isar 1.31.0__py3-none-any.whl → 1.31.1__py3-none-any.whl

isar/state_machine/state_machine.py

@@ -3,7 +3,7 @@ import logging
 from collections import deque
 from datetime import datetime, timezone
 from threading import Event
-from typing import Deque, List, Optional
+from typing import Deque, List, Optional, Tuple
 
 from transitions import Machine
 from transitions.core import State
@@ -14,8 +14,7 @@ from isar.mission_planner.task_selector_interface import (
     TaskSelectorInterface,
     TaskSelectorStop,
 )
-from isar.models.communication.queues.events import Events, SharedState
-from isar.models.communication.queues.queue_utils import update_shared_state
+from isar.models.events import Events, SharedState
 from isar.state_machine.states.await_next_mission import AwaitNextMission
 from isar.state_machine.states.blocked_protective_stop import BlockedProtectiveStop
 from isar.state_machine.states.home import Home
@@ -30,10 +29,15 @@ from isar.state_machine.states_enum import States
 from isar.state_machine.transitions.mission import get_mission_transitions
 from isar.state_machine.transitions.return_home import get_return_home_transitions
 from isar.state_machine.transitions.robot_status import get_robot_status_transitions
-from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
+from robot_interface.models.exceptions.robot_exceptions import (
+    ErrorMessage,
+    RobotException,
+    RobotRetrieveInspectionException,
+)
+from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import RobotStatus, TaskStatus
-from robot_interface.models.mission.task import TASKS
+from robot_interface.models.mission.task import TASKS, InspectionTask, Task
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 from robot_interface.telemetry.payloads import (
@@ -140,6 +144,8 @@ class StateMachine(object):
 
         self.current_state: State = States(self.state)  # type: ignore
 
+        self.awaiting_task_status: bool = False
+
         self.transitions_log_length: int = transitions_log_length
         self.transitions_list: Deque[States] = deque([], self.transitions_log_length)
 
@@ -182,7 +188,7 @@ class StateMachine(object):
     def update_state(self):
         """Updates the current state of the state machine."""
         self.current_state = States(self.state)  # type: ignore
-        update_shared_state(self.shared_state.state, self.current_state)
+        self.shared_state.state.update(self.current_state)
         self._log_state_transition(self.current_state)
         self.logger.info("State: %s", self.current_state)
         self.publish_status()
@@ -201,9 +207,21 @@ class StateMachine(object):
         self.task_selector.initialize(tasks=self.current_mission.tasks)
 
     def send_task_status(self):
-        update_shared_state(
-            self.shared_state.state_machine_current_task, self.current_task
-        )
+        self.shared_state.state_machine_current_task.update(self.current_task)
+
+    def report_task_status(self, task: Task) -> None:
+        if task.status == TaskStatus.Failed:
+            self.logger.warning(
+                f"Task: {str(task.id)[:8]} was reported as failed by the robot"
+            )
+        elif task.status == TaskStatus.Successful:
+            self.logger.info(
+                f"{type(task).__name__} task: {str(task.id)[:8]} completed"
+            )
+        else:
+            self.logger.info(
+                f"Task: {str(task.id)[:8]} was reported as task.status by the robot"
+            )
 
     def publish_mission_status(self) -> None:
         if not self.mqtt_publisher:
@@ -334,6 +352,58 @@ class StateMachine(object):
             )
         )
 
+    def should_upload_inspections(self) -> bool:
+        if settings.UPLOAD_INSPECTIONS_ASYNC:
+            return False
+
+        return (
+            self.current_task.is_finished()
+            and self.current_task.status == TaskStatus.Successful
+            and isinstance(self.current_task, InspectionTask)
+        )
+
+    def queue_inspections_for_upload(
+        self, mission: Mission, current_task: InspectionTask, logger: logging.Logger
+    ) -> None:
+        try:
+            inspection: Inspection = self.robot.get_inspection(task=current_task)
+            if current_task.inspection_id != inspection.id:
+                logger.warning(
+                    f"The inspection_id of task ({current_task.inspection_id}) "
+                    f"and result ({inspection.id}) is not matching. "
+                    f"This may lead to confusions when accessing the inspection later"
+                )
+
+        except (RobotRetrieveInspectionException, RobotException) as e:
+            error_message: ErrorMessage = ErrorMessage(
+                error_reason=e.error_reason, error_description=e.error_description
+            )
+            self.current_task.error_message = error_message
+            logger.error(
+                f"Failed to retrieve inspections because: {e.error_description}"
+            )
+            return
+
+        except Exception as e:
+            logger.error(
+                f"Failed to retrieve inspections because of unexpected error: {e}"
+            )
+            return
+
+        if not inspection:
+            logger.warning(
+                f"No inspection result data retrieved for task {str(current_task.id)[:8]}"
+            )
+
+        inspection.metadata.tag_id = current_task.tag_id
+
+        message: Tuple[Inspection, Mission] = (
+            inspection,
+            mission,
+        )
+        self.events.upload_queue.put(message)
+        logger.info(f"Inspection result: {str(inspection.id)[:8]} queued for upload")
+
 
 def main(state_machine: StateMachine):
     """Starts a state machine instance."""

isar/state_machine/states/await_next_mission.py

@@ -1,20 +1,55 @@
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, List
 
-from transitions import State
+from isar.config.settings import settings
+from isar.eventhandlers.eventhandler import (
+    EventHandlerBase,
+    EventHandlerMapping,
+    TimeoutHandlerMapping,
+)
+from isar.state_machine.utils.common_event_handlers import (
+    return_home_event_handler,
+    start_mission_event_handler,
+    stop_mission_event_handler,
+)
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
-from isar.state_machine.generic_states.idle import Idle, IdleStates
 
+class AwaitNextMission(EventHandlerBase):
 
-class AwaitNextMission(State, Idle):
-    def __init__(self, state_machine: "StateMachine") -> None:
-        State.__init__(
-            self, name="await_next_mission", on_enter=self.start, on_exit=self.stop
-        )
-        Idle.__init__(
-            self,
+    def __init__(self, state_machine: "StateMachine"):
+        events = state_machine.events
+
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="start_mission_event",
+                event=events.api_requests.start_mission.input,
+                handler=lambda event: start_mission_event_handler(state_machine, event),
+            ),
+            EventHandlerMapping(
+                name="return_home_event",
+                event=events.api_requests.return_home.input,
+                handler=lambda event: return_home_event_handler(state_machine, event),
+            ),
+            EventHandlerMapping(
+                name="stop_mission_event",
+                event=events.api_requests.return_home.input,
+                handler=lambda event: stop_mission_event_handler(state_machine, event),
+            ),
+        ]
+
+        timers: List[TimeoutHandlerMapping] = [
+            TimeoutHandlerMapping(
+                name="should_return_home_timer",
+                timeout_in_seconds=settings.RETURN_HOME_DELAY,
+                handler=lambda: state_machine.request_return_home,  # type: ignore
+            )
+        ]
+
+        super().__init__(
+            state_name="await_next_mission",
             state_machine=state_machine,
-            state=IdleStates.AwaitNextMission,
+            event_handler_mappings=event_handlers,
+            timers=timers,
         )

isar/state_machine/states/blocked_protective_stop.py

@@ -1,24 +1,33 @@
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, List
 
-from transitions import State
-
-from isar.state_machine.generic_states.robot_unavailable import (
-    RobotUnavailable,
-    RobotUnavailableStates,
-)
+from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
+from isar.models.events import Event
+from robot_interface.models.mission.status import RobotStatus
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
 
-class BlockedProtectiveStop(State, RobotUnavailable):
-    def __init__(self, state_machine: "StateMachine") -> None:
-        State.__init__(
-            self, name="blocked_protective_stop", on_enter=self.start, on_exit=self.stop
-        )
+class BlockedProtectiveStop(EventHandlerBase):
+
+    def __init__(self, state_machine: "StateMachine"):
+        shared_state = state_machine.shared_state
+
+        def _robot_status_event_handler(event: Event[RobotStatus]):
+            robot_status: RobotStatus = event.check()
+            if robot_status != RobotStatus.BlockedProtectiveStop:
+                return state_machine.robot_status_changed  # type: ignore
+            return None
 
-        RobotUnavailable.__init__(
-            self,
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="robot_status_event",
+                event=shared_state.robot_status,
+                handler=_robot_status_event_handler,
+            ),
+        ]
+        super().__init__(
+            state_name="blocked_protective_stop",
             state_machine=state_machine,
-            state=RobotUnavailableStates.BlockedProtectiveStop,
+            event_handler_mappings=event_handlers,
         )

isar/state_machine/states/home.py

@@ -1,19 +1,50 @@
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, List
 
-from transitions import State
+from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
+from isar.state_machine.utils.common_event_handlers import (
+    return_home_event_handler,
+    robot_status_event_handler,
+    start_mission_event_handler,
+    stop_mission_event_handler,
+)
+from robot_interface.models.mission.status import RobotStatus
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
-from isar.state_machine.generic_states.idle import Idle, IdleStates
 
+class Home(EventHandlerBase):
 
-class Home(State, Idle):
-    def __init__(self, state_machine: "StateMachine") -> None:
-        State.__init__(self, name="home", on_enter=self.start, on_exit=self.stop)
+    def __init__(self, state_machine: "StateMachine"):
+        events = state_machine.events
+        shared_state = state_machine.shared_state
 
-        Idle.__init__(
-            self,
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="start_mission_event",
+                event=events.api_requests.start_mission.input,
+                handler=lambda event: start_mission_event_handler(state_machine, event),
+            ),
+            EventHandlerMapping(
+                name="return_home_event",
+                event=events.api_requests.return_home.input,
+                handler=lambda event: return_home_event_handler(state_machine, event),
+            ),
+            EventHandlerMapping(
+                name="stop_mission_event",
+                event=events.api_requests.return_home.input,
+                handler=lambda event: stop_mission_event_handler(state_machine, event),
+            ),
+            EventHandlerMapping(
+                name="robot_status_event",
+                event=shared_state.robot_status,
+                handler=lambda event: robot_status_event_handler(
+                    state_machine, RobotStatus.Home, event
+                ),
+            ),
+        ]
+        super().__init__(
+            state_name="home",
             state_machine=state_machine,
-            state=IdleStates.Home,
+            event_handler_mappings=event_handlers,
         )

isar/state_machine/states/monitor.py

@@ -1,22 +1,93 @@
-from typing import TYPE_CHECKING
+import logging
+from copy import deepcopy
+from typing import TYPE_CHECKING, Callable, List, Optional
 
-from transitions import State
-
-from isar.state_machine.generic_states.ongoing_mission import (
-    OngoingMission,
-    OngoingMissionStates,
+from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
+from isar.models.events import Event
+from isar.services.utilities.threaded_request import ThreadedRequest
+from isar.state_machine.utils.common_event_handlers import (
+    mission_failed_event_handler,
+    mission_started_event_handler,
+    stop_mission_event_handler,
+    task_status_event_handler,
+    task_status_failed_event_handler,
 )
+from robot_interface.models.mission.status import TaskStatus
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
 
-class Monitor(State, OngoingMission):
-    def __init__(self, state_machine: "StateMachine") -> None:
-        State.__init__(self, name="monitor", on_enter=self.start, on_exit=self.stop)
+class Monitor(EventHandlerBase):
+
+    def __init__(self, state_machine: "StateMachine"):
+        logger = logging.getLogger("state_machine")
+        events = state_machine.events
+
+        def _pause_mission_event_handler(event: Event[bool]) -> Optional[Callable]:
+            if event.consume_event():
+                return state_machine.pause  # type: ignore
+            return None
+
+        def _handle_task_completed(task_status: TaskStatus):
+            if state_machine.should_upload_inspections():
+                get_inspection_thread = ThreadedRequest(
+                    state_machine.queue_inspections_for_upload
+                )
+                get_inspection_thread.start_thread(
+                    deepcopy(state_machine.current_mission),
+                    deepcopy(state_machine.current_task),
+                    logger,
+                    name="State Machine Get Inspections",
+                )
+
+            state_machine.iterate_current_task()
+            if state_machine.current_task is None:
+                return state_machine.mission_finished  # type: ignore
+            return None
 
-        OngoingMission.__init__(
-            self,
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="stop_mission_event",
+                event=events.api_requests.stop_mission.input,
+                handler=lambda event: stop_mission_event_handler(state_machine, event),
+            ),
+            EventHandlerMapping(
+                name="pause_mission_event",
+                event=events.api_requests.pause_mission.input,
+                handler=_pause_mission_event_handler,
+            ),
+            EventHandlerMapping(
+                name="mission_started_event",
+                event=events.robot_service_events.mission_started,
+                handler=lambda event: mission_started_event_handler(
+                    state_machine, event
+                ),
+            ),
+            EventHandlerMapping(
+                name="mission_failed_event",
+                event=events.robot_service_events.mission_failed,
+                handler=lambda event: mission_failed_event_handler(
+                    state_machine, event
+                ),
+            ),
+            EventHandlerMapping(
+                name="task_status_failed_event",
+                event=events.robot_service_events.task_status_failed,
+                handler=lambda event: task_status_failed_event_handler(
+                    state_machine, _handle_task_completed, event
+                ),
+            ),
+            EventHandlerMapping(
+                name="task_status_event",
+                event=events.robot_service_events.task_status_updated,
+                handler=lambda event: task_status_event_handler(
+                    state_machine, _handle_task_completed, event
+                ),
+            ),
+        ]
+        super().__init__(
+            state_name="monitor",
             state_machine=state_machine,
-            state=OngoingMissionStates.Monitor,
+            event_handler_mappings=event_handlers,
         )

isar/state_machine/states/offline.py

@@ -1,22 +1,34 @@
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, List
 
-from transitions import State
-
-from isar.state_machine.generic_states.robot_unavailable import (
-    RobotUnavailable,
-    RobotUnavailableStates,
-)
+from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
+from isar.models.events import Event
+from robot_interface.models.mission.status import RobotStatus
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
 
-class Offline(State, RobotUnavailable):
-    def __init__(self, state_machine: "StateMachine") -> None:
-        State.__init__(self, name="offline", on_enter=self.start, on_exit=self.stop)
+class Offline(EventHandlerBase):
+
+    def __init__(self, state_machine: "StateMachine"):
+
+        shared_state = state_machine.shared_state
+
+        def _robot_status_event_handler(event: Event[RobotStatus]):
+            robot_status: RobotStatus = event.check()
+            if robot_status != RobotStatus.Offline:
+                return state_machine.robot_status_changed  # type: ignore
+            return None
 
-        RobotUnavailable.__init__(
-            self,
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="robot_status_event",
+                event=shared_state.robot_status,
+                handler=_robot_status_event_handler,
+            ),
+        ]
+        super().__init__(
+            state_name="offline",
             state_machine=state_machine,
-            state=RobotUnavailableStates.Offline,
+            event_handler_mappings=event_handlers,
         )

isar/state_machine/states/paused.py

@@ -1,44 +1,30 @@
-import logging
-import time
-from typing import TYPE_CHECKING, Callable
+from typing import TYPE_CHECKING, List
 
-from transitions import State
-
-from isar.models.communication.queues.queue_utils import check_for_event
+from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
 
-class Paused(State):
-    def __init__(self, state_machine: "StateMachine") -> None:
-        super().__init__(name="paused", on_enter=self.start)
-        self.state_machine: "StateMachine" = state_machine
-        self.logger = logging.getLogger("state_machine")
-        self.events = self.state_machine.events
-        self.signal_state_machine_to_stop = state_machine.signal_state_machine_to_stop
-
-    def start(self) -> None:
-        self.state_machine.update_state()
-        self._run()
-
-    def _run(self) -> None:
-        transition: Callable
-        while True:
-            if self.signal_state_machine_to_stop.is_set():
-                self.logger.info(
-                    "Stopping state machine from %s state", self.__class__.__name__
-                )
-                break
-
-            if check_for_event(self.events.api_requests.stop_mission.input):
-                transition = self.state_machine.stop  # type: ignore
-                break
-
-            if check_for_event(self.events.api_requests.resume_mission.input):
-                transition = self.state_machine.resume  # type: ignore
-                break
-
-            time.sleep(self.state_machine.sleep_time)
-
-        transition()
+class Paused(EventHandlerBase):
+
+    def __init__(self, state_machine: "StateMachine"):
+        events = state_machine.events
+
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="stop_mission_event",
+                event=events.api_requests.stop_mission.input,
+                handler=lambda event: state_machine.stop if event.consume_event() else None,  # type: ignore
+            ),
+            EventHandlerMapping(
+                name="resume_mission_event",
+                event=events.api_requests.resume_mission.input,
+                handler=lambda event: state_machine.resume if event.consume_event() else None,  # type: ignore
+            ),
+        ]
+        super().__init__(
+            state_name="paused",
+            state_machine=state_machine,
+            event_handler_mappings=event_handlers,
+        )

isar/state_machine/states/returning_home.py

@@ -1,24 +1,85 @@
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, Callable, List, Optional
 
-from transitions import State
-
-from isar.state_machine.generic_states.ongoing_mission import (
-    OngoingMission,
-    OngoingMissionStates,
+from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
+from isar.models.events import Event
+from isar.state_machine.utils.common_event_handlers import (
+    mission_failed_event_handler,
+    mission_started_event_handler,
+    stop_mission_event_handler,
+    task_status_event_handler,
+    task_status_failed_event_handler,
 )
+from robot_interface.models.exceptions.robot_exceptions import ErrorMessage, ErrorReason
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.status import TaskStatus
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
 
-class ReturningHome(State, OngoingMission):
-    def __init__(self, state_machine: "StateMachine") -> None:
-        State.__init__(
-            self, name="returning_home", on_enter=self.start, on_exit=self.stop
-        )
+class ReturningHome(EventHandlerBase):
+
+    def __init__(self, state_machine: "StateMachine"):
+        events = state_machine.events
+
+        def _handle_task_completed(status: TaskStatus):
+            if status != TaskStatus.Successful:
+                state_machine.current_mission.error_message = ErrorMessage(
+                    error_reason=ErrorReason.RobotActionException,
+                    error_description="Return home failed.",
+                )
+                return state_machine.return_home_failed  # type: ignore
+            return state_machine.returned_home  # type: ignore
+
+        def _start_mission_event_handler(
+            event: Event[Mission],
+        ) -> Optional[Callable]:
+            if event.has_event():
+                return state_machine.stop  # type: ignore
+            return None
 
-        OngoingMission.__init__(
-            self,
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="stop_mission_event",
+                event=events.api_requests.stop_mission.input,
+                handler=lambda event: stop_mission_event_handler(state_machine, event),
+            ),
+            EventHandlerMapping(
+                name="mission_started_event",
+                event=events.robot_service_events.mission_started,
+                handler=lambda event: mission_started_event_handler(
+                    state_machine, event
+                ),
+            ),
+            EventHandlerMapping(
+                name="mission_failed_event",
+                event=events.robot_service_events.mission_failed,
+                handler=lambda event: mission_failed_event_handler(
+                    state_machine, event
+                ),
+            ),
+            EventHandlerMapping(
+                name="start_mission_event",
+                event=events.api_requests.start_mission.input,
+                handler=_start_mission_event_handler,
+            ),
+            EventHandlerMapping(
+                name="task_status_failed_event",
+                event=events.robot_service_events.task_status_failed,
+                handler=lambda event: task_status_failed_event_handler(
+                    state_machine, _handle_task_completed, event
+                ),
+            ),
+            EventHandlerMapping(
+                name="task_status_event",
+                event=events.robot_service_events.task_status_updated,
+                handler=lambda event: task_status_event_handler(
+                    state_machine, _handle_task_completed, event
+                ),
+            ),
+        ]
+        super().__init__(
+            state_name="returning_home",
             state_machine=state_machine,
-            state=OngoingMissionStates.ReturningHome,
+            event_handler_mappings=event_handlers,
         )