isar 1.30.5__tar.gz → 1.34.5__tar.gz

{isar-1.30.5 → isar-1.34.5}/.github/workflows/compile_requirements.yml

@@ -38,7 +38,7 @@ jobs:
           pip-compile --output-file=requirements.txt pyproject.toml --upgrade
 
       - name: Create Pull Request
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@271a8d0340265f705b14b6d32b9829c1cb33d45e #v7
         with:
           commit-message: "GHA: Update dependencies"
           title: Update dependencies

isar-1.34.5/.github/workflows/execute_stale_labeler.yml

@@ -0,0 +1,17 @@
+name: Execute stale labeler
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: "35 6 * * *"
+
+permissions:
+  contents: read
+  actions: write
+  issues: write
+  pull-requests: write
+
+jobs:
+  labels:
+    uses: equinor/armada/.github/workflows/mark_issues_and_prs_as_stale.yml@main
+    secrets:
+      STALE_ISSUE_TOKEN: ${{ secrets.GITHUB_TOKEN }}

{isar-1.30.5 → isar-1.34.5}/.github/workflows/project_automations.yml

@@ -1,4 +1,10 @@
 name: Project automations
+
+permissions:
+  contents: read
+  issues: write
+  pull-requests: write
+
 on:
   issues:
     types:
@@ -19,7 +25,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'opened' || github.event.action == 'reopened'
     steps:
       - name: 'Move issue to "Todo"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -32,7 +38,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'closed'
     steps:
       - name: 'Moved issue to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -45,7 +51,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'opened' || github.event.action == 'reopened' || github.event.action == 'review_requested'
     steps:
       - name: 'Move PR to "In Progress"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -58,7 +64,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'ready_for_review'
     steps:
       - name: 'Move PR to "Review"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -71,7 +77,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'closed'
     steps:
       - name: 'Move PR to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor

{isar-1.30.5 → isar-1.34.5}/.github/workflows/pythonpackage.yml

@@ -1,5 +1,8 @@
 name: Python package
 
+permissions:
+  contents: read
+
 on:
   push:
     branches:

{isar-1.30.5 → isar-1.34.5}/.github/workflows/pythonpublish.yml

@@ -1,5 +1,8 @@
 name: Upload Python Package
 
+permissions:
+  contents: read
+
 on:
   release:
     types: [created]

isar-1.34.5/.github/workflows/synchronize_labels.yml

@@ -0,0 +1,13 @@
+name: Execute label synchronization
+on:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  issues: write
+
+jobs:
+  labels:
+    uses: equinor/armada/.github/workflows/synchronize_labels.yml@main
+    secrets:
+      LABEL_SYNC_TOKEN: ${{ secrets.GITHUB_TOKEN }}

isar-1.34.5/.github/workflows/trivy-config.yml

@@ -0,0 +1,43 @@
+# from https://github.com/equinor/appsec-ghas-examples/blob/main/.github/workflows/trivy-config.yml
+name: Trivy IaC & Dockerfile Scanning
+permissions: {}
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+  schedule:
+    - cron: '36 0 * * 3'
+
+jobs:
+  trivy-scan:
+    name: Scan on Main with Trivy
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    permissions:
+      security-events: write 
+
+      contents: read
+      actions: read
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v5
+        with:
+          persist-credentials: false
+
+      - name: Run Trivy vulnerability Scanner
+        uses: aquasecurity/trivy-action@b6643a29fecd7f34b3597bc6acb0a98b03d33ff8
+        with:
+          scan-type: 'config'
+          severity: 'CRITICAL,HIGH'
+          limit-severities-for-sarif: true 
+          format: 'sarif'
+          output: 'trivy-results-iac.sarif'
+          exit-code: '0'
+
+      - name: Upload scan results to GitHub Security tab
+        uses: github/codeql-action/upload-sarif@v3
+        with:
+          sarif_file: 'trivy-results-iac.sarif'
+

isar-1.34.5/Makefile

@@ -0,0 +1,23 @@
+run:
+	isar-start
+
+test:
+	ENVIRONMENT=local ISAR_ENV=test pytest .
+
+format:
+	isort .
+	black .
+	ruff check . --fix
+
+check:
+	mypy .
+
+run-debug: # debug logs
+	API_LOG_LEVEL=DEBUG \
+	MAIN_LOG_LEVEL=DEBUG \
+	MQTT_LOG_LEVEL=DEBUG \
+	STATE_MACHINE_LOG_LEVEL=DEBUG \
+	UPLOADER_LOG_LEVEL=DEBUG \
+	CONSOLE_LOG_LEVEL=DEBUG \
+	ISAR_DEBUG_LOG_FORMATTER=True \
+	isar-start

{isar-1.30.5 → isar-1.34.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.30.5
+Version: 1.34.5
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -110,12 +110,9 @@ Requires-Dist: backoff
 Requires-Dist: click
 Requires-Dist: dacite
 Requires-Dist: fastapi-azure-auth
-Requires-Dist: fastapi
+Requires-Dist: fastapi>=0.121.0
 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
@@ -124,8 +121,17 @@ Requires-Dist: python-dotenv
 Requires-Dist: PyYAML
 Requires-Dist: requests-toolbelt
 Requires-Dist: requests
+Requires-Dist: starlette>=0.49.1
 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
+Requires-Dist: pymysql
+Requires-Dist: sqlalchemy
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
 Requires-Dist: isort; extra == "dev"
@@ -137,6 +143,7 @@ Requires-Dist: pytest-xdist; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
 Requires-Dist: requests-mock; extra == "dev"
 Requires-Dist: ruff; extra == "dev"
+Requires-Dist: testcontainers[mysql]; extra == "dev"
 Dynamic: license-file
 
 # ISAR
@@ -230,6 +237,15 @@ ISAR_ROBOT_PACKAGE = isar_turtlebot
 ISAR_DEFAULT_MAP = turtleworld
 ```
 
+### Run with make
+Common commands for the project are in [Makefile](./Makefile).
+This requires the CLI program `make`.
+
+Usage:
+```bash
+make <command-in-makefile> # for example: make run
+```
+
 ### Run ISAR server
 
 To run ISAR:
@@ -366,7 +382,7 @@ States.Paused,
 indicates that the state machine is already running. For running a mission the state machine need to be in the states
 
 ```
-States.Home, States.RobotStandingStill, States.AwaitNextMission or States.ReturningHome
+States.Home, States.AwaitNextMission or States.ReturningHome
 ```
 
 ### FastAPI
@@ -399,68 +415,6 @@ You can create your own storage module by implementing the [storage interface](.
 and adding your storage module to the selection [here](./src/isar/modules.py). Note that you must add your module as an
 option in the dictionary.
 
-## Task selection
-
-The tasks of a mission are selected based on a task selector module, defined by the `TASK_SELECTOR` configuration variable. The default task selector is `sequential`. When using the default module, tasks are executed in sequential order defined by the current input mission.
-
-### Implement you own task selector module
-
-Custom task selector modules may be added by implementing additional versions of the [task selector interface](./src/isar/mission_planner/task_selector_interface.py).
-
-For every custom module, the interface function `next_task()` must be implemented. All interface implementations by default have access to the list of tasks in the current mission through the member `self.tasks`, however additional variables may be supplied by adding arguments to `next_task()`. To comply with the interface definition, the function should return the next task upon every call, and raise the `TaskSelectorStop` exception when all tasks in the current mission have been completed:
-
-```python
-class CustomTaskSelector(TaskSelectorInterface):
-    ...
-    def next_task(...) -> Task:
-
-        # Add code here
-        ...
-
-        # Raise `TaskSelectorStop` when all tasks have been completed
-        ...
-```
-
-Optionally, the `initialize()` function may be extended by supplementing the parameter list or function body:
-
-```python
-class CustomTaskSelector(TaskSelectorInterface):
-    ...
-    def initialize(self, tasks: List[Task], ...) -> None:
-        super.initialize(tasks=tasks)
-
-        # Add supplementary code here
-        ...
-```
-
-A custom task selector may be made available during [module selection](./src/isar/modules.py) by adding it to the series of options in the dictionary of injector modules. It can then be activated by overriding the task selector configuration variable:
-
-```python
-# Add custom task selector module to `modules.py`
-
-class CustomTaskSelectorModule(Module):
-    @provider
-    @singleton
-    def provide_task_selector(self) -> TaskSelectorInterface:
-        return CustomTaskSelector()
-
-...
-
-# Make it available to select during injector instantiation
-
-modules: dict[str, tuple[Module, Union[str, bool]]] = {
-    ...
-    "task_selector": (
-        {
-            "sequential": SequentialTaskSelectorModule,
-            "custom": CustomTaskSelectorModule
-        }
-        ...
-    )
-    ...
-}
-```
-
 ## API authentication
 
 The API has an option to include user authentication. This can be enabled by setting the environment variable
@@ -477,6 +431,7 @@ Enabling API authentication also requires the same environment variables. The re
 AZURE_CLIENT_ID
 AZURE_TENANT_ID
 AZURE_CLIENT_SECRET
+ISAR_BLOB_STORAGE_ACCOUNT
 ```
 
 ## MQTT communication

{isar-1.30.5 → isar-1.34.5}/README.md

@@ -89,6 +89,15 @@ ISAR_ROBOT_PACKAGE = isar_turtlebot
 ISAR_DEFAULT_MAP = turtleworld
 ```
 
+### Run with make
+Common commands for the project are in [Makefile](./Makefile).
+This requires the CLI program `make`.
+
+Usage:
+```bash
+make <command-in-makefile> # for example: make run
+```
+
 ### Run ISAR server
 
 To run ISAR:
@@ -225,7 +234,7 @@ States.Paused,
 indicates that the state machine is already running. For running a mission the state machine need to be in the states
 
 ```
-States.Home, States.RobotStandingStill, States.AwaitNextMission or States.ReturningHome
+States.Home, States.AwaitNextMission or States.ReturningHome
 ```
 
 ### FastAPI
@@ -258,68 +267,6 @@ You can create your own storage module by implementing the [storage interface](.
 and adding your storage module to the selection [here](./src/isar/modules.py). Note that you must add your module as an
 option in the dictionary.
 
-## Task selection
-
-The tasks of a mission are selected based on a task selector module, defined by the `TASK_SELECTOR` configuration variable. The default task selector is `sequential`. When using the default module, tasks are executed in sequential order defined by the current input mission.
-
-### Implement you own task selector module
-
-Custom task selector modules may be added by implementing additional versions of the [task selector interface](./src/isar/mission_planner/task_selector_interface.py).
-
-For every custom module, the interface function `next_task()` must be implemented. All interface implementations by default have access to the list of tasks in the current mission through the member `self.tasks`, however additional variables may be supplied by adding arguments to `next_task()`. To comply with the interface definition, the function should return the next task upon every call, and raise the `TaskSelectorStop` exception when all tasks in the current mission have been completed:
-
-```python
-class CustomTaskSelector(TaskSelectorInterface):
-    ...
-    def next_task(...) -> Task:
-
-        # Add code here
-        ...
-
-        # Raise `TaskSelectorStop` when all tasks have been completed
-        ...
-```
-
-Optionally, the `initialize()` function may be extended by supplementing the parameter list or function body:
-
-```python
-class CustomTaskSelector(TaskSelectorInterface):
-    ...
-    def initialize(self, tasks: List[Task], ...) -> None:
-        super.initialize(tasks=tasks)
-
-        # Add supplementary code here
-        ...
-```
-
-A custom task selector may be made available during [module selection](./src/isar/modules.py) by adding it to the series of options in the dictionary of injector modules. It can then be activated by overriding the task selector configuration variable:
-
-```python
-# Add custom task selector module to `modules.py`
-
-class CustomTaskSelectorModule(Module):
-    @provider
-    @singleton
-    def provide_task_selector(self) -> TaskSelectorInterface:
-        return CustomTaskSelector()
-
-...
-
-# Make it available to select during injector instantiation
-
-modules: dict[str, tuple[Module, Union[str, bool]]] = {
-    ...
-    "task_selector": (
-        {
-            "sequential": SequentialTaskSelectorModule,
-            "custom": CustomTaskSelectorModule
-        }
-        ...
-    )
-    ...
-}
-```
-
 ## API authentication
 
 The API has an option to include user authentication. This can be enabled by setting the environment variable
@@ -336,6 +283,7 @@ Enabling API authentication also requires the same environment variables. The re
 AZURE_CLIENT_ID
 AZURE_TENANT_ID
 AZURE_CLIENT_SECRET
+ISAR_BLOB_STORAGE_ACCOUNT
 ```
 
 ## MQTT communication

{isar-1.30.5 → isar-1.34.5}/docs/update_state_diagram.py

@@ -13,9 +13,59 @@ from isar.state_machine.transitions.return_home import get_return_home_transitio
 from isar.state_machine.transitions.robot_status import get_robot_status_transitions
 
 
+def extract_function_name_from_callable(func):
+    try:
+        closure = getattr(func, "__closure__", None)
+        if closure:
+            for cell in closure:
+                obj = cell.cell_contents
+                if callable(obj):
+                    return getattr(obj, "__name__", str(obj))
+
+        return getattr(func, "__name__", str(func))
+    except Exception:
+        return "unknown"
+
+
+def embed_conditions_in_trigger(transitions: List[dict]) -> List[dict]:
+    updated = []
+    for t in transitions:
+        trigger = t.get("trigger", "")
+        conditions = t.get("conditions", [])
+
+        if not isinstance(conditions, list):
+            conditions = [conditions]
+
+        condition_names = []
+
+        for cond in conditions:
+            name = extract_function_name_from_callable(cond)
+            condition_names.append(name)
+
+        befores = t.get("before", [])
+        if not isinstance(befores, list):
+            befores = [befores]
+        before_names = [extract_function_name_from_callable(b) for b in befores]
+
+        label_parts = [trigger]
+        if condition_names:
+            label_parts.append(f"[{'; '.join(condition_names)}]")
+        if before_names:
+            label_parts.append(f"/ {'; '.join(before_names)}")
+
+        new_trigger = " ".join(label_parts)
+
+        t_copy = t.copy()
+        t_copy["trigger"] = new_trigger
+        updated.append(t_copy)
+
+    return updated
+
+
 def draw_diagram(states: List[State], transitions: List[dict], name: str):
+    transitions_with_conditions = embed_conditions_in_trigger(transitions)
     machine = GraphMachine(states=states, initial="unknown_status", queued=True)
-    machine.add_transitions(transitions)
+    machine.add_transitions(transitions_with_conditions)
     gp = machine.get_combined_graph()
 
     state_machine_diagram_file = (
@@ -25,12 +75,12 @@ def draw_diagram(states: List[State], transitions: List[dict], name: str):
     if os.path.isfile(state_machine_diagram_file):
         os.remove(state_machine_diagram_file)
 
-    gp.draw(state_machine_diagram_file, prog="dot")
+    gp.draw(str(state_machine_diagram_file), prog="dot", format="png")
 
 
 if __name__ == "__main__":
     injector: Injector = get_injector()
-    state_machine: StateMachine = injector.get(StateMachine)
+    state_machine: StateMachine = injector.state_machine()
 
     mission_extended_transitions: List[dict] = []
     for transition in get_mission_transitions(state_machine):

{isar-1.30.5 → isar-1.34.5}/pyproject.toml

@@ -33,12 +33,9 @@ dependencies = [
     "click",
     "dacite",
     "fastapi-azure-auth",
-    "fastapi",
+    "fastapi>=0.121.0",
     "dependency-injector",
     "numpy",
-    "opencensus-ext-azure",
-    "opencensus-ext-logging",
-    "opencensus-ext-requests",
     "paho-mqtt",
     "pydantic_settings",
     "pydantic",
@@ -47,8 +44,17 @@ dependencies = [
     "PyYAML",
     "requests-toolbelt",
     "requests",
+    "starlette>=0.49.1",
     "transitions",
     "uvicorn",
+    "opentelemetry-api",
+    "opentelemetry-sdk",
+    "opentelemetry-exporter-otlp",
+    "opentelemetry-instrumentation-fastapi",
+    "azure-monitor-opentelemetry",
+    "azure-monitor-opentelemetry-exporter>=1.0.0b38",
+    "pymysql",
+    "sqlalchemy"
 ]
 dynamic = ["version"]
 
@@ -70,6 +76,7 @@ dev = [
     "pytest",
     "requests-mock",
     "ruff",
+    "testcontainers[mysql]",
 ]
 
 [tool.setuptools_scm]