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

{isar-1.31.0.dist-info → isar-1.31.1.dist-info}/RECORD

@@ -1,6 +1,6 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
-isar/modules.py,sha256=QBB1pge1i17HVMLA5n-qd9K3APCrX9bFF2vlfjheOhU,4778
-isar/script.py,sha256=OC0O3y5HO5OAstg7g-tLKgF7mulKfglkpztDRk9PvT0,6159
+isar/modules.py,sha256=1QdULg-9gV5Ds4pMV4IQTlImSgsVwqs-g15ifllF2kg,4757
+isar/script.py,sha256=8wDcpsbOdFzSkkOOUBFxz9OJYzBiqnTDqr-175tiyL4,6211
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/api.py,sha256=B0fVZPKtnvrxzk48xoazGPYsJVjjBH4IL6glDJ3PGWI,13328
 isar/apis/models/__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=_zeHrsI4XqoHc1Um50PLHFjlwGiClM_M5CzcXoqwZuY,1380
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
-isar/config/open_telemetry.py,sha256=7hO6lR4lgK3IRZVh0a4shxIuamyt9paLM6d_FwXw5OY,2661
+isar/config/open_telemetry.py,sha256=965IlPi7urVTL0Yy4uYu4e1P2Ne6HC_RXizM2vCX9kY,2371
 isar/config/settings.py,sha256=-fBxs0TUGmoCX4nF1Rwg0YMZ-WQ6qsqFZpWHxqwOrlk,13029
 isar/config/certs/ca-cert.pem,sha256=qoNljfad_qcMxhXJIUMLd7nT-Qwf_d4dYSdoOFEOE8I,2179
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -35,26 +35,19 @@ isar/config/predefined_mission_definition/default_turtlebot.json,sha256=20ee7q1E
 isar/config/predefined_missions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/predefined_missions/default.json,sha256=NWo9y5noPmpjlNUxLnZK95Sz7DIEaUR-ISYlw3MP8i0,1251
 isar/config/predefined_missions/default_turtlebot.json,sha256=8Vk1_0P0BBsG0vwh4vwIYINiiWioErHZ0Ppjq3ctaPM,2143
+isar/eventhandlers/eventhandler.py,sha256=POriVZzl97igY9Ny4_hILKf-PWFSsegxuqkXpOsdMIw,2771
 isar/mission_planner/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/mission_planner/local_planner.py,sha256=Mkg3vvUBF1jImfQnaFvXLNpKVadR21X4mwDd_wHqJ2w,2520
 isar/mission_planner/mission_planner_interface.py,sha256=UgpPIM4FbrWOD7fGY3Ul64k3uYb8wo0FwSWGewYoVbc,485
 isar/mission_planner/sequential_task_selector.py,sha256=66agRPHuJnEa1vArPyty4muTasAZ50XPjjrSaTdY_Cc,643
 isar/mission_planner/task_selector_interface.py,sha256=pnLeaGPIuyXThcflZ_A7YL2b2xQjFT88hAZidkMomxU,707
 isar/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/models/communication/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/models/communication/message.py,sha256=ge2EdUXRnYkiEu5TIAYJFQET_5w-N8MRgc2Y31vetno,155
-isar/models/communication/queues/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/models/communication/queues/events.py,sha256=mZt1ZarqmyDW_y42w7aD1Iv-m7HLwrpUyOh3pM4w79Q,2412
-isar/models/communication/queues/queue_io.py,sha256=AnHWUCkZ0tunkxKKeBarq-OUkRM97IaMfA-a1pmf1cQ,394
-isar/models/communication/queues/queue_timeout_error.py,sha256=rF8TlNF7RHS_ueTZ5mp7aFkhLY1j0dcwMwH-Ba6lVpE,45
-isar/models/communication/queues/queue_utils.py,sha256=3kw7LxMVxCUM7JF7DVQgxbiUzMBMtVa8nwfpr7xDSGc,872
-isar/models/communication/queues/status_queue.py,sha256=on8kvlNsG6MJjEVsyqtBswIpmOdOggQiKr7F5x0T3jw,514
-isar/models/mission_metadata/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/robot/robot.py,sha256=MmdrJzC4U_dGK3NLA6vgGNi0awNQwFvsPDsr9030fso,5431
-isar/robot/robot_start_mission.py,sha256=vQKsKnrWQuY70jEK-qeeaZYpXxQH4vElorczYZheXTQ,3423
-isar/robot/robot_status.py,sha256=FpkTIAA-O5vKuyU7fnWn2YXtbstq5qbk9XSxbn_0MXU,2015
-isar/robot/robot_stop_mission.py,sha256=jUyfemvbyigxrlIp9aKPn-PvarhagJEgajQPS_LgJ7g,2442
-isar/robot/robot_task_status.py,sha256=71SYPnoqaFbTe1bELLTvAUigAJ-McpomC2sjYQNQs_A,3290
+isar/models/events.py,sha256=9NgvX68Nb8WJyuafD-NYyxxb2Bo9zN15ozNPKURyrxk,3782
+isar/robot/robot.py,sha256=keqsYmfRlyIC4CWkMG0erDt_4uIC0IPvyG2ni4MemyI,5350
+isar/robot/robot_start_mission.py,sha256=RPYH9VtXDFdPqhOpt6kSbT17RHkJQPKkQ6d4784_pFE,3210
+isar/robot/robot_status.py,sha256=NMZZOV1DHOVrJwMsSjKbDSaSiWYnrfAW1cQHtc6heKk,1903
+isar/robot/robot_stop_mission.py,sha256=4GZyhLU0hB6ZK0ArCVhFS9Sf3ZbqFI9DvPNfvD889Ps,2270
+isar/robot/robot_task_status.py,sha256=jefIDfrbly7vWZztWA2zLmK5Yz1NSEytw2YUmprccNA,3161
 isar/services/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/azure_credentials.py,sha256=9PlwGe5FrPRbW2dp0go7LMp8_l_FRvL8xOXotXwzRDo,364
@@ -64,29 +57,24 @@ isar/services/service_connections/mqtt/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JC
 isar/services/service_connections/mqtt/mqtt_client.py,sha256=se8uLvjy-cElM-WhmHEPXfEA8u05huOLnkcOCYRpcE4,3551
 isar/services/service_connections/mqtt/robot_heartbeat_publisher.py,sha256=_bUOG7CfqBlCRvG4vh2XGoMXucBxsJarFIeXIKOH1aw,1019
 isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=AxokGk51hRPTxxD2r0P9braPJCMrf1InaCxrUBKkF4g,1402
-isar/services/service_connections/stid/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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=4zCigsLXfqDC8POHchktSq81zr1_pTaRve_LQsVr6Mk,514
-isar/services/utilities/scheduling_utilities.py,sha256=eXeTEe4JmP2mgVd77DC5SLGTPjpG6O9IhN330dAyh-4,11122
+isar/services/utilities/scheduling_utilities.py,sha256=O-V6EBfYcx8HMxa2bf0QBxX7Km5m1hBf9h4P5RGlMfY,10907
 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=6rksxhG4OLoZYfRSB5wfpqHXQUperbRjqwnY-6ue8Gk,13099
+isar/state_machine/state_machine.py,sha256=RDpUngEf1BAVXDRC52FkUVMSIVhmfTEgQw_kDC06WPE,15663
 isar/state_machine/states_enum.py,sha256=Z3dO6k6JmQAZ1lzcR58oVCxoCky_-ZS9MaL3RSaNbZ4,434
-isar/state_machine/generic_states/idle.py,sha256=uXVHtKeX3jPZC7iVmic1sKD6nLtSOVynrHNiUCdTDcw,4371
-isar/state_machine/generic_states/ongoing_mission.py,sha256=ns6mbaSJvjM7JAbl1txPA9VdjxTv4iWKGbdYahtTtGc,11571
-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
-isar/state_machine/states/blocked_protective_stop.py,sha256=KDux2lm5kwEEarnDt9FG4MFrWbYUzs1_DX5hu2ILIlI,675
-isar/state_machine/states/home.py,sha256=2v7BFQn4QZ0npOrXpWLWCoHD5IpSyAJr-vQCS3MQWJs,514
-isar/state_machine/states/monitor.py,sha256=BVrfZb-EWIdNYTC75F8HCi_OOtjBYbphrwki98p1WdE,597
-isar/state_machine/states/offline.py,sha256=vZnBMVDnehZ-0gPsHNVRpZtb8OBBFkeEnq2olo_Ep6M,609
-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=yJE7KT1aGo_qd1VTETfg1rTrlM-hKKQYKQp7xu4py_Y,2854
-isar/state_machine/states/unknown_status.py,sha256=qfIoL5f7Hj-aZKq5tCM1FctkuEI6SwgpQuixzKx11Zk,2428
+isar/state_machine/states/await_next_mission.py,sha256=RDWqGFdQ6PX7AtSjlrR-fH6s441mKooOpkceTO7pvkc,1873
+isar/state_machine/states/blocked_protective_stop.py,sha256=GEOvxnHXjpCsrh3aa8Idtn1zMYv5HLQzj9qQAq8HvaU,1180
+isar/state_machine/states/home.py,sha256=NUVmSmwG5_N7ZDLfbS0eWMnDVpVXmADrZXjh-s_klks,1862
+isar/state_machine/states/monitor.py,sha256=QEV_lc-lHoFAOK2e6HD4FdzpN607LbqZx2Y9-LknrLA,3666
+isar/state_machine/states/offline.py,sha256=5wdNzC1wG0cWrpuT_r_mk8UNFHA4QSyg8ejXUTAg4Io,1137
+isar/state_machine/states/paused.py,sha256=tegYTUioSIKP2TUiMqBLNp9owyLwcuEM3a_LyKZSwQM,1087
+isar/state_machine/states/returning_home.py,sha256=bO8i61xzQAvT0upgK1Fi_OzyRfsRaZlfK3A_2-tThpo,3420
+isar/state_machine/states/robot_standing_still.py,sha256=ee2ORQD0IfUMMBz7bpuUMyA_sMYtdiy17h48KrZJxRc,1897
+isar/state_machine/states/stopping.py,sha256=fMXXvcXtzML-Q5A-uRD_gXePy51fnt9jhOTVFN-3qqA,2420
+isar/state_machine/states/unknown_status.py,sha256=m9XoGGgdjhjX-LRW31mwiU8r7LREB0yOSv2DFZtZH7Y,1789
 isar/state_machine/transitions/mission.py,sha256=Lsiee_hSn5wd7KWpmvIdaG-49f6HGdkCdiXAo5L0ciE,5803
 isar/state_machine/transitions/return_home.py,sha256=6aBpKpozT48RJ__w13gv-r7dSz-fEOCzkAuKq5Hwm6k,2728
 isar/state_machine/transitions/robot_status.py,sha256=c1ceyWRGCtx-KTDtxHXRD7oPbt8TQ2ej24A0wyim8vc,2720
@@ -95,17 +83,18 @@ isar/state_machine/transitions/functions/finish_mission.py,sha256=TRQrk7HdllmAkw
 isar/state_machine/transitions/functions/pause.py,sha256=oaIFd4aZnbeaHb-EGQE9ozJctskqXKsRKkNc68M8sp0,1975
 isar/state_machine/transitions/functions/resume.py,sha256=HgAEn4jQOPkVPWWZCAh7dqnIerdF8nGcgFcZ1KsCNSQ,2104
 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/robot_status.py,sha256=P1Cu8xVysbiKRKL4E8mSyoL2-72HfxrLvvOcdnBOlvw,889
 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/stop.py,sha256=5tPYE4WB98iammX81wEdrAUvX0huJ2PBooVaY_7i6GY,2902
 isar/state_machine/transitions/functions/utils.py,sha256=Wa72Ocq4QT1E6qkpEJZQ3h5o33pGvx7Tlkt2JZ2Grbk,314
+isar/state_machine/utils/common_event_handlers.py,sha256=Grv34hVwDjzi9BizqRLMJAKtRpucuklXGR3hoC_0kkQ,5773
 isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/storage/blob_storage.py,sha256=D67y3Z939iXoRxs8npOuKOhgs2o6dYz2ivTm5IXXhJE,3168
 isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY,1855
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
-isar/storage/uploader.py,sha256=1F4M34aVnD828WV62muTIE04vj3D52lrTOOh8r6SgwA,9464
+isar/storage/uploader.py,sha256=uD1DzvJ2yYtNAwQGa7UD7kNOxZfKxJ1cCdi7sfOVZ10,9443
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.31.0.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.31.1.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/robot_interface.py,sha256=-jCAKkZ2eiyzUyHVQmOzw4hMgLWR7pE8MHj-WZo85ZY,7978
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
@@ -129,8 +118,8 @@ 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-1.31.0.dist-info/METADATA,sha256=RZo3tvmuEPeEdu1CQeqgKAQyWysrlJExNPMVn8zjqPs,31217
-isar-1.31.0.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-isar-1.31.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.31.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.31.0.dist-info/RECORD,,
+isar-1.31.1.dist-info/METADATA,sha256=bilh123vt-dD-IraRBTR4yhxI1YJim_NydR9zPveUYA,31217
+isar-1.31.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.31.1.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.31.1.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.31.1.dist-info/RECORD,,

isar/models/communication/message.py

@@ -1,8 +0,0 @@
-from dataclasses import dataclass
-
-from robot_interface.models.mission.mission import Mission
-
-
-@dataclass
-class StartMissionMessage:
-    mission: Mission

isar/models/communication/queues/events.py

@@ -1,58 +0,0 @@
-from queue import Queue
-
-from transitions import State
-
-from isar.config.settings import settings
-from isar.models.communication.queues.queue_io import QueueIO
-from isar.models.communication.queues.status_queue import StatusQueue
-from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
-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
-
-
-class Events:
-    def __init__(self) -> None:
-        self.api_requests: APIRequests = APIRequests()
-        self.state_machine_events: StateMachineEvents = StateMachineEvents()
-        self.robot_service_events: RobotServiceEvents = RobotServiceEvents()
-
-        self.upload_queue: Queue = Queue(maxsize=10)
-
-        if settings.MQTT_ENABLED:
-            self.mqtt_queue: Queue = Queue()
-
-
-class APIRequests:
-    def __init__(self) -> None:
-        self.start_mission: QueueIO = QueueIO(input_size=1, output_size=1)
-        self.stop_mission: QueueIO = QueueIO(input_size=1, output_size=1)
-        self.pause_mission: QueueIO = QueueIO(input_size=1, output_size=1)
-        self.resume_mission: QueueIO = QueueIO(input_size=1, output_size=1)
-        self.return_home: QueueIO = QueueIO(input_size=1, output_size=1)
-
-
-class StateMachineEvents:
-    def __init__(self) -> None:
-        self.start_mission: Queue[Mission] = Queue(maxsize=1)
-        self.stop_mission: Queue[str] = Queue(maxsize=1)
-        self.pause_mission: Queue[bool] = Queue(maxsize=1)
-        self.task_status_request: Queue[str] = Queue(maxsize=1)
-
-
-class RobotServiceEvents:
-    def __init__(self) -> None:
-        self.task_status_updated: Queue[TaskStatus] = Queue(maxsize=1)
-        self.task_status_failed: Queue[ErrorMessage] = Queue(maxsize=1)
-        self.mission_started: Queue[bool] = Queue(maxsize=1)
-        self.mission_failed: Queue[ErrorMessage] = Queue(maxsize=1)
-        self.robot_status_changed: Queue[bool] = Queue(maxsize=1)
-        self.mission_failed_to_stop: Queue[ErrorMessage] = Queue(maxsize=1)
-        self.mission_successfully_stopped: Queue[bool] = Queue(maxsize=1)
-
-
-class SharedState:
-    def __init__(self) -> None:
-        self.state: StatusQueue[State] = StatusQueue()
-        self.robot_status: StatusQueue[RobotStatus] = StatusQueue()
-        self.state_machine_current_task: StatusQueue[TASKS] = StatusQueue()

isar/models/communication/queues/queue_io.py

@@ -1,12 +0,0 @@
-from queue import Queue
-
-
-class QueueIO:
-    """
-    Creates input and output queue. The queues are defined such that the input is from
-    api to state machine while the output is from state machine to api.
-    """
-
-    def __init__(self, input_size: int = 0, output_size: int = 0):
-        self.input: Queue = Queue(maxsize=input_size)
-        self.output: Queue = Queue(maxsize=output_size)

isar/models/communication/queues/queue_timeout_error.py

@@ -1,2 +0,0 @@
-class QueueTimeoutError(Exception):
-    pass

isar/models/communication/queues/queue_utils.py

@@ -1,38 +0,0 @@
-from queue import Empty, Queue
-from typing import Any, Optional, TypeVar
-
-from isar.models.communication.queues.status_queue import StatusQueue
-
-T = TypeVar("T")
-
-
-def trigger_event_without_data(queue: Queue[Any]) -> None:
-    queue.put(True)
-
-
-def trigger_event(queue: Queue[T], data: T) -> None:
-    queue.put(data)
-
-
-def check_shared_state(queue: StatusQueue[T]) -> Optional[T]:
-    try:
-        return queue.check()
-    except Empty:
-        return None
-
-
-def update_shared_state(queue: StatusQueue[T], data: T) -> None:
-    queue.update(data)
-
-
-def check_for_event(queue: Queue[T]) -> Optional[T]:
-    try:
-        return queue.get(block=False)
-    except Empty:
-        return None
-
-
-def check_for_event_without_consumption(queue: Queue[T]) -> bool:
-    return (
-        queue.qsize() != 0
-    )  # Queue size is not reliable, but should be sufficient for this case

isar/models/communication/queues/status_queue.py

@@ -1,22 +0,0 @@
-from collections import deque
-from queue import Empty, Queue
-from typing import TypeVar
-
-T = TypeVar("T")
-
-
-class StatusQueue(Queue[T]):
-    def __init__(self) -> None:
-        super().__init__()
-
-    def check(self) -> T:
-        if not self._qsize():
-            raise Empty
-        with self.mutex:
-            queueList = list(self.queue)
-            return queueList.pop()
-
-    def update(self, item: T):
-        with self.mutex:
-            self.queue: deque[T] = deque()
-            self.queue.append(item)

isar/services/utilities/queue_utilities.py

@@ -1,39 +0,0 @@
-import logging
-from queue import Empty, Queue
-from typing import Any
-
-from isar.models.communication.queues.queue_timeout_error import QueueTimeoutError
-
-logger = logging.getLogger("api")
-
-
-class QueueUtilities:
-    """
-    Contains utility functions for handling queue communication between threads.
-    """
-
-    @staticmethod
-    def check_queue(queue: Queue, queue_timeout: int = None) -> Any:
-        """
-        Checks if there is a message on a queue. If a timeout is specified the function
-        will raise a QueueTimeoutError if there is no message within the timeout. If
-        there is no timeout specified this function will block.
-        :param queue: The queue to be checked for a message
-        :param queue_timeout: Timeout in seconds
-        :return: Message found on queue
-        :raises QueueTimeoutError
-        """
-        try:
-            message: Any = queue.get(timeout=queue_timeout)
-        except Empty:
-            logger.error("Queue timed out")
-            raise QueueTimeoutError
-        return message
-
-    @staticmethod
-    def clear_queue(queue: Queue) -> None:
-        while True:
-            try:
-                queue.get(block=False)
-            except Empty:
-                break

isar/state_machine/generic_states/idle.py

@@ -1,133 +0,0 @@
-import logging
-import time
-from enum import Enum
-from queue import Queue
-from typing import TYPE_CHECKING, Optional
-
-from isar.config.settings import settings
-from isar.models.communication.message import StartMissionMessage
-from isar.models.communication.queues.queue_io import QueueIO
-from isar.models.communication.queues.queue_utils import (
-    check_for_event,
-    check_shared_state,
-)
-from isar.models.communication.queues.status_queue import StatusQueue
-from robot_interface.models.mission.status import RobotStatus
-
-if TYPE_CHECKING:
-    from isar.state_machine.state_machine import StateMachine
-
-
-class IdleStates(str, Enum):
-    AwaitNextMission = "awaitNextMission"
-    Home = "home"
-    RobotStandingStill = "robotStandingStill"
-
-
-if TYPE_CHECKING:
-    from isar.state_machine.state_machine import StateMachine
-
-
-class Idle:
-    def __init__(
-        self,
-        state_machine: "StateMachine",
-        state: IdleStates,
-    ) -> None:
-        self.state_machine: "StateMachine" = state_machine
-        self.logger = logging.getLogger("state_machine")
-        self.events = state_machine.events
-        self.shared_state = self.state_machine.shared_state
-        self.signal_state_machine_to_stop = state_machine.signal_state_machine_to_stop
-        self.state: IdleStates = state
-
-        # Only used for await_next_mission state
-        self.entered_time: float = time.time()
-        self.return_home_delay: float = settings.RETURN_HOME_DELAY
-
-    def start(self) -> None:
-        self.state_machine.update_state()
-        self.entered_time = time.time()
-        self._run()
-
-    def stop(self) -> None:
-        return
-
-    def _check_and_handle_start_mission_event(
-        self, event: Queue[StartMissionMessage]
-    ) -> bool:
-        start_mission: Optional[StartMissionMessage] = check_for_event(event)
-        if start_mission:
-            self.state_machine.start_mission(mission=start_mission.mission)
-            self.state_machine.request_mission_start()  # type: ignore
-            return True
-        return False
-
-    def _check_and_handle_return_home_event(self, event: QueueIO) -> bool:
-        if check_for_event(event.input):
-            event.output.put(True)
-            self.state_machine.request_return_home()  # type: ignore
-            return True
-        return False
-
-    def _check_and_handle_robot_status_event(
-        self, event: StatusQueue[RobotStatus]
-    ) -> bool:
-        robot_status: RobotStatus = check_shared_state(event)
-
-        expected_robot_status = (
-            RobotStatus.Home if self.state == IdleStates.Home else RobotStatus.Available
-        )
-
-        if robot_status != expected_robot_status:
-            self.state_machine.robot_status_changed()  # type: ignore
-            return True
-
-        return False
-
-    def _check_and_handle_stop_mission_event(self, event: Queue) -> bool:
-        if check_for_event(event) is not None:
-            self.state_machine.stop()  # type: ignore
-            return True
-        return False
-
-    def _should_return_home(self) -> bool:
-        time_since_entered = time.time() - self.entered_time
-        return time_since_entered > self.return_home_delay
-
-    def _run(self) -> None:
-        while True:
-            if self.signal_state_machine_to_stop.is_set():
-                self.logger.info(
-                    "Stopping state machine from %s state", self.state.name
-                )
-                break
-
-            if self._check_and_handle_stop_mission_event(
-                self.events.api_requests.stop_mission.input
-            ):
-                break
-
-            if self._check_and_handle_start_mission_event(
-                self.events.api_requests.start_mission.input
-            ):
-                break
-
-            if self._check_and_handle_return_home_event(
-                self.events.api_requests.return_home
-            ):
-                break
-
-            if (
-                self.state != IdleStates.AwaitNextMission
-                and self._check_and_handle_robot_status_event(
-                    self.shared_state.robot_status
-                )
-            ):
-                break
-
-            if self.state == IdleStates.AwaitNextMission and self._should_return_home():
-                self.state_machine.request_return_home()  # type: ignore
-                break
-
-            time.sleep(self.state_machine.sleep_time)