isar 1.30.3__py3-none-any.whl → 1.30.5__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/apis/models/models.py

@@ -19,10 +19,10 @@ class StartMissionResponse(BaseModel):
 
 
 class ControlMissionResponse(BaseModel):
-    mission_id: str
-    mission_status: str
-    task_id: str
-    task_status: str
+    mission_id: Optional[str]
+    mission_status: Optional[str]
+    task_id: Optional[str]
+    task_status: Optional[str]
 
 
 class RobotInfoResponse(BaseModel):

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/services/utilities/scheduling_utilities.py

@@ -22,6 +22,7 @@ from isar.models.communication.queues.queue_timeout_error import QueueTimeoutErr
 from isar.services.utilities.queue_utilities import QueueUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.status import MissionStatus
 
 
 class SchedulingUtilities:
@@ -253,13 +254,21 @@ class SchedulingUtilities:
 
         Raises
         ------
-        HTTTPException 408 Request timeout
+        HTTPException 503 Service Unavailable
+            The request was understood, but attempting to stop the mission failed
+        HTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
         """
         try:
             stop_mission_response: ControlMissionResponse = self._send_command(
                 True, self.api_events.stop_mission
             )
+            if stop_mission_response.mission_status != MissionStatus.Cancelled.value:
+                error_message = "Failed to stop mission"
+                self.logger.error(error_message)
+                raise HTTPException(
+                    status_code=HTTPStatus.SERVICE_UNAVAILABLE, detail=error_message
+                )
         except QueueTimeoutError:
             error_message = "Internal Server Error - Failed to stop mission"
             self.logger.error(error_message)

isar/state_machine/generic_states/ongoing_mission.py

@@ -54,7 +54,7 @@ class OngoingMission:
         self._run()
 
     def stop(self) -> None:
-        self.state_machine.mission_ongoing = False
+        return
 
     def _check_and_handle_stop_mission_event(self, event: Queue) -> bool:
         if check_for_event(event):

isar/state_machine/state_machine.py

@@ -194,6 +194,7 @@ class StateMachine(object):
         self.current_task = None
         self.send_task_status()
         self.current_mission = None
+        self.mission_ongoing = False
 
     def start_mission(self, mission: Mission):
         """Starts a scheduled mission."""
@@ -316,17 +317,13 @@ class StateMachine(object):
         self.logger.info("Mission overview:\n%s", log_statement)
 
     def _make_control_mission_response(self) -> ControlMissionResponse:
-        if self.current_mission is None:
-            raise ValueError("No current mission is set")
-
-        if self.current_task is None:
-            raise ValueError("No current task is set")
-
         return ControlMissionResponse(
-            mission_id=self.current_mission.id,
-            mission_status=self.current_mission.status,
-            task_id=self.current_task.id,
-            task_status=self.current_task.status,
+            mission_id=self.current_mission.id if self.current_mission else None,
+            mission_status=(
+                self.current_mission.status if self.current_mission else None
+            ),
+            task_id=self.current_task.id if self.current_task else None,
+            task_status=self.current_task.status if self.current_task else None,
         )
 
     def _queue_empty_response(self) -> None:

isar/state_machine/states/stopping.py

@@ -39,9 +39,9 @@ class Stopping(State):
         if error_message is not None:
             self.logger.warning(error_message.error_description)
             if self.stopping_return_home_mission:
-                self.state_machine.return_home_mission_stopped()  # type: ignore
+                self.state_machine.return_home_mission_stopping_failed()  # type: ignore
             else:
-                self.state_machine.mission_stopped()  # type: ignore
+                self.state_machine.mission_stopping_failed()  # type: ignore
             return True
         return False
 

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/state_machine/transitions/functions/stop.py

@@ -1,6 +1,9 @@
 from typing import TYPE_CHECKING
 
-from isar.models.communication.queues.queue_utils import trigger_event_without_data
+from isar.models.communication.queues.queue_utils import (
+    check_for_event_without_consumption,
+    trigger_event_without_data,
+)
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
@@ -39,11 +42,51 @@ def stop_mission_cleanup(state_machine: "StateMachine") -> bool:
     return True
 
 
+def stop_mission_failed(state_machine: "StateMachine") -> bool:
+    stopped_mission_response: ControlMissionResponse = (
+        state_machine._make_control_mission_response()
+    )
+    state_machine.events.api_requests.stop_mission.output.put(stopped_mission_response)
+    return True
+
+
 def stop_return_home_mission_cleanup(state_machine: "StateMachine") -> bool:
     if state_machine.current_mission is None:
         state_machine._queue_empty_response()
         state_machine.reset_state_machine()
         return True
 
+    if not check_for_event_without_consumption(
+        state_machine.events.api_requests.start_mission.input
+    ):
+        state_machine.current_mission.status = MissionStatus.Cancelled
+
+        for task in state_machine.current_mission.tasks:
+            if task.status in [
+                TaskStatus.NotStarted,
+                TaskStatus.InProgress,
+                TaskStatus.Paused,
+            ]:
+                task.status = TaskStatus.Cancelled
+
+        stopped_mission_response: ControlMissionResponse = (
+            state_machine._make_control_mission_response()
+        )
+        state_machine.events.api_requests.stop_mission.output.put(
+            stopped_mission_response
+        )
+
     state_machine._finalize()
     return True
+
+
+def stop_return_home_mission_failed(state_machine: "StateMachine") -> bool:
+    if check_for_event_without_consumption(
+        state_machine.events.api_requests.start_mission.input
+    ):
+        return True
+    stopped_mission_response: ControlMissionResponse = (
+        state_machine._make_control_mission_response()
+    )
+    state_machine.events.api_requests.stop_mission.output.put(stopped_mission_response)
+    return True

isar/state_machine/transitions/mission.py

@@ -15,7 +15,9 @@ from isar.state_machine.transitions.functions.start_mission import (
 )
 from isar.state_machine.transitions.functions.stop import (
     stop_mission_cleanup,
+    stop_mission_failed,
     stop_return_home_mission_cleanup,
+    stop_return_home_mission_failed,
     trigger_stop_mission_event,
 )
 from isar.state_machine.transitions.functions.utils import def_transition
@@ -56,6 +58,18 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "dest": state_machine.await_next_mission_state,
             "before": def_transition(state_machine, stop_mission_cleanup),
         },
+        {
+            "trigger": "mission_stopping_failed",
+            "source": state_machine.stopping_state,
+            "dest": state_machine.monitor_state,
+            "before": def_transition(state_machine, stop_mission_failed),
+        },
+        {
+            "trigger": "return_home_mission_stopping_failed",
+            "source": state_machine.stopping_state,
+            "dest": state_machine.returning_home_state,
+            "before": def_transition(state_machine, stop_return_home_mission_failed),
+        },
         {
             "trigger": "return_home_mission_stopped",
             "source": state_machine.stopping_state,

{isar-1.30.3.dist-info → isar-1.30.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.30.3
+Version: 1.30.5
 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-1.30.5.dist-info}/RECORD

@@ -1,10 +1,10 @@
 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/models.py,sha256=NWXTe5SheVj3QXklWZ1FMliZVHdS4Rjfuin5O4N9MTM,1789
 isar/apis/models/start_mission_definition.py,sha256=S87i_vrgXTY1nTMTiXMJAnx_q5uVxuiRNcrQrAYWKeo,6152
 isar/apis/robot_control/robot_controller.py,sha256=7EVukShJDhYez12wYeGWZXH-BrfQ4Wu2so0-fSWN2Zo,1277
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -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
@@ -67,13 +67,13 @@ isar/services/service_connections/stid/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JC
 isar/services/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/queue_utilities.py,sha256=Pw3hehSwkXJNeDv-bDVDfs58VOwtt3i5hpiJ2ZpphuQ,1225
 isar/services/utilities/robot_utilities.py,sha256=J3miRs0t74HNBoMIzVMceMCibp5DozP9Ai1_i7B3kWI,573
-isar/services/utilities/scheduling_utilities.py,sha256=SVmpAuU7101FVUx6x4tcMDrxYaWBPhgOkntFxX_d6Zc,10179
+isar/services/utilities/scheduling_utilities.py,sha256=4HoUl0WQc7RE9Vx4wZmpX9czgcF7xJg_Pn2hwtSju10,10702
 isar/services/utilities/threaded_request.py,sha256=py4G-_RjnIdHljmKFAcQ6ddqMmp-ZYV39Ece-dqRqjs,1874
 isar/state_machine/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/state_machine.py,sha256=onPjxGqDGSSvjHxCosKxIyiTw0X01FLwJX9rJArqfXg,13152
+isar/state_machine/state_machine.py,sha256=yRNjzheKZ9PqNQ1G-ZHb8VmYEXTR9XqaJQn_3191Rcw,13157
 isar/state_machine/states_enum.py,sha256=Z3dO6k6JmQAZ1lzcR58oVCxoCky_-ZS9MaL3RSaNbZ4,434
 isar/state_machine/generic_states/idle.py,sha256=T_LSadQ8Eu9egYPgL43WKDYv27MwFu-dqIxDazVE_KU,4359
-isar/state_machine/generic_states/ongoing_mission.py,sha256=NTYQIddTG0Nsq_ZjcWWBSe9KsQp_7zQcKH_0HYW18SQ,10850
+isar/state_machine/generic_states/ongoing_mission.py,sha256=P3jikXYcpYgvkuwjGGi9krjnUVEVqUwvM_RHeQbN9wc,10814
 isar/state_machine/generic_states/robot_unavailable.py,sha256=pHmed1uRPwCWAR4uBJmdnxi9WX8veTbGG9ephmROhm0,1851
 isar/state_machine/states/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/state_machine/states/await_next_mission.py,sha256=U0oGi-O05S-ZvdhpQRuirrY3ZBbblURo5U95PsscMlQ,573
@@ -84,9 +84,9 @@ isar/state_machine/states/offline.py,sha256=vZnBMVDnehZ-0gPsHNVRpZtb8OBBFkeEnq2o
 isar/state_machine/states/paused.py,sha256=IgnWBM6WXj3wjFZMARAPWIpzWGyUSW35DVBvNHuiNP8,1460
 isar/state_machine/states/returning_home.py,sha256=BBQo3PoNP-THlvJa5gQr0fNBhInh_Ox1L2OeH8evUq8,638
 isar/state_machine/states/robot_standing_still.py,sha256=RbOZSiQz72tWAJID5ksgzcb4lND6OniiG35IE1wMUHk,579
-isar/state_machine/states/stopping.py,sha256=Y44kEw-xB9_63eP6utAMY0RegrIz_1nL5cSI3cfaXEg,2838
+isar/state_machine/states/stopping.py,sha256=yJE7KT1aGo_qd1VTETfg1rTrlM-hKKQYKQp7xu4py_Y,2854
 isar/state_machine/states/unknown_status.py,sha256=tOwfHW_4bKKkUTpKD7qc5gIwGT_fTXaCNxXcogGw-wo,2416
-isar/state_machine/transitions/mission.py,sha256=Sb_D9i1orV_I_eCDI0c8ZvhCU89peUqTfHI5-G36d08,4905
+isar/state_machine/transitions/mission.py,sha256=_aaHLUXeomHa_m-9pStBQrWmKupsJqb-jC4BDQDBI6o,5490
 isar/state_machine/transitions/return_home.py,sha256=LeOMnckUUQYzBYRidD2ge6M0KdxGDTgo-ioXR7_9r8A,2714
 isar/state_machine/transitions/robot_status.py,sha256=c1ceyWRGCtx-KTDtxHXRD7oPbt8TQ2ej24A0wyim8vc,2720
 isar/state_machine/transitions/functions/fail_mission.py,sha256=_6HqBMALDinFZ4yh5GMpeqqgV5tw5i8OVMj5UDdqesg,495
@@ -95,8 +95,8 @@ 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/stop.py,sha256=aIj3EPnpgNLdsJwOK1ehhI1TpenQa9JjBxZH0Nm6dLg,1649
+isar/state_machine/transitions/functions/start_mission.py,sha256=ricRfhLH1_lNpqWxneMZcm7ps2YfY6sQGHkiT0Glf6M,2564
+isar/state_machine/transitions/functions/stop.py,sha256=JK4hjGc3QtgSzvCWeOr1YG61SH1QOhmVNjw_jOnahQg,3123
 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
@@ -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-1.30.5.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-1.30.5.dist-info/METADATA,sha256=y-vfw6eUN7tOlQjfzG_dD2App6B4A5u2zeSRCC8yGM0,31063
+isar-1.30.5.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.30.5.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.30.5.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.30.5.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