isar 1.30.4__tar.gz → 1.31.0__tar.gz

{isar-1.30.4 → isar-1.31.0}/.gitignore

@@ -137,3 +137,6 @@ dmypy.json
 # Temporary result folders
 results
 temp_results
+
+# MacOs file system
+.DS_Store

{isar-1.30.4 → isar-1.31.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.30.4
+Version: 1.31.0
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -113,9 +113,6 @@ Requires-Dist: fastapi-azure-auth
 Requires-Dist: fastapi
 Requires-Dist: dependency-injector
 Requires-Dist: numpy
-Requires-Dist: opencensus-ext-azure
-Requires-Dist: opencensus-ext-logging
-Requires-Dist: opencensus-ext-requests
 Requires-Dist: paho-mqtt
 Requires-Dist: pydantic_settings
 Requires-Dist: pydantic
@@ -126,6 +123,12 @@ Requires-Dist: requests-toolbelt
 Requires-Dist: requests
 Requires-Dist: transitions
 Requires-Dist: uvicorn
+Requires-Dist: opentelemetry-api
+Requires-Dist: opentelemetry-sdk
+Requires-Dist: opentelemetry-exporter-otlp
+Requires-Dist: opentelemetry-instrumentation-fastapi
+Requires-Dist: azure-monitor-opentelemetry
+Requires-Dist: azure-monitor-opentelemetry-exporter>=1.0.0b38
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
 Requires-Dist: isort; extra == "dev"

{isar-1.30.4 → isar-1.31.0}/pyproject.toml

@@ -36,9 +36,6 @@ dependencies = [
     "fastapi",
     "dependency-injector",
     "numpy",
-    "opencensus-ext-azure",
-    "opencensus-ext-logging",
-    "opencensus-ext-requests",
     "paho-mqtt",
     "pydantic_settings",
     "pydantic",
@@ -49,6 +46,12 @@ dependencies = [
     "requests",
     "transitions",
     "uvicorn",
+    "opentelemetry-api",
+    "opentelemetry-sdk",
+    "opentelemetry-exporter-otlp",
+    "opentelemetry-instrumentation-fastapi",
+    "azure-monitor-opentelemetry",
+    "azure-monitor-opentelemetry-exporter>=1.0.0b38",
 ]
 dynamic = ["version"]
 

isar-1.31.0/requirements.txt

@@ -0,0 +1,312 @@
+#
+# This file is autogenerated by pip-compile with Python 3.13
+# by the following command:
+#
+#    pip-compile --output-file=requirements.txt pyproject.toml
+#
+alitra==1.1.5
+    # via isar (pyproject.toml)
+annotated-types==0.7.0
+    # via pydantic
+anyio==4.9.0
+    # via
+    #   httpx
+    #   starlette
+asgiref==3.9.1
+    # via opentelemetry-instrumentation-asgi
+azure-core==1.35.0
+    # via
+    #   azure-core-tracing-opentelemetry
+    #   azure-identity
+    #   azure-keyvault-secrets
+    #   azure-monitor-opentelemetry
+    #   azure-monitor-opentelemetry-exporter
+    #   azure-storage-blob
+    #   msrest
+azure-core-tracing-opentelemetry==1.0.0b12
+    # via azure-monitor-opentelemetry
+azure-identity==1.23.1
+    # via
+    #   azure-monitor-opentelemetry-exporter
+    #   isar (pyproject.toml)
+azure-keyvault-secrets==4.10.0
+    # via isar (pyproject.toml)
+azure-monitor-opentelemetry==1.6.7
+    # via isar (pyproject.toml)
+azure-monitor-opentelemetry-exporter==1.0.0b40
+    # via
+    #   azure-monitor-opentelemetry
+    #   isar (pyproject.toml)
+azure-storage-blob==12.26.0
+    # via isar (pyproject.toml)
+backoff==2.2.1
+    # via isar (pyproject.toml)
+certifi==2025.7.14
+    # via
+    #   httpcore
+    #   httpx
+    #   msrest
+    #   requests
+cffi==1.17.1
+    # via cryptography
+charset-normalizer==3.4.2
+    # via requests
+click==8.2.1
+    # via
+    #   isar (pyproject.toml)
+    #   uvicorn
+cryptography==45.0.5
+    # via
+    #   azure-identity
+    #   azure-storage-blob
+    #   fastapi-azure-auth
+    #   msal
+    #   pyjwt
+dacite==1.9.2
+    # via
+    #   alitra
+    #   isar (pyproject.toml)
+dependency-injector==4.48.1
+    # via isar (pyproject.toml)
+fastapi==0.116.1
+    # via
+    #   fastapi-azure-auth
+    #   isar (pyproject.toml)
+fastapi-azure-auth==5.2.0
+    # via isar (pyproject.toml)
+fixedint==0.1.6
+    # via azure-monitor-opentelemetry-exporter
+googleapis-common-protos==1.70.0
+    # via
+    #   opentelemetry-exporter-otlp-proto-grpc
+    #   opentelemetry-exporter-otlp-proto-http
+grpcio==1.74.0
+    # via opentelemetry-exporter-otlp-proto-grpc
+h11==0.16.0
+    # via
+    #   httpcore
+    #   uvicorn
+httpcore==1.0.9
+    # via httpx
+httpx==0.28.1
+    # via fastapi-azure-auth
+idna==3.10
+    # via
+    #   anyio
+    #   httpx
+    #   requests
+importlib-metadata==8.7.0
+    # via opentelemetry-api
+isodate==0.7.2
+    # via
+    #   azure-keyvault-secrets
+    #   azure-storage-blob
+    #   msrest
+msal==1.33.0
+    # via
+    #   azure-identity
+    #   msal-extensions
+msal-extensions==1.3.1
+    # via azure-identity
+msrest==0.7.1
+    # via azure-monitor-opentelemetry-exporter
+numpy==2.3.2
+    # via
+    #   alitra
+    #   isar (pyproject.toml)
+    #   scipy
+oauthlib==3.3.1
+    # via requests-oauthlib
+opentelemetry-api==1.35.0
+    # via
+    #   azure-core-tracing-opentelemetry
+    #   azure-monitor-opentelemetry-exporter
+    #   isar (pyproject.toml)
+    #   opentelemetry-exporter-otlp-proto-grpc
+    #   opentelemetry-exporter-otlp-proto-http
+    #   opentelemetry-instrumentation
+    #   opentelemetry-instrumentation-asgi
+    #   opentelemetry-instrumentation-dbapi
+    #   opentelemetry-instrumentation-django
+    #   opentelemetry-instrumentation-fastapi
+    #   opentelemetry-instrumentation-flask
+    #   opentelemetry-instrumentation-psycopg2
+    #   opentelemetry-instrumentation-requests
+    #   opentelemetry-instrumentation-urllib
+    #   opentelemetry-instrumentation-urllib3
+    #   opentelemetry-instrumentation-wsgi
+    #   opentelemetry-sdk
+    #   opentelemetry-semantic-conventions
+opentelemetry-exporter-otlp==1.35.0
+    # via isar (pyproject.toml)
+opentelemetry-exporter-otlp-proto-common==1.35.0
+    # via
+    #   opentelemetry-exporter-otlp-proto-grpc
+    #   opentelemetry-exporter-otlp-proto-http
+opentelemetry-exporter-otlp-proto-grpc==1.35.0
+    # via opentelemetry-exporter-otlp
+opentelemetry-exporter-otlp-proto-http==1.35.0
+    # via opentelemetry-exporter-otlp
+opentelemetry-instrumentation==0.56b0
+    # via
+    #   opentelemetry-instrumentation-asgi
+    #   opentelemetry-instrumentation-dbapi
+    #   opentelemetry-instrumentation-django
+    #   opentelemetry-instrumentation-fastapi
+    #   opentelemetry-instrumentation-flask
+    #   opentelemetry-instrumentation-psycopg2
+    #   opentelemetry-instrumentation-requests
+    #   opentelemetry-instrumentation-urllib
+    #   opentelemetry-instrumentation-urllib3
+    #   opentelemetry-instrumentation-wsgi
+opentelemetry-instrumentation-asgi==0.56b0
+    # via opentelemetry-instrumentation-fastapi
+opentelemetry-instrumentation-dbapi==0.56b0
+    # via opentelemetry-instrumentation-psycopg2
+opentelemetry-instrumentation-django==0.56b0
+    # via azure-monitor-opentelemetry
+opentelemetry-instrumentation-fastapi==0.56b0
+    # via
+    #   azure-monitor-opentelemetry
+    #   isar (pyproject.toml)
+opentelemetry-instrumentation-flask==0.56b0
+    # via azure-monitor-opentelemetry
+opentelemetry-instrumentation-psycopg2==0.56b0
+    # via azure-monitor-opentelemetry
+opentelemetry-instrumentation-requests==0.56b0
+    # via azure-monitor-opentelemetry
+opentelemetry-instrumentation-urllib==0.56b0
+    # via azure-monitor-opentelemetry
+opentelemetry-instrumentation-urllib3==0.56b0
+    # via azure-monitor-opentelemetry
+opentelemetry-instrumentation-wsgi==0.56b0
+    # via
+    #   opentelemetry-instrumentation-django
+    #   opentelemetry-instrumentation-flask
+opentelemetry-proto==1.35.0
+    # via
+    #   opentelemetry-exporter-otlp-proto-common
+    #   opentelemetry-exporter-otlp-proto-grpc
+    #   opentelemetry-exporter-otlp-proto-http
+opentelemetry-resource-detector-azure==0.1.5
+    # via azure-monitor-opentelemetry
+opentelemetry-sdk==1.35.0
+    # via
+    #   azure-monitor-opentelemetry
+    #   azure-monitor-opentelemetry-exporter
+    #   isar (pyproject.toml)
+    #   opentelemetry-exporter-otlp-proto-grpc
+    #   opentelemetry-exporter-otlp-proto-http
+    #   opentelemetry-resource-detector-azure
+opentelemetry-semantic-conventions==0.56b0
+    # via
+    #   opentelemetry-instrumentation
+    #   opentelemetry-instrumentation-asgi
+    #   opentelemetry-instrumentation-dbapi
+    #   opentelemetry-instrumentation-django
+    #   opentelemetry-instrumentation-fastapi
+    #   opentelemetry-instrumentation-flask
+    #   opentelemetry-instrumentation-requests
+    #   opentelemetry-instrumentation-urllib
+    #   opentelemetry-instrumentation-urllib3
+    #   opentelemetry-instrumentation-wsgi
+    #   opentelemetry-sdk
+opentelemetry-util-http==0.56b0
+    # via
+    #   opentelemetry-instrumentation-asgi
+    #   opentelemetry-instrumentation-django
+    #   opentelemetry-instrumentation-fastapi
+    #   opentelemetry-instrumentation-flask
+    #   opentelemetry-instrumentation-requests
+    #   opentelemetry-instrumentation-urllib
+    #   opentelemetry-instrumentation-urllib3
+    #   opentelemetry-instrumentation-wsgi
+packaging==25.0
+    # via
+    #   opentelemetry-instrumentation
+    #   opentelemetry-instrumentation-flask
+paho-mqtt==2.1.0
+    # via isar (pyproject.toml)
+protobuf==6.31.1
+    # via
+    #   googleapis-common-protos
+    #   opentelemetry-proto
+psutil==7.0.0
+    # via azure-monitor-opentelemetry-exporter
+pycparser==2.22
+    # via cffi
+pydantic==2.11.7
+    # via
+    #   fastapi
+    #   isar (pyproject.toml)
+    #   pydantic-settings
+pydantic-core==2.33.2
+    # via pydantic
+pydantic-settings==2.10.1
+    # via isar (pyproject.toml)
+pyjwt[crypto]==2.10.1
+    # via
+    #   fastapi-azure-auth
+    #   isar (pyproject.toml)
+    #   msal
+python-dotenv==1.1.1
+    # via
+    #   isar (pyproject.toml)
+    #   pydantic-settings
+pyyaml==6.0.2
+    # via isar (pyproject.toml)
+requests==2.32.4
+    # via
+    #   azure-core
+    #   isar (pyproject.toml)
+    #   msal
+    #   msrest
+    #   opentelemetry-exporter-otlp-proto-http
+    #   requests-oauthlib
+    #   requests-toolbelt
+requests-oauthlib==2.0.0
+    # via msrest
+requests-toolbelt==1.0.0
+    # via isar (pyproject.toml)
+scipy==1.16.1
+    # via alitra
+six==1.17.0
+    # via
+    #   azure-core
+    #   transitions
+sniffio==1.3.1
+    # via anyio
+starlette==0.47.2
+    # via fastapi
+transitions==0.9.3
+    # via isar (pyproject.toml)
+typing-extensions==4.14.1
+    # via
+    #   azure-core
+    #   azure-identity
+    #   azure-keyvault-secrets
+    #   azure-storage-blob
+    #   fastapi
+    #   opentelemetry-api
+    #   opentelemetry-exporter-otlp-proto-grpc
+    #   opentelemetry-exporter-otlp-proto-http
+    #   opentelemetry-sdk
+    #   opentelemetry-semantic-conventions
+    #   pydantic
+    #   pydantic-core
+    #   typing-inspection
+typing-inspection==0.4.1
+    # via
+    #   pydantic
+    #   pydantic-settings
+urllib3==2.5.0
+    # via requests
+uvicorn==0.35.0
+    # via isar (pyproject.toml)
+wrapt==1.17.2
+    # via
+    #   opentelemetry-instrumentation
+    #   opentelemetry-instrumentation-dbapi
+    #   opentelemetry-instrumentation-urllib3
+zipp==3.23.0
+    # via importlib-metadata

{isar-1.30.4 → isar-1.31.0}/src/isar/apis/api.py

@@ -8,35 +8,23 @@ from typing import List, Union
 
 import click
 import uvicorn
-from dependency_injector.wiring import inject
-from fastapi import FastAPI, Request, Security
+from fastapi import FastAPI, Security
 from fastapi.middleware.cors import CORSMiddleware
 from fastapi.routing import APIRouter
-from opencensus.ext.azure.trace_exporter import AzureExporter
-from opencensus.trace.attributes_helper import COMMON_ATTRIBUTES
-from opencensus.trace.samplers import ProbabilitySampler
-from opencensus.trace.span import SpanKind
-from opencensus.trace.tracer import Tracer
 from pydantic import AnyHttpUrl
 
 from isar.apis.models.models import ControlMissionResponse, StartMissionResponse
 from isar.apis.robot_control.robot_controller import RobotController
 from isar.apis.schedule.scheduling_controller import SchedulingController
 from isar.apis.security.authentication import Authenticator
-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"]
-
 
 class API:
-    @inject
     def __init__(
         self,
         authenticator: Authenticator,
@@ -45,7 +33,6 @@ class API:
         keyvault: Keyvault,
         mqtt_publisher: MqttClientInterface,
         port: int = settings.API_PORT,
-        azure_ai_logging_enabled: bool = settings.LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED,
     ) -> None:
         self.authenticator: Authenticator = authenticator
         self.scheduling_controller: SchedulingController = scheduling_controller
@@ -53,7 +40,6 @@ class API:
         self.keyvault: Keyvault = keyvault
         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")
@@ -113,9 +99,6 @@ class API:
                 allow_headers=["*"],
             )
 
-        if self.azure_ai_logging_enabled:
-            self._add_request_logging_middleware(app)
-
         app.include_router(router=self._create_scheduler_router())
 
         app.include_router(router=self._create_info_router())
@@ -210,9 +193,15 @@ class API:
                     "description": "Mission succesfully stopped",
                     "model": ControlMissionResponse,
                 },
+                HTTPStatus.UNPROCESSABLE_ENTITY.value: {
+                    "description": "Invalid body - The JSON is incorrect",
+                },
                 HTTPStatus.CONFLICT.value: {
                     "description": "Conflict - Invalid command in the current state",
                 },
+                HTTPStatus.BAD_REQUEST.value: {
+                    "description": "Bad request - Robot does not have the capabilities to perform the mission",
+                },
                 HTTPStatus.INTERNAL_SERVER_ERROR.value: {
                     "description": "Internal Server Error - Current state of state machine unknown",
                 },
@@ -336,39 +325,6 @@ class API:
             extra={"color_message": color_message},
         )
 
-    def _add_request_logging_middleware(self, app: FastAPI) -> None:
-        connection_string: str
-        try:
-            connection_string = self.keyvault.get_secret(
-                "application-insights-connection-string"
-            ).value
-        except KeyvaultError:
-            message: str = (
-                "Missing connection string for Application Insights in key vault. "
-            )
-            self.logger.critical(message)
-            raise ConfigurationError(message)
-
-        @app.middleware("http")
-        async def middlewareOpencensus(request: Request, call_next):
-            tracer = Tracer(
-                exporter=AzureExporter(connection_string=connection_string),
-                sampler=ProbabilitySampler(1.0),
-            )
-            with tracer.span("main") as span:
-                span.span_kind = SpanKind.SERVER
-
-                response = await call_next(request)
-
-                tracer.add_attribute_to_current_span(
-                    attribute_key=HTTP_STATUS_CODE, attribute_value=response.status_code
-                )
-                tracer.add_attribute_to_current_span(
-                    attribute_key=HTTP_URL, attribute_value=str(request.url)
-                )
-
-            return response
-
     def _publish_startup_message(self) -> None:
         if not self.mqtt_publisher:
             return

{isar-1.30.4 → isar-1.31.0}/src/isar/apis/models/models.py

@@ -19,10 +19,11 @@ 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]
+    mission_not_found: Optional[bool] = False
+    task_id: Optional[str]
+    task_status: Optional[str]
 
 
 class RobotInfoResponse(BaseModel):

{isar-1.30.4 → isar-1.31.0}/src/isar/apis/models/start_mission_definition.py

@@ -58,6 +58,10 @@ class StartMissionDefinition(BaseModel):
     start_pose: Optional[InputPose] = None
 
 
+class StopMissionDefinition(BaseModel):
+    mission_id: Optional[str] = None
+
+
 def to_isar_mission(
     start_mission_definition: StartMissionDefinition,
 ) -> Mission:

{isar-1.30.4 → isar-1.31.0}/src/isar/apis/robot_control/robot_controller.py

@@ -1,6 +1,5 @@
 import logging
 
-from dependency_injector.wiring import inject
 from fastapi import HTTPException
 
 from isar.apis.models.models import RobotInfoResponse
@@ -10,7 +9,6 @@ from robot_interface.models.robots.media import MediaConfig
 
 
 class RobotController:
-    @inject
     def __init__(
         self,
         robot_utilities: RobotUtilities,

{isar-1.30.4 → isar-1.31.0}/src/isar/apis/schedule/scheduling_controller.py

@@ -2,7 +2,6 @@ import logging
 from http import HTTPStatus
 from threading import Lock
 
-from dependency_injector.wiring import inject
 from fastapi import Body, HTTPException, Path
 
 from isar.apis.models.models import (
@@ -12,6 +11,7 @@ from isar.apis.models.models import (
 )
 from isar.apis.models.start_mission_definition import (
     StartMissionDefinition,
+    StopMissionDefinition,
     to_isar_mission,
 )
 from isar.config.settings import robot_settings, settings
@@ -23,7 +23,6 @@ from robot_interface.models.mission.task import TASKS, InspectionTask, MoveArm
 
 
 class SchedulingController:
-    @inject
     def __init__(
         self,
         scheduling_utilities: SchedulingUtilities,
@@ -179,7 +178,16 @@ class SchedulingController:
         )
         return resume_mission_response
 
-    def stop_mission(self) -> ControlMissionResponse:
+    def stop_mission(
+        self,
+        mission_id: StopMissionDefinition = Body(
+            default=None,
+            embed=True,
+            title="Mission ID to stop",
+            description="The mission ID of the mission being stopped, in json format",
+        ),
+    ) -> ControlMissionResponse:
+
         self.logger.info("Received request to stop current mission")
 
         state: States = self.scheduling_utilities.get_state()
@@ -198,7 +206,7 @@ class SchedulingController:
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
 
         stop_mission_response: ControlMissionResponse = (
-            self.scheduling_utilities.stop_mission()
+            self.scheduling_utilities.stop_mission(mission_id.mission_id)
         )
         return stop_mission_response
 

{isar-1.30.4 → isar-1.31.0}/src/isar/config/log.py

@@ -3,30 +3,21 @@ import logging.config
 from importlib.resources import as_file, files
 
 import yaml
-from opencensus.ext.azure.log_exporter import AzureLogHandler
 from uvicorn.logging import ColourizedFormatter
 
-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
 
 
 def setup_loggers(keyvault: Keyvault) -> None:
     log_levels: dict = settings.LOG_LEVELS
-    source = files("isar").joinpath("config").joinpath("logging.conf")
-    with as_file(source) as f:
-        log_config = yaml.safe_load(open(f))
+    log_config = load_log_config()
 
     logging.config.dictConfig(log_config)
 
     handlers = []
     if settings.LOG_HANDLER_LOCAL_ENABLED:
         handlers.append(configure_console_handler(log_config=log_config))
-    if settings.LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED:
-        handlers.append(
-            configure_azure_handler(log_config=log_config, keyvault=keyvault)
-        )
 
     for log_handler in handlers:
         for loggers in log_config["loggers"].keys():
@@ -35,6 +26,13 @@ def setup_loggers(keyvault: Keyvault) -> None:
         logging.getLogger().addHandler(log_handler)
 
 
+def load_log_config():
+    source = files("isar").joinpath("config").joinpath("logging.conf")
+    with as_file(source) as f:
+        log_config = yaml.safe_load(open(f))
+    return log_config
+
+
 def configure_console_handler(log_config: dict) -> logging.Handler:
     handler = logging.StreamHandler()
     handler.setLevel(log_config["root"]["level"])
@@ -46,22 +44,3 @@ def configure_console_handler(log_config: dict) -> logging.Handler:
         )
     )
     return handler
-
-
-def configure_azure_handler(log_config: dict, keyvault: Keyvault) -> logging.Handler:
-    connection_string: str
-    try:
-        connection_string = keyvault.get_secret(
-            "application-insights-connection-string"
-        ).value
-    except KeyvaultError:
-        message: str = (
-            "CRITICAL ERROR: Missing connection string for"
-            f" Application Insights in key vault '{keyvault.name}'."
-        )
-        print(f"\n{message} \n")
-        raise ConfigurationError(message)
-
-    handler = AzureLogHandler(connection_string=connection_string)
-    handler.setLevel(log_config["root"]["level"])
-    return handler