isar 1.31.0__py3-none-any.whl → 1.32.0__py3-none-any.whl

isar/state_machine/transitions/return_home.py

@@ -2,6 +2,7 @@ from typing import TYPE_CHECKING, List
 
 from isar.state_machine.transitions.functions.fail_mission import (
     report_failed_mission_and_finalize,
+    report_failed_return_home_and_intervention_needed,
 )
 from isar.state_machine.transitions.functions.return_home import (
     return_home_finished,
@@ -26,6 +27,7 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 state_machine.await_next_mission_state,
                 state_machine.home_state,
                 state_machine.robot_standing_still_state,
+                state_machine.intervention_needed_state,
             ],
             "dest": state_machine.returning_home_state,
             "conditions": [
@@ -62,8 +64,18 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
         {
             "trigger": "return_home_failed",
             "source": state_machine.returning_home_state,
-            "dest": state_machine.robot_standing_still_state,
-            "before": def_transition(state_machine, report_failed_mission_and_finalize),
+            "dest": state_machine.intervention_needed_state,
+            "before": [
+                def_transition(
+                    state_machine, report_failed_return_home_and_intervention_needed
+                ),
+                def_transition(state_machine, report_failed_mission_and_finalize),
+            ],
+        },
+        {
+            "trigger": "release_intervention_needed",
+            "source": state_machine.intervention_needed_state,
+            "dest": state_machine.unknown_status_state,
         },
     ]
     return return_home_transitions

isar/state_machine/utils/common_event_handlers.py

@@ -0,0 +1,166 @@
+from typing import TYPE_CHECKING, Callable, Optional
+
+from isar.apis.models.models import ControlMissionResponse
+from isar.models.events import Event
+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
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+def start_mission_event_handler(
+    state_machine: "StateMachine", event: Event[Mission]
+) -> Optional[Callable]:
+    mission: Optional[Mission] = event.consume_event()
+    if mission:
+        state_machine.start_mission(mission=mission)
+        return state_machine.request_mission_start  # type: ignore
+    return None
+
+
+def return_home_event_handler(
+    state_machine: "StateMachine", event: Event[bool]
+) -> Optional[Callable]:
+    if event.consume_event():
+        state_machine.events.api_requests.return_home.output.put(True)
+        return state_machine.request_return_home  # type: ignore
+    return None
+
+
+def robot_status_event_handler(
+    state_machine: "StateMachine",
+    expected_status: RobotStatus,
+    event: Event[RobotStatus],
+) -> Optional[Callable]:
+    robot_status: RobotStatus = event.check()
+    if robot_status != expected_status:
+        return state_machine.robot_status_changed  # type: ignore
+    return None
+
+
+def stop_mission_event_handler(
+    state_machine: "StateMachine", event: Event[str]
+) -> Optional[Callable]:
+    mission_id: str = event.consume_event()
+    if mission_id is not None:
+        if state_machine.current_mission.id == mission_id or mission_id == "":
+            return state_machine.stop  # type: ignore
+        else:
+            state_machine.events.api_requests.stop_mission.output.put(
+                ControlMissionResponse(
+                    mission_id=mission_id,
+                    mission_status=state_machine.current_mission.status,
+                    mission_not_found=True,
+                    task_id=state_machine.current_task.id,
+                    task_status=state_machine.current_task.status,
+                )
+            )
+    return None
+
+
+def mission_started_event_handler(
+    state_machine: "StateMachine",
+    event: Event[bool],
+) -> Optional[Callable]:
+    if event.consume_event():
+        state_machine.mission_ongoing = True
+    return None
+
+
+def mission_failed_event_handler(
+    state_machine: "StateMachine",
+    event: Event[Optional[ErrorMessage]],
+) -> Optional[Callable]:
+    mission_failed: Optional[ErrorMessage] = event.consume_event()
+    if mission_failed is not None:
+        state_machine.logger.warning(
+            f"Failed to initiate mission "
+            f"{str(state_machine.current_mission.id)[:8]} because: "
+            f"{mission_failed.error_description}"
+        )
+        state_machine.current_mission.error_message = ErrorMessage(
+            error_reason=mission_failed.error_reason,
+            error_description=mission_failed.error_description,
+        )
+        return state_machine.mission_failed_to_start  # type: ignore
+    return None
+
+
+def task_status_failed_event_handler(
+    state_machine: "StateMachine",
+    handle_task_completed: Callable[[TaskStatus], Callable],
+    event: Event[Optional[ErrorMessage]],
+) -> Optional[Callable]:
+    if not state_machine.mission_ongoing:
+        return None
+
+    task_failure: Optional[ErrorMessage] = event.consume_event()
+    if task_failure is not None:
+        if state_machine.current_task is None:
+            state_machine.logger.warning(
+                "Received task status failed event when no task was running"
+            )
+            return None
+        state_machine.awaiting_task_status = False
+        state_machine.current_task.error_message = task_failure
+        state_machine.logger.error(
+            f"Monitoring task {state_machine.current_task.id[:8]} failed "
+            f"because: {task_failure.error_description}"
+        )
+        return _handle_new_task_status(
+            state_machine, handle_task_completed, TaskStatus.Failed
+        )
+
+    elif (
+        not state_machine.awaiting_task_status
+        and state_machine.current_task is not None
+    ):
+        state_machine.events.state_machine_events.task_status_request.trigger_event(
+            state_machine.current_task.id,
+        )
+        state_machine.awaiting_task_status = True
+    return None
+
+
+def task_status_event_handler(
+    state_machine: "StateMachine",
+    handle_task_completed: Callable[[TaskStatus], Callable],
+    event: Event[Optional[TaskStatus]],
+) -> Optional[Callable]:
+    if not state_machine.mission_ongoing:
+        return None
+
+    status: Optional[TaskStatus] = event.consume_event()
+    if status is not None:
+        state_machine.awaiting_task_status = False
+        return _handle_new_task_status(state_machine, handle_task_completed, status)
+
+    elif (
+        not state_machine.awaiting_task_status
+        and state_machine.current_task is not None
+    ):
+        state_machine.events.state_machine_events.task_status_request.trigger_event(
+            state_machine.current_task.id,
+        )
+        state_machine.awaiting_task_status = True
+    return None
+
+
+def _handle_new_task_status(
+    state_machine: "StateMachine",
+    handle_task_completed: Callable[[TaskStatus], Callable],
+    status: TaskStatus,
+) -> Optional[Callable]:
+    if state_machine.current_task is None:
+        state_machine.iterate_current_task()
+
+    state_machine.current_task.status = status
+
+    if state_machine.current_task.is_finished():
+        state_machine.report_task_status(state_machine.current_task)
+        state_machine.publish_task_status(task=state_machine.current_task)
+
+        return handle_task_completed(status)
+    return None

isar/storage/uploader.py

@@ -7,7 +7,7 @@ from threading import Event
 from typing import List, Union
 
 from isar.config.settings import settings
-from isar.models.communication.queues.events import Events
+from isar.models.events import Events
 from isar.storage.storage_interface import StorageException, StorageInterface
 from robot_interface.models.inspection.inspection import (
     Inspection,

{isar-1.31.0.dist-info → isar-1.32.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.31.0
+Version: 1.32.0
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0

{isar-1.31.0.dist-info → isar-1.32.0.dist-info}/RECORD

@@ -1,22 +1,22 @@
 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=LCb7CHvNyZhQz1OaQ-BUX8w7RDmu975zA0kL6FPwfzk,5912
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/api.py,sha256=B0fVZPKtnvrxzk48xoazGPYsJVjjBH4IL6glDJ3PGWI,13328
+isar/apis/api.py,sha256=VM_WBlHJ4Juv9A0FvaUTeaMVYCN6a7pAojxIGCmDtf0,14154
 isar/apis/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/models/models.py,sha256=GMOss2C8lBeRFV7E37mLwSOM6RhiyLQLcLBRzm_51d4,1835
 isar/apis/models/start_mission_definition.py,sha256=m9M5dZCmvRM1b4N8xYGquCSplSr4GDk376s2QoVL8F4,6231
 isar/apis/robot_control/robot_controller.py,sha256=0EHjMqOBdfJlMrCItGPz5X-4X2kc-2XlNnUU2LOcLfc,1219
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/schedule/scheduling_controller.py,sha256=yQM2HMgelBnbkzPR_tLHOY2EbThUcSO5jMA6Xtp5FQA,9915
+isar/apis/schedule/scheduling_controller.py,sha256=S93DNyOWqVYAe3EnBnWuoCHLkeVFFjkR7ayBRw9J7f4,10603
 isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/security/authentication.py,sha256=Se2puhe2TUBmfio2RLma52-VSLRhqvWgu0Cd1bhdwMo,2000
 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/settings.py,sha256=-fBxs0TUGmoCX4nF1Rwg0YMZ-WQ6qsqFZpWHxqwOrlk,13029
+isar/config/log.py,sha256=f_mLLz5RSa0kZkdpi1m0iMdwwDc4RQp12mnT6gu2exE,1303
+isar/config/logging.conf,sha256=a7ZBvZkrMDaPU3eRGAjL_eZz6hZsa6BaRJOfx8mbnnM,629
+isar/config/open_telemetry.py,sha256=965IlPi7urVTL0Yy4uYu4e1P2Ne6HC_RXizM2vCX9kY,2371
+isar/config/settings.py,sha256=dRQwL6qCnFoyJkMiBxzVv_JwTfs8UJTnuPnwPlQFhUM,13187
 isar/config/certs/ca-cert.pem,sha256=qoNljfad_qcMxhXJIUMLd7nT-Qwf_d4dYSdoOFEOE8I,2179
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
@@ -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=e6hNQ5vtIdSZ81StzIwGYZqwW9T_7ur088o78iydU4g,3858
+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
@@ -64,48 +57,45 @@ 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=H6p1M_GM4_0-HZUtaVWJU5Xn04OL9urOPes8ReZ8ZaQ,11668
 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/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/state_machine.py,sha256=-BIIBP61COFnTYD78wu8VeC-ZHSvkas-hL1Z-YwqjvU,16668
+isar/state_machine/states_enum.py,sha256=4XZ6dGGjXVZ8PwQCnAIH3MMNbMP2h3bmmPHFk6m_RlY,481
 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/transitions/mission.py,sha256=Lsiee_hSn5wd7KWpmvIdaG-49f6HGdkCdiXAo5L0ciE,5803
-isar/state_machine/transitions/return_home.py,sha256=6aBpKpozT48RJ__w13gv-r7dSz-fEOCzkAuKq5Hwm6k,2728
+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/intervention_needed.py,sha256=xMKzdie7quvnfdgQwgHytIgKTPXXeevbA-P6IJTwEZU,1634
+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=pB8eKaJAA1vLqTXuqs21Y-6A39uEs5ysUZhzWpb49KY,5531
+isar/state_machine/transitions/return_home.py,sha256=Vy_Q_mmTj4wsWL8qxUkmC1CTXEzGsdKNYb4V4rw2IeE,3202
 isar/state_machine/transitions/robot_status.py,sha256=c1ceyWRGCtx-KTDtxHXRD7oPbt8TQ2ej24A0wyim8vc,2720
-isar/state_machine/transitions/functions/fail_mission.py,sha256=_6HqBMALDinFZ4yh5GMpeqqgV5tw5i8OVMj5UDdqesg,495
+isar/state_machine/transitions/functions/fail_mission.py,sha256=jHHXhfQVYQEzCXgTEhv5e6uEK9p6iDPFFXqS9bzs_-A,720
 isar/state_machine/transitions/functions/finish_mission.py,sha256=TRQrk7HdllmAkwsp25HRZAFAk46Y1hLx3jmkIAKrHDI,1442
 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-1.32.0.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
@@ -117,7 +107,7 @@ robot_interface/models/inspection/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeR
 robot_interface/models/inspection/inspection.py,sha256=2T8czQcNt9J1M96tKGQA6P3s5CikdZ7-0RevXQ4-CfA,2520
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/mission/mission.py,sha256=MQ9p5cuclLXexaZu9bkDh5-aN99eunvYC0vP-Z_kUwI,960
-robot_interface/models/mission/status.py,sha256=UOCARLfLxLFXJEjfIH7aXYXO7xajOKBJsxz-Wd6gZQ4,740
+robot_interface/models/mission/status.py,sha256=rlgU9Xpsk-rOHF-z6ziIMCYpOAqtu7lOMIUY1e0yZCY,786
 robot_interface/models/mission/task.py,sha256=YzaqJ_KIIm-3S2Y2-BG4Pdkc8sjFMzMx5jj8FtXSmFg,4744
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/robots/battery_state.py,sha256=ktOtJ8ltdK0k_i7BoqYfhc5dbOzIG6Oo-uWC67fCWio,98
@@ -125,12 +115,12 @@ robot_interface/models/robots/media.py,sha256=8A-CuuubfngzPprs6zWB9hSaqe3jzgsE8r
 robot_interface/models/robots/robot_model.py,sha256=-0jNKWPcEgtF_2klb1It3u0SCoAR0hSW9nce58Zq0Co,417
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/telemetry/mqtt_client.py,sha256=ueXdtIFNCwciTj4spvdJj9emd-IOmUuJjpsXQSSWZPY,2987
-robot_interface/telemetry/payloads.py,sha256=PpvmV7XeGgfhc_aRUYFOdwBTwV2x8TwTBINJ-rKchVw,2804
+robot_interface/telemetry/payloads.py,sha256=Fqkfv77_T2Ttk5EjWRU5HH0XAxFhIuz7k-LMftuXk2k,2927
 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-1.32.0.dist-info/METADATA,sha256=-K9njLYJr_JCWlTmoJMm6hYJgBhpvLWxwFFNUsYo3Ms,31217
+isar-1.32.0.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.32.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.32.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.32.0.dist-info/RECORD,,

robot_interface/models/mission/status.py

@@ -29,3 +29,4 @@ class RobotStatus(Enum):
     Blocked = "blocked"
     BlockedProtectiveStop = "blockedprotectivestop"
     ReturningHome = "returninghome"
+    InterventionNeeded = "interventionneeded"

robot_interface/telemetry/payloads.py

@@ -138,3 +138,11 @@ class InspectionValuePayload:
 class StartUpMessagePayload:
     isar_id: str
     timestamp: datetime
+
+
+@dataclass
+class InterventionNeededPayload:
+    isar_id: str
+    robot_name: str
+    reason: str
+    timestamp: datetime

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