isar 1.30.3__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

@@ -211,6 +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
 
@@ -261,6 +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/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/transitions/functions/start_mission.py

@@ -18,7 +18,7 @@ def put_start_mission_on_queue(state_machine: "StateMachine") -> bool:
 
 def initiate_mission(state_machine: "StateMachine") -> bool:
     state_machine.logger.info(
-        "Initialization successful. Starting new mission:\n"
+        "Initiating 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)}"

{isar-1.30.3.dist-info → isar-1.30.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.30.3
+Version: 1.30.4
 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-1.30.3.dist-info → isar-1.30.4.dist-info}/RECORD

@@ -1,8 +1,8 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
-isar/modules.py,sha256=73cB5KgYUURsNR2bps1aVUXNY7gv6HHQyZ3qwnFpbJA,4742
-isar/script.py,sha256=mcZGMkIbUKkdLY5CwQOO16HSLlNJZRFaozAppmTMfTQ,6010
+isar/modules.py,sha256=QBB1pge1i17HVMLA5n-qd9K3APCrX9bFF2vlfjheOhU,4778
+isar/script.py,sha256=0oUUfytKDOsWrPv4iWemTWl5L3Ug66mQsbvqGqQrVWk,6050
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/api.py,sha256=1-RmRH7NReCpOo_NSwP5hS2lDQm6_Dx2ZWe2460GhJY,13770
+isar/apis/api.py,sha256=2hggLxcdsHqTYDAfVUMwMIBgpuB-0ba2HWMscHkRGzA,15072
 isar/apis/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/models/models.py,sha256=HzLaWhjAv0uJRBWipIgYg_F75eaQ5jl9Pi4UnYbDJ-M,1749
 isar/apis/models/start_mission_definition.py,sha256=S87i_vrgXTY1nTMTiXMJAnx_q5uVxuiRNcrQrAYWKeo,6152
@@ -15,7 +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.py,sha256=M8Licz8HfVH46nh8dmUwVyi-4MqWD-1sYBOYNoorae0,12379
+isar/config/settings.py,sha256=dn9fEKX7GpzD9Y7q0TjQxW9Xf0iY-pCl3NV7bkxH1E8,12487
 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
@@ -95,7 +95,7 @@ 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=NXFLEWZ5ZbsulbIQVgDz2mRUOULP3mfpgSheiw4LSYw,2593
+isar/state_machine/transitions/functions/start_mission.py,sha256=ricRfhLH1_lNpqWxneMZcm7ps2YfY6sQGHkiT0Glf6M,2564
 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
@@ -104,7 +104,7 @@ isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
 isar/storage/uploader.py,sha256=HAC3ssuPQCQ1xH4aTQfHIaq-ZoEzKwONWmsAOpNXOzw,9523
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.30.3.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.30.4.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/robot_interface.py,sha256=Miout0IRX7QniUNu_upyNzkB8KDUWin7GGCqIeMh83E,8195
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
@@ -124,12 +124,12 @@ robot_interface/models/robots/media.py,sha256=8A-CuuubfngzPprs6zWB9hSaqe3jzgsE8r
 robot_interface/models/robots/robot_model.py,sha256=-0jNKWPcEgtF_2klb1It3u0SCoAR0hSW9nce58Zq0Co,417
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/telemetry/mqtt_client.py,sha256=ueXdtIFNCwciTj4spvdJj9emd-IOmUuJjpsXQSSWZPY,2987
-robot_interface/telemetry/payloads.py,sha256=78EVedDyRhYIquwXWdwjhA3RntMboCcuPWE7TI_gDf0,2721
+robot_interface/telemetry/payloads.py,sha256=PpvmV7XeGgfhc_aRUYFOdwBTwV2x8TwTBINJ-rKchVw,2804
 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-1.30.3.dist-info/METADATA,sha256=wJcwLK3BoorZOiqr_4dYD_sdppvRkl8qIHazybd1Ml0,31063
-isar-1.30.3.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-isar-1.30.3.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.30.3.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.30.3.dist-info/RECORD,,
+isar-1.30.4.dist-info/METADATA,sha256=SaISJES198lknEfIqlqwrZ1CZe4A0vzi_mKYuu1fZrU,31063
+isar-1.30.4.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.30.4.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.30.4.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.30.4.dist-info/RECORD,,

robot_interface/telemetry/payloads.py

@@ -132,3 +132,9 @@ class InspectionValuePayload:
     y: float
     z: float
     timestamp: datetime
+
+
+@dataclass
+class StartUpMessagePayload:
+    isar_id: str
+    timestamp: datetime