-1.30.0.dist-info → isar-1.30.2.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
 

isar/config/settings.env

@@ -1,23 +0,0 @@
-ISAR_ROBOT_PACKAGE = isar_robot
-
-ISAR_STORAGE_LOCAL_ENABLED = true
-ISAR_STORAGE_BLOB_ENABLED = false
-ISAR_STORAGE_SLIMM_ENABLED = false
-
-ISAR_LOG_HANDLER_LOCAL_ENABLED = true
-ISAR_LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED = false
-
-ISAR_MQTT_ENABLED = true
-ISAR_MQTT_SSL_ENABLED = true
-
-ISAR_AUTHENTICATION_ENABLED = true
-
-ISAR_PLANT_SHORT_NAME = HUA
-
-ISAR_API_HOST_VIEWED_EXTERNALLY = 0.0.0.0
-
-ISAR_MQTT_USERNAME = isar
-ISAR_MQTT_HOST = localhost
-ISAR_MQTT_PORT = 1883
-
-ISAR_KEYVAULT_NAME = IsarDevKv

isar/storage/slimm_storage.py

@@ -1,190 +0,0 @@
-import json
-import logging
-
-from azure.identity import DefaultAzureCredential
-from dependency_injector.wiring import inject
-from requests import HTTPError, RequestException
-from requests_toolbelt import MultipartEncoder
-
-from isar.config.settings import settings
-from isar.services.auth.azure_credentials import AzureCredentials
-from isar.services.service_connections.request_handler import RequestHandler
-from isar.storage.storage_interface import StorageException, StorageInterface
-from isar.storage.utilities import get_filename
-from robot_interface.models.inspection.inspection import Inspection, ThermalVideo, Video
-from robot_interface.models.mission.mission import Mission
-
-
-class SlimmStorage(StorageInterface):
-    @inject
-    def __init__(self, request_handler: RequestHandler) -> None:
-        self.request_handler: RequestHandler = request_handler
-        self.logger = logging.getLogger("uploader")
-
-        self.credentials: DefaultAzureCredential = (
-            AzureCredentials.get_azure_credentials()
-        )
-
-        client_id: str = settings.SLIMM_CLIENT_ID
-        scope: str = settings.SLIMM_APP_SCOPE
-        self.request_scope: str = f"{client_id}/{scope}"
-
-        self.url: str = settings.SLIMM_API_URL
-
-    def store(self, inspection: Inspection, mission: Mission) -> str:
-        filename: str = get_filename(
-            inspection=inspection,
-        )
-        filename = f"{filename}.{inspection.metadata.file_type}"
-        if type(inspection) in [Video, ThermalVideo]:
-            inspection_path = self._store_video(filename, inspection, mission)
-        else:
-            inspection_path = self._store_image(filename, inspection, mission)
-        return inspection_path
-
-    def _store_image(
-        self, filename: str, inspection: Inspection, mission: Mission
-    ) -> str:
-        multiform_body: MultipartEncoder = self._construct_multiform_request_image(
-            filename=filename, inspection=inspection, mission=mission
-        )
-        request_url: str = f"{self.url}/UploadSingleImage"
-        inspection_path = self._ingest(
-            inspection=inspection,
-            multiform_body=multiform_body,
-            request_url=request_url,
-        )
-        return inspection_path
-
-    def _store_video(
-        self, filename: str, inspection: Inspection, mission: Mission
-    ) -> str:
-        multiform_body: MultipartEncoder = self._construct_multiform_request_video(
-            filename=filename, inspection=inspection, mission=mission
-        )
-        request_url = f"{self.url}/UploadSingleVideo"
-        inspection_path = self._ingest(
-            inspection=inspection,
-            multiform_body=multiform_body,
-            request_url=request_url,
-        )
-        return inspection_path
-
-    def _ingest(
-        self,
-        inspection: Inspection,
-        multiform_body: MultipartEncoder,
-        request_url: str,
-    ) -> str:
-        token: str = self.credentials.get_token(self.request_scope).token
-        try:
-            response = self.request_handler.post(
-                url=request_url,
-                data=multiform_body,
-                headers={
-                    "Authorization": f"Bearer {token}",
-                    "Content-Type": multiform_body.content_type,
-                },
-            )
-            guid = json.loads(response.text)["guid"]
-            self.logger.info("SLIMM upload GUID: %s", guid)
-        except (RequestException, HTTPError) as e:
-            self.logger.warning(
-                f"Failed to upload inspection: {inspection.id} to SLIMM due to a "
-                f"request exception"
-            )
-            raise StorageException from e
-        data = json.loads(response.content)
-        return data["guid"]
-
-    @staticmethod
-    def _construct_multiform_request_image(
-        filename: str, inspection: Inspection, mission: Mission
-    ) -> MultipartEncoder:
-        array_of_orientation = (
-            inspection.metadata.robot_pose.orientation.to_quat_array().tolist()
-        )
-        multiform_body: MultipartEncoder = MultipartEncoder(
-            fields={
-                "PlantFacilitySAPCode": settings.PLANT_CODE,
-                "InstCode": settings.PLANT_SHORT_NAME,
-                "InternalClassification": settings.DATA_CLASSIFICATION,
-                "IsoCountryCode": "NO",
-                "Geodetic.CoordinateReferenceSystemCode": settings.COORDINATE_REFERENCE_SYSTEM,  # noqa: E501
-                "Geodetic.VerticalCoordinateReferenceSystemCode": settings.VERTICAL_REFERENCE_SYSTEM,  # noqa: E501
-                "Geodetic.OrientationReferenceSystem": settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM,  # noqa: E501
-                "SensorCarrier.SensorCarrierId": settings.ISAR_ID,
-                "SensorCarrier.ModelName": settings.ROBOT_TYPE,
-                "Mission.MissionId": mission.id,
-                "Mission.Client": "Equinor",
-                "ImageMetadata.Timestamp": inspection.metadata.start_time.isoformat(),  # noqa: E501
-                "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]),
-                "ImageMetadata.CameraOrientation4": str(array_of_orientation[3]),
-                "ImageMetadata.Description": (
-                    inspection.metadata.inspection_description
-                    if inspection.metadata.inspection_description
-                    else "N/A"
-                ),
-                "ImageMetadata.FunctionalLocation": (
-                    inspection.metadata.tag_id  # noqa: E501
-                    if inspection.metadata.tag_id
-                    else "N/A"
-                ),
-                "Filename": filename,
-                "AttachedFile": (filename, inspection.data),
-            }
-        )
-        return multiform_body
-
-    @staticmethod
-    def _construct_multiform_request_video(
-        filename: str,
-        inspection: Inspection,
-        mission: Mission,
-    ) -> MultipartEncoder:
-        array_of_orientation = (
-            inspection.metadata.robot_pose.orientation.to_quat_array().tolist()
-        )
-        multiform_body: MultipartEncoder = MultipartEncoder(
-            fields={
-                "PlantFacilitySAPCode": settings.PLANT_CODE,
-                "InstCode": settings.PLANT_SHORT_NAME,
-                "InternalClassification": settings.DATA_CLASSIFICATION,
-                "IsoCountryCode": "NO",
-                "Geodetic.CoordinateReferenceSystemCode": settings.COORDINATE_REFERENCE_SYSTEM,  # noqa: E501
-                "Geodetic.VerticalCoordinateReferenceSystemCode": settings.VERTICAL_REFERENCE_SYSTEM,  # noqa: E501
-                "Geodetic.OrientationReferenceSystem": settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM,  # noqa: E501
-                "SensorCarrier.SensorCarrierId": settings.ISAR_ID,
-                "SensorCarrier.ModelName": settings.ROBOT_TYPE,
-                "Mission.MissionId": mission.id,
-                "Mission.Client": "Equinor",
-                "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.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]),
-                "VideoMetadata.CameraOrientation4": str(array_of_orientation[3]),
-                "VideoMetadata.Description": (
-                    inspection.metadata.inspection_description
-                    if inspection.metadata.inspection_description
-                    else "N/A"
-                ),
-                "VideoMetadata.FunctionalLocation": (
-                    inspection.metadata.tag_id  # noqa: E501
-                    if inspection.metadata.tag_id
-                    else "N/A"
-                ),
-                "Filename": filename,
-                "AttachedFile": (filename, inspection.data),
-            }
-        )
-        return multiform_body