isar 1.30.1__tar.gz → 1.30.3__tar.gz

isar-1.30.3/.env.test

@@ -0,0 +1,3 @@
+ISAR_MQTT_ENABLED=true
+ISAR_FSM_SLEEP_TIME=0.001
+ISAR_UPLOAD_FAILURE_MAX_WAIT=3

{isar-1.30.1 → isar-1.30.3}/.github/workflows/pythonpackage.yml

@@ -44,6 +44,7 @@ jobs:
           pytest
         env:
           ENVIRONMENT: local
+          ISAR_ENV: test
 
       - name: Run black
         run: |

{isar-1.30.1 → isar-1.30.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.30.1
+Version: 1.30.3
 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-1.30.1 → isar-1.30.3}/README.md

@@ -94,7 +94,7 @@ 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
@@ -139,6 +139,20 @@ 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:
@@ -233,10 +247,10 @@ 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-1.30.1 → isar-1.30.3}/pyproject.toml

@@ -65,7 +65,6 @@ dev = [
     "mypy",
     "pip-tools",
     "pre-commit",
-    "pytest-dotenv",
     "pytest-mock",
     "pytest-xdist",
     "pytest",

{isar-1.30.1 → isar-1.30.3}/requirements.txt

@@ -4,7 +4,7 @@
 #
 #    pip-compile --output-file=requirements.txt pyproject.toml
 #
-alitra==1.1.3
+alitra==1.1.5
     # via isar (pyproject.toml)
 annotated-types==0.7.0
     # via pydantic
@@ -12,7 +12,7 @@ anyio==4.9.0
     # via
     #   httpx
     #   starlette
-azure-core==1.34.0
+azure-core==1.35.0
     # via
     #   azure-identity
     #   azure-keyvault-secrets
@@ -22,7 +22,7 @@ azure-identity==1.23.0
     # via
     #   isar (pyproject.toml)
     #   opencensus-ext-azure
-azure-keyvault-secrets==4.9.0
+azure-keyvault-secrets==4.10.0
     # via isar (pyproject.toml)
 azure-storage-blob==12.25.1
     # via isar (pyproject.toml)
@@ -30,7 +30,7 @@ backoff==2.2.1
     # via isar (pyproject.toml)
 cachetools==5.5.2
     # via google-auth
-certifi==2025.4.26
+certifi==2025.6.15
     # via
     #   httpcore
     #   httpx
@@ -43,7 +43,7 @@ click==8.2.1
     # via
     #   isar (pyproject.toml)
     #   uvicorn
-cryptography==45.0.2
+cryptography==45.0.5
     # via
     #   azure-identity
     #   azure-storage-blob
@@ -54,17 +54,17 @@ dacite==1.9.2
     # via
     #   alitra
     #   isar (pyproject.toml)
-dependency-injector==4.46.0
+dependency-injector==4.48.1
     # via isar (pyproject.toml)
-fastapi==0.115.12
+fastapi==0.115.14
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
 fastapi-azure-auth==5.1.1
     # via isar (pyproject.toml)
-google-api-core==2.24.2
+google-api-core==2.25.1
     # via opencensus
-google-auth==2.40.2
+google-auth==2.40.3
     # via google-api-core
 googleapis-common-protos==1.70.0
     # via google-api-core
@@ -91,7 +91,7 @@ msal==1.32.3
     #   msal-extensions
 msal-extensions==1.3.1
     # via azure-identity
-numpy==2.2.6
+numpy==2.3.1
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -103,7 +103,7 @@ opencensus==0.11.4
     #   opencensus-ext-requests
 opencensus-context==0.1.3
     # via opencensus
-opencensus-ext-azure==1.1.14
+opencensus-ext-azure==1.1.15
     # via isar (pyproject.toml)
 opencensus-ext-logging==0.1.1
     # via isar (pyproject.toml)
@@ -113,7 +113,7 @@ paho-mqtt==2.1.0
     # via isar (pyproject.toml)
 proto-plus==1.26.1
     # via google-api-core
-protobuf==6.31.0
+protobuf==6.31.1
     # via
     #   google-api-core
     #   googleapis-common-protos
@@ -128,27 +128,27 @@ pyasn1-modules==0.4.2
     # via google-auth
 pycparser==2.22
     # via cffi
-pydantic==2.11.4
+pydantic==2.11.7
     # via
     #   fastapi
     #   isar (pyproject.toml)
     #   pydantic-settings
 pydantic-core==2.33.2
     # via pydantic
-pydantic-settings==2.9.1
+pydantic-settings==2.10.1
     # via isar (pyproject.toml)
 pyjwt[crypto]==2.10.1
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
     #   msal
-python-dotenv==1.1.0
+python-dotenv==1.1.1
     # via
     #   isar (pyproject.toml)
     #   pydantic-settings
 pyyaml==6.0.2
     # via isar (pyproject.toml)
-requests==2.32.3
+requests==2.32.4
     # via
     #   azure-core
     #   google-api-core
@@ -161,7 +161,7 @@ requests-toolbelt==1.0.0
     # via isar (pyproject.toml)
 rsa==4.9.1
     # via google-auth
-scipy==1.15.3
+scipy==1.16.0
     # via alitra
 six==1.17.0
     # via
@@ -172,9 +172,9 @@ sniffio==1.3.1
     # via anyio
 starlette==0.46.2
     # via fastapi
-transitions==0.9.2
+transitions==0.9.3
     # via isar (pyproject.toml)
-typing-extensions==4.13.2
+typing-extensions==4.14.0
     # via
     #   azure-core
     #   azure-identity
@@ -188,9 +188,9 @@ typing-inspection==0.4.1
     # via
     #   pydantic
     #   pydantic-settings
-urllib3==2.4.0
+urllib3==2.5.0
     # via requests
-uvicorn==0.34.2
+uvicorn==0.35.0
     # via isar (pyproject.toml)
 wrapt==1.17.2
     # via opencensus-ext-requests

{isar-1.30.1 → isar-1.30.3}/src/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")
@@ -75,6 +66,7 @@ class Settings(BaseSettings):
     ROBOT_HEARTBEAT_PUBLISH_INTERVAL: float = Field(default=1)
     ROBOT_INFO_PUBLISH_INTERVAL: float = Field(default=5)
     ROBOT_API_STATUS_POLL_INTERVAL: float = Field(default=5)
+    THREAD_CHECK_INTERVAL: float = Field(default=0.01)
 
     # FastAPI host
     API_HOST_VIEWED_EXTERNALLY: str = Field(default="0.0.0.0")
@@ -98,7 +90,6 @@ 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 +144,6 @@ 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.
 
@@ -298,7 +274,12 @@ 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-1.30.1 → isar-1.30.3}/src/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-1.30.1 → isar-1.30.3}/src/isar/robot/robot_start_mission.py

@@ -40,6 +40,18 @@ class RobotStartMissionThread(Thread):
                     return
                 try:
                     self.robot.initiate_mission(self.mission)
+                except RobotInfeasibleMissionException as e:
+                    self.logger.error(
+                        f"Mission is infeasible and cannot be scheduled because: {e.error_description}"
+                    )
+                    trigger_event(
+                        self.robot_service_events.mission_failed,
+                        ErrorMessage(
+                            error_reason=e.error_reason,
+                            error_description=e.error_description,
+                        ),
+                    )
+                    break
                 except RobotException as e:
                     retries += 1
                     self.logger.warning(
@@ -48,7 +60,7 @@ 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 +70,7 @@ 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-1.30.1 → isar-1.30.3}/src/isar/robot/robot_status.py

@@ -40,14 +40,16 @@ class RobotStatusThread(Thread):
         if self.signal_thread_quitting.is_set():
             return
 
-        while not self.signal_thread_quitting.wait(0.001):
+        thread_check_interval = settings.THREAD_CHECK_INTERVAL
+
+        while not self.signal_thread_quitting.wait(thread_check_interval):
             if not self._is_ready_to_poll_for_status():
                 continue
             try:
-                robot_status = self.robot.robot_status()
+                self.last_robot_status_poll_time = time.time()
 
+                robot_status = self.robot.robot_status()
                 update_shared_state(self.shared_state.robot_status, robot_status)
-                self.last_robot_status_poll_time = time.time()
             except RobotException as e:
                 self.logger.error(f"Failed to retrieve robot status: {e}")
                 continue

{isar-1.30.1 → isar-1.30.3}/src/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-1.30.1/src/isar/state_machine/states/robot_standing_still.py → isar-1.30.3/src/isar/state_machine/generic_states/idle.py

@@ -1,10 +1,10 @@
 import logging
 import time
+from enum import Enum
 from queue import Queue
 from typing import TYPE_CHECKING, Optional
 
-from transitions import State
-
+from isar.config.settings import settings
 from isar.models.communication.message import StartMissionMessage
 from isar.models.communication.queues.queue_io import QueueIO
 from isar.models.communication.queues.queue_utils import (
@@ -18,30 +18,41 @@ if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
 
-class RobotStandingStill(State):
-    def __init__(self, state_machine: "StateMachine") -> None:
-        super().__init__(
-            name="robot_standing_still", on_enter=self.start, on_exit=self.stop
-        )
+class IdleStates(str, Enum):
+    AwaitNextMission = "awaitNextMission"
+    Home = "home"
+    RobotStandingStill = "robotStandingStill"
+
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+class Idle:
+    def __init__(
+        self,
+        state_machine: "StateMachine",
+        state: IdleStates,
+    ) -> None:
         self.state_machine: "StateMachine" = state_machine
         self.logger = logging.getLogger("state_machine")
-        self.events = self.state_machine.events
+        self.events = state_machine.events
         self.shared_state = self.state_machine.shared_state
         self.signal_state_machine_to_stop = state_machine.signal_state_machine_to_stop
+        self.state: IdleStates = state
+
+        # Only used for await_next_mission state
+        self.entered_time: float = time.time()
+        self.return_home_delay: float = settings.RETURN_HOME_DELAY
 
     def start(self) -> None:
         self.state_machine.update_state()
+        self.entered_time = time.time()
         self._run()
 
     def stop(self) -> None:
         return
 
-    def _check_and_handle_stop_mission_event(self, event: Queue) -> bool:
-        if check_for_event(event):
-            self.state_machine.stop()  # type: ignore
-            return True
-        return False
-
     def _check_and_handle_start_mission_event(
         self, event: Queue[StartMissionMessage]
     ) -> bool:
@@ -63,17 +74,32 @@ class RobotStandingStill(State):
         self, event: StatusQueue[RobotStatus]
     ) -> bool:
         robot_status: RobotStatus = check_shared_state(event)
-        if robot_status != RobotStatus.Available:
+
+        expected_robot_status = (
+            RobotStatus.Home if self.state == IdleStates.Home else RobotStatus.Available
+        )
+
+        if robot_status != expected_robot_status:
             self.state_machine.robot_status_changed()  # type: ignore
             return True
 
         return False
 
+    def _check_and_handle_stop_mission_event(self, event: Queue) -> bool:
+        if check_for_event(event):
+            self.state_machine.stop()  # type: ignore
+            return True
+        return False
+
+    def _should_return_home(self) -> bool:
+        time_since_entered = time.time() - self.entered_time
+        return time_since_entered > self.return_home_delay
+
     def _run(self) -> None:
         while True:
             if self.signal_state_machine_to_stop.is_set():
                 self.logger.info(
-                    "Stopping state machine from %s state", self.__class__.__name__
+                    "Stopping state machine from %s state", self.state.name
                 )
                 break
 
@@ -92,9 +118,16 @@ class RobotStandingStill(State):
             ):
                 break
 
-            if self._check_and_handle_robot_status_event(
-                self.shared_state.robot_status
+            if (
+                self.state != IdleStates.AwaitNextMission
+                and self._check_and_handle_robot_status_event(
+                    self.shared_state.robot_status
+                )
             ):
                 break
 
+            if self.state == IdleStates.AwaitNextMission and self._should_return_home():
+                self.state_machine.request_return_home()  # type: ignore
+                break
+
             time.sleep(self.state_machine.sleep_time)