isar 1.30.1__py3-none-any.whl → 1.30.3__py3-none-any.whl

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Files changed (27) hide show
  1. isar/config/settings.py +7 -26
  2. isar/modules.py +0 -7
  3. isar/robot/robot_start_mission.py +14 -2
  4. isar/robot/robot_status.py +5 -3
  5. isar/script.py +0 -1
  6. isar/state_machine/generic_states/idle.py +133 -0
  7. isar/state_machine/generic_states/ongoing_mission.py +294 -0
  8. isar/state_machine/generic_states/robot_unavailable.py +61 -0
  9. isar/state_machine/state_machine.py +9 -0
  10. isar/state_machine/states/await_next_mission.py +11 -83
  11. isar/state_machine/states/blocked_protective_stop.py +13 -39
  12. isar/state_machine/states/home.py +10 -78
  13. isar/state_machine/states/monitor.py +10 -242
  14. isar/state_machine/states/offline.py +11 -36
  15. isar/state_machine/states/paused.py +1 -1
  16. isar/state_machine/states/returning_home.py +14 -177
  17. isar/state_machine/states/robot_standing_still.py +11 -91
  18. isar/state_machine/transitions/mission.py +1 -1
  19. {isar-1.30.1.dist-info → isar-1.30.3.dist-info}/METADATA +18 -5
  20. {isar-1.30.1.dist-info → isar-1.30.3.dist-info}/RECORD +25 -24
  21. robot_interface/robot_interface.py +15 -7
  22. isar/config/settings.env +0 -23
  23. isar/storage/slimm_storage.py +0 -190
  24. {isar-1.30.1.dist-info → isar-1.30.3.dist-info}/WHEEL +0 -0
  25. {isar-1.30.1.dist-info → isar-1.30.3.dist-info}/entry_points.txt +0 -0
  26. {isar-1.30.1.dist-info → isar-1.30.3.dist-info}/licenses/LICENSE +0 -0
  27. {isar-1.30.1.dist-info → isar-1.30.3.dist-info}/top_level.txt +0 -0
isar/storage/slimm_storage.py DELETED
@@ -1,190 +0,0 @@
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- import json
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- import logging
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-
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- from azure.identity import DefaultAzureCredential
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- from dependency_injector.wiring import inject
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- from requests import HTTPError, RequestException
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- from requests_toolbelt import MultipartEncoder
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-
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- from isar.config.settings import settings
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- from isar.services.auth.azure_credentials import AzureCredentials
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- from isar.services.service_connections.request_handler import RequestHandler
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- from isar.storage.storage_interface import StorageException, StorageInterface
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- from isar.storage.utilities import get_filename
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- from robot_interface.models.inspection.inspection import Inspection, ThermalVideo, Video
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- from robot_interface.models.mission.mission import Mission
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-
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-
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- class SlimmStorage(StorageInterface):
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- @inject
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- def __init__(self, request_handler: RequestHandler) -> None:
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- self.request_handler: RequestHandler = request_handler
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- self.logger = logging.getLogger("uploader")
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-
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- self.credentials: DefaultAzureCredential = (
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- AzureCredentials.get_azure_credentials()
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- )
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-
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- client_id: str = settings.SLIMM_CLIENT_ID
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- scope: str = settings.SLIMM_APP_SCOPE
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- self.request_scope: str = f"{client_id}/{scope}"
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-
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- self.url: str = settings.SLIMM_API_URL
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-
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- def store(self, inspection: Inspection, mission: Mission) -> str:
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- filename: str = get_filename(
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- inspection=inspection,
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- )
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- filename = f"{filename}.{inspection.metadata.file_type}"
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- if type(inspection) in [Video, ThermalVideo]:
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- inspection_path = self._store_video(filename, inspection, mission)
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- else:
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- inspection_path = self._store_image(filename, inspection, mission)
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- return inspection_path
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-
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- def _store_image(
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- self, filename: str, inspection: Inspection, mission: Mission
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- ) -> str:
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- multiform_body: MultipartEncoder = self._construct_multiform_request_image(
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- filename=filename, inspection=inspection, mission=mission
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- )
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- request_url: str = f"{self.url}/UploadSingleImage"
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- inspection_path = self._ingest(
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- inspection=inspection,
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- multiform_body=multiform_body,
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- request_url=request_url,
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- )
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- return inspection_path
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-
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- def _store_video(
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- self, filename: str, inspection: Inspection, mission: Mission
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- ) -> str:
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- multiform_body: MultipartEncoder = self._construct_multiform_request_video(
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- filename=filename, inspection=inspection, mission=mission
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- )
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- request_url = f"{self.url}/UploadSingleVideo"
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- inspection_path = self._ingest(
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- inspection=inspection,
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- multiform_body=multiform_body,
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- request_url=request_url,
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- )
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- return inspection_path
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-
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- def _ingest(
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- self,
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- inspection: Inspection,
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- multiform_body: MultipartEncoder,
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- request_url: str,
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- ) -> str:
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- token: str = self.credentials.get_token(self.request_scope).token
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- try:
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- response = self.request_handler.post(
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- url=request_url,
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- data=multiform_body,
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- headers={
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- "Authorization": f"Bearer {token}",
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- "Content-Type": multiform_body.content_type,
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- },
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- )
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- guid = json.loads(response.text)["guid"]
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- self.logger.info("SLIMM upload GUID: %s", guid)
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- except (RequestException, HTTPError) as e:
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- self.logger.warning(
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- f"Failed to upload inspection: {inspection.id} to SLIMM due to a "
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- f"request exception"
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- )
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- raise StorageException from e
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- data = json.loads(response.content)
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- return data["guid"]
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-
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- @staticmethod
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- def _construct_multiform_request_image(
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- filename: str, inspection: Inspection, mission: Mission
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- ) -> MultipartEncoder:
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- array_of_orientation = (
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- inspection.metadata.robot_pose.orientation.to_quat_array().tolist()
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- )
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- multiform_body: MultipartEncoder = MultipartEncoder(
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- fields={
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- "PlantFacilitySAPCode": settings.PLANT_CODE,
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- "InstCode": settings.PLANT_SHORT_NAME,
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- "InternalClassification": settings.DATA_CLASSIFICATION,
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- "IsoCountryCode": "NO",
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- "Geodetic.CoordinateReferenceSystemCode": settings.COORDINATE_REFERENCE_SYSTEM, # noqa: E501
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- "Geodetic.VerticalCoordinateReferenceSystemCode": settings.VERTICAL_REFERENCE_SYSTEM, # noqa: E501
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- "Geodetic.OrientationReferenceSystem": settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM, # noqa: E501
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- "SensorCarrier.SensorCarrierId": settings.ISAR_ID,
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- "SensorCarrier.ModelName": settings.ROBOT_TYPE,
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- "Mission.MissionId": mission.id,
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- "Mission.Client": "Equinor",
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- "ImageMetadata.Timestamp": inspection.metadata.start_time.isoformat(), # noqa: E501
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- "ImageMetadata.X": str(inspection.metadata.robot_pose.position.x),
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- "ImageMetadata.Y": str(inspection.metadata.robot_pose.position.y),
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- "ImageMetadata.Z": str(inspection.metadata.robot_pose.position.z),
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- "ImageMetadata.CameraOrientation1": str(array_of_orientation[0]),
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- "ImageMetadata.CameraOrientation2": str(array_of_orientation[1]),
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- "ImageMetadata.CameraOrientation3": str(array_of_orientation[2]),
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- "ImageMetadata.CameraOrientation4": str(array_of_orientation[3]),
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- "ImageMetadata.Description": (
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- inspection.metadata.inspection_description
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- if inspection.metadata.inspection_description
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- else "N/A"
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- ),
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- "ImageMetadata.FunctionalLocation": (
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- inspection.metadata.tag_id # noqa: E501
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- if inspection.metadata.tag_id
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- else "N/A"
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- ),
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- "Filename": filename,
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- "AttachedFile": (filename, inspection.data),
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- }
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- )
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- return multiform_body
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-
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- @staticmethod
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- def _construct_multiform_request_video(
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- filename: str,
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- inspection: Inspection,
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- mission: Mission,
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- ) -> MultipartEncoder:
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- array_of_orientation = (
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- inspection.metadata.robot_pose.orientation.to_quat_array().tolist()
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- )
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- multiform_body: MultipartEncoder = MultipartEncoder(
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- fields={
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- "PlantFacilitySAPCode": settings.PLANT_CODE,
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- "InstCode": settings.PLANT_SHORT_NAME,
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- "InternalClassification": settings.DATA_CLASSIFICATION,
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- "IsoCountryCode": "NO",
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- "Geodetic.CoordinateReferenceSystemCode": settings.COORDINATE_REFERENCE_SYSTEM, # noqa: E501
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- "Geodetic.VerticalCoordinateReferenceSystemCode": settings.VERTICAL_REFERENCE_SYSTEM, # noqa: E501
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- "Geodetic.OrientationReferenceSystem": settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM, # noqa: E501
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- "SensorCarrier.SensorCarrierId": settings.ISAR_ID,
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- "SensorCarrier.ModelName": settings.ROBOT_TYPE,
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- "Mission.MissionId": mission.id,
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- "Mission.Client": "Equinor",
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- "VideoMetadata.Timestamp": inspection.metadata.start_time.isoformat(), # noqa: E501
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- # Converting to int because SLIMM expects an int, while we use floats in operations.
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- "VideoMetadata.Duration": str(int(inspection.metadata.duration)), # type: ignore
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- "VideoMetadata.X": str(inspection.metadata.robot_pose.position.x),
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- "VideoMetadata.Y": str(inspection.metadata.robot_pose.position.y),
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- "VideoMetadata.Z": str(inspection.metadata.robot_pose.position.z),
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- "VideoMetadata.CameraOrientation1": str(array_of_orientation[0]),
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- "VideoMetadata.CameraOrientation2": str(array_of_orientation[1]),
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- "VideoMetadata.CameraOrientation3": str(array_of_orientation[2]),
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- "VideoMetadata.CameraOrientation4": str(array_of_orientation[3]),
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- "VideoMetadata.Description": (
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- inspection.metadata.inspection_description
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- if inspection.metadata.inspection_description
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- else "N/A"
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- ),
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- "VideoMetadata.FunctionalLocation": (
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- inspection.metadata.tag_id # noqa: E501
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- if inspection.metadata.tag_id
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- else "N/A"
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- ),
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- "Filename": filename,
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- "AttachedFile": (filename, inspection.data),
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- }
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- )
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- return multiform_body
{isar-1.30.1.dist-info → isar-1.30.3.dist-info}/WHEEL RENAMED
File without changes