isar 1.30.2__py3-none-any.whl → 1.30.4__py3-none-any.whl

isar/apis/api.py

@@ -1,4 +1,7 @@
+import json
 import logging
+import time
+from datetime import datetime, timezone
 from http import HTTPStatus
 from logging import Logger
 from typing import List, Union
@@ -24,6 +27,9 @@ from isar.config.configuration_error import ConfigurationError
 from isar.config.keyvault.keyvault_error import KeyvaultError
 from isar.config.keyvault.keyvault_service import Keyvault
 from isar.config.settings import settings
+from robot_interface.telemetry.mqtt_client import MqttClientInterface
+from robot_interface.telemetry.payloads import StartUpMessagePayload
+from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
 HTTP_URL = COMMON_ATTRIBUTES["HTTP_URL"]
 HTTP_STATUS_CODE = COMMON_ATTRIBUTES["HTTP_STATUS_CODE"]
@@ -37,6 +43,7 @@ class API:
         scheduling_controller: SchedulingController,
         robot_controller: RobotController,
         keyvault: Keyvault,
+        mqtt_publisher: MqttClientInterface,
         port: int = settings.API_PORT,
         azure_ai_logging_enabled: bool = settings.LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED,
     ) -> None:
@@ -47,22 +54,31 @@ class API:
         self.host: str = "0.0.0.0"  # Locking uvicorn to use 0.0.0.0
         self.port: int = port
         self.azure_ai_logging_enabled: bool = azure_ai_logging_enabled
+        self.mqtt_publisher: MqttClientInterface = mqtt_publisher
 
         self.logger: Logger = logging.getLogger("api")
 
         self.app: FastAPI = self._create_app()
+        self.server = self._setup_server()
 
     def get_app(self) -> FastAPI:
         return self.app
 
-    def run_app(self) -> None:
-        uvicorn.run(
+    def _setup_server(self) -> uvicorn.Server:
+        config = uvicorn.Config(
             self.app,
             port=self.port,
             host=self.host,
             reload=False,
             log_config=None,
         )
+        return uvicorn.Server(config)
+
+    def wait_for_api_server_ready(self) -> None:
+        while not self.server.started:
+            time.sleep(0.01)
+        self.logger.info("Uvicorn server has been started")
+        self._publish_startup_message()
 
     def _create_app(self) -> FastAPI:
         tags_metadata = [
@@ -73,7 +89,10 @@ class API:
         ]
         app = FastAPI(
             openapi_tags=tags_metadata,
-            on_startup=[self.authenticator.load_config, self._log_startup_message],
+            on_startup=[
+                self.authenticator.load_config,
+                self._log_startup_message,
+            ],
             swagger_ui_oauth2_redirect_url="/oauth2-redirect",
             swagger_ui_init_oauth={
                 "usePkceWithAuthorizationCodeGrant": True,
@@ -349,3 +368,21 @@ class API:
                 )
 
             return response
+
+    def _publish_startup_message(self) -> None:
+        if not self.mqtt_publisher:
+            return
+
+        payload: StartUpMessagePayload = StartUpMessagePayload(
+            isar_id=settings.ISAR_ID,
+            timestamp=datetime.now(timezone.utc),
+        )
+
+        self.logger.info("Publishing startup message to MQTT broker")
+
+        self.mqtt_publisher.publish(
+            topic=settings.TOPIC_ISAR_STARTUP,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
+            qos=1,
+            retain=True,
+        )

isar/config/settings.py

@@ -66,6 +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")
@@ -210,6 +211,7 @@ class Settings(BaseSettings):
     TOPIC_ISAR_ROBOT_HEARTBEAT: str = Field(
         default="robot_heartbeat", validate_default=True
     )
+    TOPIC_ISAR_STARTUP: str = Field(default="startup", validate_default=True)
 
     # Logging
 
@@ -260,6 +262,7 @@ class Settings(BaseSettings):
         "TOPIC_ISAR_ROBOT_HEARTBEAT",
         "TOPIC_ISAR_INSPECTION_RESULT",
         "TOPIC_ISAR_INSPECTION_VALUE",
+        "TOPIC_ISAR_STARTUP",
     )
     @classmethod
     def prefix_isar_topics(cls, v: Any, info: ValidationInfo):

isar/modules.py

@@ -45,6 +45,16 @@ class ApplicationContainer(containers.DeclarativeContainer):
     )
     robot_utilities = providers.Singleton(RobotUtilities, robot=robot_interface)
 
+    # Mqtt client
+    mqtt_client = (
+        providers.Singleton(
+            MqttPublisher,
+            mqtt_queue=providers.Callable(events.provided.mqtt_queue),
+        )
+        if settings.MQTT_ENABLED
+        else None
+    )
+
     # API and controllers
     authenticator = providers.Singleton(Authenticator)
     scheduling_utilities = providers.Singleton(
@@ -65,6 +75,7 @@ class ApplicationContainer(containers.DeclarativeContainer):
         scheduling_controller=scheduling_controller,
         robot_controller=robot_controller,
         keyvault=keyvault,
+        mqtt_publisher=mqtt_client,
     )
 
     # Storage
@@ -77,16 +88,6 @@ class ApplicationContainer(containers.DeclarativeContainer):
         storage_handlers_temp.append(blob_storage)
     storage_handlers = providers.List(*storage_handlers_temp)
 
-    # Mqtt client
-    mqtt_client = (
-        providers.Singleton(
-            MqttPublisher,
-            mqtt_queue=providers.Callable(events.provided.mqtt_queue),
-        )
-        if settings.MQTT_ENABLED
-        else None
-    )
-
     # State machine
     task_selector = providers.Singleton(
         SequentialTaskSelector

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(

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/script.py

@@ -160,13 +160,15 @@ def start() -> None:
             threads.extend(publishers)
 
     api: API = injector.api()
-    api_thread: Thread = Thread(target=api.run_app, name="ISAR API", daemon=True)
+    api_thread: Thread = Thread(target=api.server.run, name="ISAR API", daemon=True)
     threads.append(api_thread)
 
     for thread in threads:
         thread.start()
         logger.info("Started thread: %s", thread.name)
 
+    api.wait_for_api_server_ready()
+
     while True:
         for thread in threads:
             if not thread.is_alive():

isar/state_machine/generic_states/idle.py

@@ -0,0 +1,133 @@
+import logging
+import time
+from enum import Enum
+from queue import Queue
+from typing import TYPE_CHECKING, Optional
+
+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 (
+    check_for_event,
+    check_shared_state,
+)
+from isar.models.communication.queues.status_queue import StatusQueue
+from robot_interface.models.mission.status import RobotStatus
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+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 = 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_start_mission_event(
+        self, event: Queue[StartMissionMessage]
+    ) -> bool:
+        start_mission: Optional[StartMissionMessage] = check_for_event(event)
+        if start_mission:
+            self.state_machine.start_mission(mission=start_mission.mission)
+            self.state_machine.request_mission_start()  # type: ignore
+            return True
+        return False
+
+    def _check_and_handle_return_home_event(self, event: QueueIO) -> bool:
+        if check_for_event(event.input):
+            event.output.put(True)
+            self.state_machine.request_return_home()  # type: ignore
+            return True
+        return False
+
+    def _check_and_handle_robot_status_event(
+        self, event: StatusQueue[RobotStatus]
+    ) -> bool:
+        robot_status: RobotStatus = check_shared_state(event)
+
+        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.state.name
+                )
+                break
+
+            if self._check_and_handle_stop_mission_event(
+                self.events.api_requests.stop_mission.input
+            ):
+                break
+
+            if self._check_and_handle_start_mission_event(
+                self.events.api_requests.start_mission.input
+            ):
+                break
+
+            if self._check_and_handle_return_home_event(
+                self.events.api_requests.return_home
+            ):
+                break
+
+            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)

isar/state_machine/generic_states/ongoing_mission.py

@@ -0,0 +1,294 @@
+import logging
+import time
+from copy import deepcopy
+from enum import Enum
+from queue import Queue
+from threading import Event
+from typing import TYPE_CHECKING, Optional, Tuple
+
+from isar.config.settings import settings
+from isar.models.communication.message import StartMissionMessage
+from isar.models.communication.queues.queue_utils import (
+    check_for_event,
+    check_for_event_without_consumption,
+    trigger_event,
+)
+from isar.services.utilities.threaded_request import ThreadedRequest
+from robot_interface.models.exceptions.robot_exceptions import (
+    ErrorMessage,
+    RobotException,
+    RobotRetrieveInspectionException,
+)
+from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.status import TaskStatus
+from robot_interface.models.mission.task import InspectionTask, Task
+
+
+class OngoingMissionStates(str, Enum):
+    Monitor = "monitor"
+    ReturningHome = "returningHome"
+
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+class OngoingMission:
+    def __init__(
+        self,
+        state_machine: "StateMachine",
+        state: OngoingMissionStates,
+    ) -> None:
+        self.state_machine: "StateMachine" = state_machine
+        self.logger = logging.getLogger("state_machine")
+        self.events = state_machine.events
+        self.awaiting_task_status: bool = False
+        self.signal_state_machine_to_stop: Event = (
+            state_machine.signal_state_machine_to_stop
+        )
+        self.state: OngoingMissionStates = state
+
+    def start(self) -> None:
+        self.state_machine.update_state()
+        self._run()
+
+    def stop(self) -> None:
+        self.state_machine.mission_ongoing = 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 _check_and_handle_pause_mission_event(self, event: Queue) -> bool:
+        if check_for_event(event):
+            self.state_machine.pause()  # type: ignore
+            return True
+        return False
+
+    def _check_and_handle_mission_started_event(self, event: Queue) -> bool:
+        if check_for_event(event):
+            self.state_machine.mission_ongoing = True
+            return True
+        return False
+
+    def _check_and_handle_mission_failed_event(self, event: Queue) -> bool:
+        mission_failed: Optional[ErrorMessage] = check_for_event(event)
+        if mission_failed is not None:
+            self.state_machine.logger.warning(
+                f"Failed to initiate mission "
+                f"{str(self.state_machine.current_mission.id)[:8]} because: "
+                f"{mission_failed.error_description}"
+            )
+            self.state_machine.current_mission.error_message = ErrorMessage(
+                error_reason=mission_failed.error_reason,
+                error_description=mission_failed.error_description,
+            )
+            self.state_machine.mission_failed_to_start()  # type: ignore
+            return True
+        return False
+
+    def _check_and_handle_task_status_failed_event(self, event: Queue) -> bool:
+        if not self.state_machine.mission_ongoing:
+            return False
+
+        task_failure: Optional[ErrorMessage] = check_for_event(event)
+        if task_failure is not None:
+            self.awaiting_task_status = False
+            self.state_machine.current_task.error_message = task_failure
+            self.logger.error(
+                f"Monitoring task {self.state_machine.current_task.id[:8]} failed "
+                f"because: {task_failure.error_description}"
+            )
+            return self._handle_new_task_status(TaskStatus.Failed)
+        elif not self.awaiting_task_status:
+            trigger_event(
+                self.events.state_machine_events.task_status_request,
+                self.state_machine.current_task.id,
+            )
+            self.awaiting_task_status = True
+        return False
+
+    def _check_and_handle_task_status_event(self, event: Queue) -> bool:
+        if not self.state_machine.mission_ongoing:
+            return False
+
+        status: Optional[TaskStatus] = check_for_event(event)
+        if status is not None:
+            self.awaiting_task_status = False
+            return self._handle_new_task_status(status)
+        elif not self.awaiting_task_status:
+            trigger_event(
+                self.events.state_machine_events.task_status_request,
+                self.state_machine.current_task.id,
+            )
+            self.awaiting_task_status = True
+        return False
+
+    def _handle_new_task_status(self, status: TaskStatus) -> bool:
+        if self.state_machine.current_task is None:
+            self.state_machine.iterate_current_task()
+
+        self.state_machine.current_task.status = status
+
+        if self.state_machine.current_task.is_finished():
+            self._report_task_status(self.state_machine.current_task)
+            self.state_machine.publish_task_status(task=self.state_machine.current_task)
+
+            if self.state == OngoingMissionStates.ReturningHome:
+                if status != TaskStatus.Successful:
+                    self.state_machine.return_home_failed()  # type: ignore
+                    return True
+                self.state_machine.returned_home()  # type: ignore
+                return True
+
+            if self._should_upload_inspections():
+                get_inspection_thread = ThreadedRequest(
+                    self._queue_inspections_for_upload
+                )
+                get_inspection_thread.start_thread(
+                    deepcopy(self.state_machine.current_mission),
+                    deepcopy(self.state_machine.current_task),
+                    name="State Machine Get Inspections",
+                )
+
+            self.state_machine.iterate_current_task()
+            if self.state_machine.current_task is None:
+                self.state_machine.mission_finished()  # type: ignore
+                return True
+
+            # Report and update next task
+            self.state_machine.current_task.update_task_status()
+            self.state_machine.publish_task_status(task=self.state_machine.current_task)
+        return False
+
+    def _check_and_handle_start_mission_event(
+        self, event: Queue[StartMissionMessage]
+    ) -> bool:
+        if check_for_event_without_consumption(event):
+            self.state_machine.stop()  # type: ignore
+            return True
+
+        return False
+
+    def _run(self) -> None:
+        self.awaiting_task_status = False
+        while True:
+            if self.signal_state_machine_to_stop.is_set():
+                self.logger.info(
+                    "Stopping state machine from %s state", self.state.name
+                )
+                break
+
+            if self._check_and_handle_stop_mission_event(
+                self.events.api_requests.stop_mission.input
+            ):
+                break
+
+            if (
+                self.state == OngoingMissionStates.Monitor
+                and self._check_and_handle_pause_mission_event(
+                    self.events.api_requests.pause_mission.input
+                )
+            ):
+                break
+
+            self._check_and_handle_mission_started_event(
+                self.events.robot_service_events.mission_started
+            )
+
+            if self._check_and_handle_mission_failed_event(
+                self.events.robot_service_events.mission_failed
+            ):
+                break
+
+            if (
+                self.state == OngoingMissionStates.ReturningHome
+                and self._check_and_handle_start_mission_event(
+                    self.events.api_requests.start_mission.input
+                )
+            ):
+                break
+
+            if self._check_and_handle_task_status_failed_event(
+                self.events.robot_service_events.task_status_failed
+            ):
+                break
+
+            if self._check_and_handle_task_status_event(
+                self.events.robot_service_events.task_status_updated
+            ):
+                break
+
+            time.sleep(settings.FSM_SLEEP_TIME)
+
+    def _queue_inspections_for_upload(
+        self, mission: Mission, current_task: InspectionTask
+    ) -> None:
+        try:
+            inspection: Inspection = self.state_machine.robot.get_inspection(
+                task=current_task
+            )
+            if current_task.inspection_id != inspection.id:
+                self.logger.warning(
+                    f"The inspection_id of task ({current_task.inspection_id}) "
+                    f"and result ({inspection.id}) is not matching. "
+                    f"This may lead to confusions when accessing the inspection later"
+                )
+
+        except (RobotRetrieveInspectionException, RobotException) as e:
+            self._set_error_message(e)
+            self.logger.error(
+                f"Failed to retrieve inspections because: {e.error_description}"
+            )
+            return
+
+        except Exception as e:
+            self.logger.error(
+                f"Failed to retrieve inspections because of unexpected error: {e}"
+            )
+            return
+
+        if not inspection:
+            self.logger.warning(
+                f"No inspection result data retrieved for task {str(current_task.id)[:8]}"
+            )
+
+        inspection.metadata.tag_id = current_task.tag_id
+
+        message: Tuple[Inspection, Mission] = (
+            inspection,
+            mission,
+        )
+        self.state_machine.events.upload_queue.put(message)
+        self.logger.info(
+            f"Inspection result: {str(inspection.id)[:8]} queued for upload"
+        )
+
+    def _report_task_status(self, task: Task) -> None:
+        if task.status == TaskStatus.Failed:
+            self.logger.warning(
+                f"Task: {str(task.id)[:8]} was reported as failed by the robot"
+            )
+        elif task.status == TaskStatus.Successful:
+            self.logger.info(
+                f"{type(task).__name__} task: {str(task.id)[:8]} completed"
+            )
+
+    def _should_upload_inspections(self) -> bool:
+        if settings.UPLOAD_INSPECTIONS_ASYNC:
+            return False
+
+        return (
+            self.state_machine.current_task.is_finished()
+            and self.state_machine.current_task.status == TaskStatus.Successful
+            and isinstance(self.state_machine.current_task, InspectionTask)
+        )
+
+    def _set_error_message(self, e: RobotException) -> None:
+        error_message: ErrorMessage = ErrorMessage(
+            error_reason=e.error_reason, error_description=e.error_description
+        )
+        self.state_machine.current_task.error_message = error_message