isar 1.30.4__py3-none-any.whl → 1.30.5__py3-none-any.whl

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/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/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-1.30.4.dist-info → isar-1.30.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.30.4
+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-1.30.4.dist-info → isar-1.30.5.dist-info}/RECORD

@@ -4,7 +4,7 @@ isar/script.py,sha256=0oUUfytKDOsWrPv4iWemTWl5L3Ug66mQsbvqGqQrVWk,6050
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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
@@ -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
@@ -96,7 +96,7 @@ isar/state_machine/transitions/functions/resume.py,sha256=9KQjH_6YBGyxFhb7G5dgDe
 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=ricRfhLH1_lNpqWxneMZcm7ps2YfY6sQGHkiT0Glf6M,2564
-isar/state_machine/transitions/functions/stop.py,sha256=aIj3EPnpgNLdsJwOK1ehhI1TpenQa9JjBxZH0Nm6dLg,1649
+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-1.30.4.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
@@ -128,8 +128,8 @@ robot_interface/telemetry/payloads.py,sha256=PpvmV7XeGgfhc_aRUYFOdwBTwV2x8TwTBIN
 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-1.30.4.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,,
+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,,