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

isar/state_machine/generic_states/ongoing_mission.py

@@ -1,309 +0,0 @@
-import logging
-import time
-from copy import deepcopy
-from enum import Enum
-from queue import Queue
-from threading import Event
-from typing import TYPE_CHECKING, Optional, Tuple
-
-from isar.apis.models.models import ControlMissionResponse
-from isar.config.settings import settings
-from isar.models.communication.message import StartMissionMessage
-from isar.models.communication.queues.queue_utils import (
-    check_for_event,
-    check_for_event_without_consumption,
-    trigger_event,
-)
-from isar.services.utilities.threaded_request import ThreadedRequest
-from robot_interface.models.exceptions.robot_exceptions import (
-    ErrorMessage,
-    ErrorReason,
-    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 TaskStatus
-from robot_interface.models.mission.task import InspectionTask, Task
-
-
-class OngoingMissionStates(str, Enum):
-    Monitor = "monitor"
-    ReturningHome = "returningHome"
-
-
-if TYPE_CHECKING:
-    from isar.state_machine.state_machine import StateMachine
-
-
-class OngoingMission:
-    def __init__(
-        self,
-        state_machine: "StateMachine",
-        state: OngoingMissionStates,
-    ) -> None:
-        self.state_machine: "StateMachine" = state_machine
-        self.logger = logging.getLogger("state_machine")
-        self.events = state_machine.events
-        self.awaiting_task_status: bool = False
-        self.signal_state_machine_to_stop: Event = (
-            state_machine.signal_state_machine_to_stop
-        )
-        self.state: OngoingMissionStates = state
-
-    def start(self) -> None:
-        self.state_machine.update_state()
-        self._run()
-
-    def stop(self) -> None:
-        return
-
-    def _check_and_handle_stop_mission_event(self, event: Queue) -> bool:
-        mission_id: str = check_for_event(event)
-        if mission_id is not None:
-            if self.state_machine.current_mission.id == mission_id or mission_id == "":
-                self.state_machine.stop()  # type: ignore
-                return True
-            else:
-                self.events.api_requests.stop_mission.output.put(
-                    ControlMissionResponse(
-                        mission_id=mission_id,
-                        mission_status=self.state_machine.current_mission.status,
-                        mission_not_found=True,
-                        task_id=self.state_machine.current_task.id,
-                        task_status=self.state_machine.current_task.status,
-                    )
-                )
-        return False
-
-    def _check_and_handle_pause_mission_event(self, event: Queue) -> bool:
-        if check_for_event(event):
-            self.state_machine.pause()  # type: ignore
-            return True
-        return False
-
-    def _check_and_handle_mission_started_event(self, event: Queue) -> bool:
-        if check_for_event(event):
-            self.state_machine.mission_ongoing = True
-            return True
-        return False
-
-    def _check_and_handle_mission_failed_event(self, event: Queue) -> bool:
-        mission_failed: Optional[ErrorMessage] = check_for_event(event)
-        if mission_failed is not None:
-            self.state_machine.logger.warning(
-                f"Failed to initiate mission "
-                f"{str(self.state_machine.current_mission.id)[:8]} because: "
-                f"{mission_failed.error_description}"
-            )
-            self.state_machine.current_mission.error_message = ErrorMessage(
-                error_reason=mission_failed.error_reason,
-                error_description=mission_failed.error_description,
-            )
-            self.state_machine.mission_failed_to_start()  # type: ignore
-            return True
-        return False
-
-    def _check_and_handle_task_status_failed_event(self, event: Queue) -> bool:
-        if not self.state_machine.mission_ongoing:
-            return False
-
-        task_failure: Optional[ErrorMessage] = check_for_event(event)
-        if task_failure is not None:
-            self.awaiting_task_status = False
-            self.state_machine.current_task.error_message = task_failure
-            self.logger.error(
-                f"Monitoring task {self.state_machine.current_task.id[:8]} failed "
-                f"because: {task_failure.error_description}"
-            )
-            return self._handle_new_task_status(TaskStatus.Failed)
-        elif not self.awaiting_task_status:
-            trigger_event(
-                self.events.state_machine_events.task_status_request,
-                self.state_machine.current_task.id,
-            )
-            self.awaiting_task_status = True
-        return False
-
-    def _check_and_handle_task_status_event(self, event: Queue) -> bool:
-        if not self.state_machine.mission_ongoing:
-            return False
-
-        status: Optional[TaskStatus] = check_for_event(event)
-        if status is not None:
-            self.awaiting_task_status = False
-            return self._handle_new_task_status(status)
-        elif not self.awaiting_task_status:
-            trigger_event(
-                self.events.state_machine_events.task_status_request,
-                self.state_machine.current_task.id,
-            )
-            self.awaiting_task_status = True
-        return False
-
-    def _handle_new_task_status(self, status: TaskStatus) -> bool:
-        if self.state_machine.current_task is None:
-            self.state_machine.iterate_current_task()
-
-        self.state_machine.current_task.status = status
-
-        if self.state_machine.current_task.is_finished():
-            self._report_task_status(self.state_machine.current_task)
-            self.state_machine.publish_task_status(task=self.state_machine.current_task)
-
-            if self.state == OngoingMissionStates.ReturningHome:
-                if status != TaskStatus.Successful:
-                    self.state_machine.current_mission.error_message = ErrorMessage(
-                        error_reason=ErrorReason.RobotActionException,
-                        error_description="Return home failed.",
-                    )
-                    self.state_machine.return_home_failed()  # type: ignore
-                    return True
-                self.state_machine.returned_home()  # type: ignore
-                return True
-
-            if self._should_upload_inspections():
-                get_inspection_thread = ThreadedRequest(
-                    self._queue_inspections_for_upload
-                )
-                get_inspection_thread.start_thread(
-                    deepcopy(self.state_machine.current_mission),
-                    deepcopy(self.state_machine.current_task),
-                    name="State Machine Get Inspections",
-                )
-
-            self.state_machine.iterate_current_task()
-            if self.state_machine.current_task is None:
-                self.state_machine.mission_finished()  # type: ignore
-                return True
-
-        return False
-
-    def _check_and_handle_start_mission_event(
-        self, event: Queue[StartMissionMessage]
-    ) -> bool:
-        if check_for_event_without_consumption(event):
-            self.state_machine.stop()  # type: ignore
-            return True
-
-        return False
-
-    def _run(self) -> None:
-        self.awaiting_task_status = False
-        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.state == OngoingMissionStates.Monitor
-                and self._check_and_handle_pause_mission_event(
-                    self.events.api_requests.pause_mission.input
-                )
-            ):
-                break
-
-            self._check_and_handle_mission_started_event(
-                self.events.robot_service_events.mission_started
-            )
-
-            if self._check_and_handle_mission_failed_event(
-                self.events.robot_service_events.mission_failed
-            ):
-                break
-
-            if (
-                self.state == OngoingMissionStates.ReturningHome
-                and self._check_and_handle_start_mission_event(
-                    self.events.api_requests.start_mission.input
-                )
-            ):
-                break
-
-            if self._check_and_handle_task_status_failed_event(
-                self.events.robot_service_events.task_status_failed
-            ):
-                break
-
-            if self._check_and_handle_task_status_event(
-                self.events.robot_service_events.task_status_updated
-            ):
-                break
-
-            time.sleep(settings.FSM_SLEEP_TIME)
-
-    def _queue_inspections_for_upload(
-        self, mission: Mission, current_task: InspectionTask
-    ) -> None:
-        try:
-            inspection: Inspection = self.state_machine.robot.get_inspection(
-                task=current_task
-            )
-            if current_task.inspection_id != inspection.id:
-                self.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:
-            self._set_error_message(e)
-            self.logger.error(
-                f"Failed to retrieve inspections because: {e.error_description}"
-            )
-            return
-
-        except Exception as e:
-            self.logger.error(
-                f"Failed to retrieve inspections because of unexpected error: {e}"
-            )
-            return
-
-        if not inspection:
-            self.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.state_machine.events.upload_queue.put(message)
-        self.logger.info(
-            f"Inspection result: {str(inspection.id)[:8]} queued for upload"
-        )
-
-    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"
-            )
-
-    def _should_upload_inspections(self) -> bool:
-        if settings.UPLOAD_INSPECTIONS_ASYNC:
-            return False
-
-        return (
-            self.state_machine.current_task.is_finished()
-            and self.state_machine.current_task.status == TaskStatus.Successful
-            and isinstance(self.state_machine.current_task, InspectionTask)
-        )
-
-    def _set_error_message(self, e: RobotException) -> None:
-        error_message: ErrorMessage = ErrorMessage(
-            error_reason=e.error_reason, error_description=e.error_description
-        )
-        self.state_machine.current_task.error_message = error_message

isar/state_machine/generic_states/robot_unavailable.py

@@ -1,61 +0,0 @@
-import logging
-import time
-from enum import Enum
-from typing import TYPE_CHECKING
-
-from isar.models.communication.queues.queue_utils import check_shared_state
-from robot_interface.models.mission.status import RobotStatus
-
-
-class RobotUnavailableStates(str, Enum):
-    BlockedProtectiveStop = "blockedProtectiveStop"
-    Offline = "offline"
-
-
-if TYPE_CHECKING:
-    from isar.state_machine.state_machine import StateMachine
-
-
-class RobotUnavailable:
-    def __init__(
-        self,
-        state_machine: "StateMachine",
-        state: RobotUnavailableStates,
-    ) -> None:
-        self.state_machine: "StateMachine" = state_machine
-        self.logger = logging.getLogger("state_machine")
-        self.shared_state = self.state_machine.shared_state
-        self.signal_state_machine_to_stop = state_machine.signal_state_machine_to_stop
-        self.state: RobotUnavailableStates = state
-
-    def start(self) -> None:
-        self.state_machine.update_state()
-        self._run()
-
-    def stop(self) -> None:
-        return
-
-    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
-
-            robot_status: RobotStatus = check_shared_state(
-                self.shared_state.robot_status
-            )
-
-            expected_status = (
-                RobotStatus.BlockedProtectiveStop
-                if self.state == RobotUnavailableStates.BlockedProtectiveStop
-                else RobotStatus.Offline
-            )
-            if robot_status != expected_status:
-                transition = self.state_machine.robot_status_changed  # type: ignore
-                break
-
-            time.sleep(self.state_machine.sleep_time)
-
-        transition()