isar 1.31.1__py3-none-any.whl → 1.32.1__py3-none-any.whl

isar/apis/api.py

@@ -245,6 +245,24 @@ class API:
                 },
             },
         )
+        router.add_api_route(
+            path="/schedule/release-intervention-needed",
+            endpoint=self.scheduling_controller.release_intervention_needed,
+            methods=["POST"],
+            dependencies=[authentication_dependency],
+            summary="Release the intervention needed state",
+            responses={
+                HTTPStatus.OK.value: {
+                    "description": "Robot released from intervention needed state"
+                },
+                HTTPStatus.CONFLICT.value: {
+                    "description": "Conflict - Invalid command in the current state"
+                },
+                HTTPStatus.INTERNAL_SERVER_ERROR.value: {
+                    "description": "Internal Server Error - Current state of state machine unknown"
+                },
+            },
+        )
         router.add_api_route(
             path="/schedule/move_arm/{arm_pose_literal}",
             endpoint=self.scheduling_controller.start_move_arm_mission,

isar/apis/models/start_mission_definition.py

@@ -53,6 +53,7 @@ class StartMissionTaskDefinition(BaseModel):
 
 
 class StartMissionDefinition(BaseModel):
+    id: Optional[str] = None
     tasks: List[StartMissionTaskDefinition]
     name: Optional[str] = None
     start_pose: Optional[InputPose] = None
@@ -84,7 +85,10 @@ def to_isar_mission(
     if start_mission_definition.start_pose:
         start_pose = start_mission_definition.start_pose.to_alitra_pose()
 
+    id = start_mission_definition.id if start_mission_definition.id else uuid4_string()
+
     return Mission(
+        id=id,
         tasks=isar_tasks,
         name=isar_mission_name,
         start_pose=start_pose,

isar/apis/schedule/scheduling_controller.py

@@ -256,6 +256,22 @@ class SchedulingController:
         self.scheduling_utilities.start_mission(mission=mission)
         return self._api_response(mission)
 
+    def release_intervention_needed(self) -> None:
+        self.logger.info("Received request to release intervention needed state")
+
+        state: States = self.scheduling_utilities.get_state()
+
+        if state != States.InterventionNeeded:
+            error_message = f"Conflict - Release intervention needed command received in invalid state - State: {state}"
+            self.logger.warning(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.CONFLICT,
+                detail=error_message,
+            )
+
+        self.scheduling_utilities.release_intervention_needed()
+        self.logger.info("Released intervention needed state successfully")
+
     def _api_response(self, mission: Mission) -> StartMissionResponse:
         return StartMissionResponse(
             id=mission.id,

isar/config/log.py

@@ -5,11 +5,10 @@ from importlib.resources import as_file, files
 import yaml
 from uvicorn.logging import ColourizedFormatter
 
-from isar.config.keyvault.keyvault_service import Keyvault
 from isar.config.settings import settings
 
 
-def setup_loggers(keyvault: Keyvault) -> None:
+def setup_loggers() -> None:
     log_levels: dict = settings.LOG_LEVELS
     log_config = load_log_config()
 

isar/config/logging.conf

@@ -5,50 +5,29 @@ formatters:
   colourized:
     style: "{"
     format: "{asctime} - {levelprefix:<8} - {name} - {message}"
-handlers:
-  api:
-    class: logging.FileHandler
-    formatter: simple
-    filename: api.log
-  main:
-    class: logging.FileHandler
-    formatter: simple
-    filename: main.log
-  mqtt:
-    class: logging.FileHandler
-    formatter: simple
-    filename: mqtt.log
-  state_machine:
-    class: logging.FileHandler
-    formatter: simple
-    filename: state_machine.log
-  uploader:
-    class: logging.FileHandler
-    formatter: simple
-    filename: uploader.log
 loggers:
   console:
     handlers: []
     propagate: no
   main:
-    handlers: [main]
+    handlers: []
     propagate: no
   api:
-    handlers: [api]
+    handlers: []
     propagate: no
   mqtt:
-    handlers: [mqtt]
-    propagate: False
+    handlers: []
+    propagate: no
   state_machine:
-    handlers: [state_machine]
-    propagate: False
+    handlers: []
+    propagate: no
   uploader:
-    handlers: [uploader]
-    propagate: False
+    handlers: []
+    propagate: no
   urllib3:
     handlers: []
   uvicorn:
-    handlers: [api]
+    handlers: []
     propagate: no
   azure:
     handlers: []

isar/config/settings.py

@@ -224,6 +224,9 @@ class Settings(BaseSettings):
         default="robot_heartbeat", validate_default=True
     )
     TOPIC_ISAR_STARTUP: str = Field(default="startup", validate_default=True)
+    TOPIC_ISAR_INTERVENTION_NEEDED: str = Field(
+        default="intervention_needed", validate_default=True
+    )
 
     # Logging
 
@@ -275,6 +278,7 @@ class Settings(BaseSettings):
         "TOPIC_ISAR_INSPECTION_RESULT",
         "TOPIC_ISAR_INSPECTION_VALUE",
         "TOPIC_ISAR_STARTUP",
+        "TOPIC_ISAR_INTERVENTION_NEEDED",
     )
     @classmethod
     def prefix_isar_topics(cls, v: Any, info: ValidationInfo):

isar/models/events.py

@@ -70,13 +70,13 @@ class Events:
 
 class APIEvent(Generic[T1, T2]):
     """
-    Creates input and output event. The events are defined such that the input is from
-    api to state machine while the output is from state machine to api.
+    Creates request and response event. The events are defined such that the request is from
+    api to state machine while the response is from state machine to api.
     """
 
     def __init__(self):
-        self.input: Event[T1] = Event()
-        self.output: Event[T2] = Event()
+        self.request: Event[T1] = Event()
+        self.response: Event[T2] = Event()
 
 
 class APIRequests:
@@ -86,6 +86,7 @@ class APIRequests:
         self.pause_mission: APIEvent[bool, ControlMissionResponse] = APIEvent()
         self.resume_mission: APIEvent[bool, ControlMissionResponse] = APIEvent()
         self.return_home: APIEvent[bool, bool] = APIEvent()
+        self.release_intervention_needed: APIEvent[bool, bool] = APIEvent()
 
 
 class StateMachineEvents:

isar/script.py

@@ -36,7 +36,8 @@ def print_setting(
 
 
 def print_startup_info():
-    print(
+    logger: Logger = logging.getLogger("main")
+    logger.info(
         """
          __   ________   ___        ________
         / /  / ______/  /   |      / ____  /
@@ -48,21 +49,15 @@ def print_startup_info():
 """
     )
 
-    WIDTH = 48
-
     def print_setting(setting: str = "", value: Any = "", fillchar: str = " "):
         separator = ": " if value != "" else ""
-        text = setting.ljust(22, fillchar) + separator + str(value)
-        print("*", text.ljust(WIDTH - 4, fillchar), "*")
+        logger.info(setting + separator + str(value))
 
-    print("Integration and Supervisory control".center(WIDTH, " "))
-    print("of Autonomous Robots".center(WIDTH, " "))
-    print()
-    print(f"Version: {isar.__version__}\n".center(WIDTH, " "))
+    logger.info(
+        f"Integration and Supervisory control of Autonomous Robots - Version: {isar.__version__}\n"
+    )
 
-    print_setting(fillchar="*")
     print_setting("ISAR settings")
-    print_setting(fillchar="-")
     print_setting("Robot package", settings.ROBOT_PACKAGE)
     print_setting("Robot name", settings.ROBOT_NAME)
     print_setting("Running on port", settings.API_PORT)
@@ -74,17 +69,13 @@ def print_startup_info():
     print_setting("Plant code", settings.PLANT_CODE)
     print_setting("Plant name", settings.PLANT_NAME)
     print_setting("Plant shortname", settings.PLANT_SHORT_NAME)
-    print_setting(fillchar="-")
     print_setting("Robot capabilities", robot_settings.CAPABILITIES)
-    print_setting(fillchar="*")
-    print()
 
 
 def start() -> None:
     injector: ApplicationContainer = get_injector()
 
-    keyvault = injector.keyvault()
-    setup_loggers(keyvault=keyvault)
+    setup_loggers()
     setup_open_telemetry(app=injector.api().app)
     logger: Logger = logging.getLogger("main")
 

isar/services/utilities/scheduling_utilities.py

@@ -290,12 +290,32 @@ class SchedulingUtilities:
         self.logger.info("OK - Mission successfully stopped")
         return stop_mission_response
 
+    def release_intervention_needed(self) -> None:
+        """Release intervention needed state
+
+        Raises
+        ------
+        HTTPException 500 Internal Server Error
+            If the intervention needed state could not be released
+        """
+        try:
+            self._send_command(True, self.api_events.release_intervention_needed)
+            self.logger.info("OK - Intervention needed state released")
+        except EventTimeoutError:
+            error_message = (
+                "Internal Server Error - Failed to release intervention needed state"
+            )
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
+
     def _send_command(self, input: T1, api_event: APIEvent[T1, T2]) -> T2:
-        api_event.input.trigger_event(input)
+        api_event.request.trigger_event(input)
         try:
-            return api_event.output.consume_event(timeout=self.queue_timeout)
+            return api_event.response.consume_event(timeout=self.queue_timeout)
         except EventTimeoutError as e:
             self.logger.error("Queue timed out")
-            api_event.input.clear_event()
+            api_event.request.clear_event()
             self.logger.error("No output received for command to state machine")
             raise e

isar/state_machine/state_machine.py

@@ -18,6 +18,7 @@ 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
+from isar.state_machine.states.intervention_needed import InterventionNeeded
 from isar.state_machine.states.monitor import Monitor
 from isar.state_machine.states.offline import Offline
 from isar.state_machine.states.paused import Paused
@@ -41,6 +42,7 @@ 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 (
+    InterventionNeededPayload,
     MissionPayload,
     RobotStatusPayload,
     TaskPayload,
@@ -101,6 +103,7 @@ class StateMachine(object):
         self.await_next_mission_state: State = AwaitNextMission(self)
         self.home_state: State = Home(self)
         self.robot_standing_still_state: State = RobotStandingStill(self)
+        self.intervention_needed_state: State = InterventionNeeded(self)
 
         # Status states
         self.offline_state: State = Offline(self)
@@ -120,6 +123,7 @@ class StateMachine(object):
             self.offline_state,
             self.blocked_protective_stopping_state,
             self.unknown_status_state,
+            self.intervention_needed_state,
         ]
 
         self.machine = Machine(
@@ -282,6 +286,25 @@ class StateMachine(object):
             retain=True,
         )
 
+    def publish_intervention_needed(self, error_message: str) -> None:
+        """Publishes the intervention needed message to the MQTT Broker"""
+        if not self.mqtt_publisher:
+            return
+
+        payload: InterventionNeededPayload = InterventionNeededPayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            reason=error_message,
+            timestamp=datetime.now(timezone.utc),
+        )
+
+        self.mqtt_publisher.publish(
+            topic=settings.TOPIC_ISAR_INTERVENTION_NEEDED,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
+            qos=1,
+            retain=True,
+        )
+
     def publish_status(self) -> None:
         if not self.mqtt_publisher:
             return
@@ -314,6 +337,8 @@ class StateMachine(object):
             return RobotStatus.Offline
         elif self.current_state == States.BlockedProtectiveStop:
             return RobotStatus.BlockedProtectiveStop
+        elif self.current_state == States.InterventionNeeded:
+            return RobotStatus.InterventionNeeded
         else:
             return RobotStatus.Busy
 
@@ -343,7 +368,7 @@ class StateMachine(object):
         )
 
     def _queue_empty_response(self) -> None:
-        self.events.api_requests.stop_mission.output.put(
+        self.events.api_requests.stop_mission.response.put(
             ControlMissionResponse(
                 mission_id="None",
                 mission_status="None",

isar/state_machine/states/await_next_mission.py

@@ -24,17 +24,17 @@ class AwaitNextMission(EventHandlerBase):
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(
                 name="start_mission_event",
-                event=events.api_requests.start_mission.input,
+                event=events.api_requests.start_mission.request,
                 handler=lambda event: start_mission_event_handler(state_machine, event),
             ),
             EventHandlerMapping(
                 name="return_home_event",
-                event=events.api_requests.return_home.input,
+                event=events.api_requests.return_home.request,
                 handler=lambda event: return_home_event_handler(state_machine, event),
             ),
             EventHandlerMapping(
                 name="stop_mission_event",
-                event=events.api_requests.return_home.input,
+                event=events.api_requests.return_home.request,
                 handler=lambda event: stop_mission_event_handler(state_machine, event),
             ),
         ]

isar/state_machine/states/home.py

@@ -22,17 +22,17 @@ class Home(EventHandlerBase):
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(
                 name="start_mission_event",
-                event=events.api_requests.start_mission.input,
+                event=events.api_requests.start_mission.request,
                 handler=lambda event: start_mission_event_handler(state_machine, event),
             ),
             EventHandlerMapping(
                 name="return_home_event",
-                event=events.api_requests.return_home.input,
+                event=events.api_requests.return_home.request,
                 handler=lambda event: return_home_event_handler(state_machine, event),
             ),
             EventHandlerMapping(
                 name="stop_mission_event",
-                event=events.api_requests.return_home.input,
+                event=events.api_requests.return_home.request,
                 handler=lambda event: stop_mission_event_handler(state_machine, event),
             ),
             EventHandlerMapping(

isar/state_machine/states/intervention_needed.py

@@ -0,0 +1,43 @@
+from collections.abc import Callable
+from typing import TYPE_CHECKING, List, Optional
+
+from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
+from isar.models.events import Event
+from isar.state_machine.utils.common_event_handlers import return_home_event_handler
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+class InterventionNeeded(EventHandlerBase):
+
+    def __init__(self, state_machine: "StateMachine"):
+        events = state_machine.events
+
+        def release_intervention_needed_handler(
+            event: Event[bool],
+        ) -> Optional[Callable]:
+            if event.consume_event():
+                state_machine.events.api_requests.release_intervention_needed.response.trigger_event(
+                    True
+                )
+                return state_machine.release_intervention_needed  # type: ignore
+            return None
+
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="return_home_event",
+                event=events.api_requests.return_home.request,
+                handler=lambda event: return_home_event_handler(state_machine, event),
+            ),
+            EventHandlerMapping(
+                name="release_intervention_needed_event",
+                event=events.api_requests.release_intervention_needed.request,
+                handler=release_intervention_needed_handler,
+            ),
+        ]
+        super().__init__(
+            state_name="intervention_needed",
+            state_machine=state_machine,
+            event_handler_mappings=event_handlers,
+        )

isar/state_machine/states/monitor.py

@@ -49,12 +49,12 @@ class Monitor(EventHandlerBase):
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(
                 name="stop_mission_event",
-                event=events.api_requests.stop_mission.input,
+                event=events.api_requests.stop_mission.request,
                 handler=lambda event: stop_mission_event_handler(state_machine, event),
             ),
             EventHandlerMapping(
                 name="pause_mission_event",
-                event=events.api_requests.pause_mission.input,
+                event=events.api_requests.pause_mission.request,
                 handler=_pause_mission_event_handler,
             ),
             EventHandlerMapping(

isar/state_machine/states/paused.py

@@ -14,12 +14,12 @@ class Paused(EventHandlerBase):
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(
                 name="stop_mission_event",
-                event=events.api_requests.stop_mission.input,
+                event=events.api_requests.stop_mission.request,
                 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,
+                event=events.api_requests.resume_mission.request,
                 handler=lambda event: state_machine.resume if event.consume_event() else None,  # type: ignore
             ),
         ]

isar/state_machine/states/returning_home.py

@@ -41,7 +41,7 @@ class ReturningHome(EventHandlerBase):
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(
                 name="stop_mission_event",
-                event=events.api_requests.stop_mission.input,
+                event=events.api_requests.stop_mission.request,
                 handler=lambda event: stop_mission_event_handler(state_machine, event),
             ),
             EventHandlerMapping(
@@ -60,7 +60,7 @@ class ReturningHome(EventHandlerBase):
             ),
             EventHandlerMapping(
                 name="start_mission_event",
-                event=events.api_requests.start_mission.input,
+                event=events.api_requests.start_mission.request,
                 handler=_start_mission_event_handler,
             ),
             EventHandlerMapping(

isar/state_machine/states/robot_standing_still.py

@@ -22,17 +22,17 @@ class RobotStandingStill(EventHandlerBase):
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(
                 name="start_mission_event",
-                event=events.api_requests.start_mission.input,
+                event=events.api_requests.start_mission.request,
                 handler=lambda event: start_mission_event_handler(state_machine, event),
             ),
             EventHandlerMapping(
                 name="return_home_event",
-                event=events.api_requests.return_home.input,
+                event=events.api_requests.return_home.request,
                 handler=lambda event: return_home_event_handler(state_machine, event),
             ),
             EventHandlerMapping(
                 name="stop_mission_event",
-                event=events.api_requests.return_home.input,
+                event=events.api_requests.return_home.request,
                 handler=lambda event: stop_mission_event_handler(state_machine, event),
             ),
             EventHandlerMapping(

isar/state_machine/states/unknown_status.py

@@ -31,7 +31,7 @@ class UnknownStatus(EventHandlerBase):
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(
                 name="stop_mission_event",
-                event=events.api_requests.stop_mission.input,
+                event=events.api_requests.stop_mission.request,
                 handler=lambda event: stop_mission_event_handler(state_machine, event),
             ),
             EventHandlerMapping(

isar/state_machine/states_enum.py

@@ -12,6 +12,7 @@ class States(str, Enum):
     Offline = "offline"
     BlockedProtectiveStop = "blocked_protective_stop"
     UnknownStatus = "unknown_status"
+    InterventionNeeded = "intervention_needed"
 
     def __repr__(self):
         return self.value

isar/state_machine/transitions/functions/fail_mission.py

@@ -11,3 +11,10 @@ def report_failed_mission_and_finalize(state_machine: "StateMachine") -> None:
     state_machine.current_mission.status = MissionStatus.Failed
     state_machine.publish_task_status(task=state_machine.current_task)
     state_machine._finalize()
+
+
+def report_failed_return_home_and_intervention_needed(
+    state_machine: "StateMachine",
+) -> None:
+    error_message: str = "Return home failed."
+    state_machine.publish_intervention_needed(error_message=error_message)

isar/state_machine/transitions/functions/pause.py

@@ -29,7 +29,7 @@ def pause_mission(state_machine: "StateMachine") -> bool:
             paused_mission_response: ControlMissionResponse = (
                 state_machine._make_control_mission_response()
             )
-            state_machine.events.api_requests.pause_mission.output.put(
+            state_machine.events.api_requests.pause_mission.response.put(
                 paused_mission_response
             )
 

isar/state_machine/transitions/functions/resume.py

@@ -35,7 +35,7 @@ def resume_mission(state_machine: "StateMachine") -> bool:
             resume_mission_response: ControlMissionResponse = (
                 state_machine._make_control_mission_response()
             )
-            state_machine.events.api_requests.resume_mission.output.put(
+            state_machine.events.api_requests.resume_mission.response.put(
                 resume_mission_response
             )
 

isar/state_machine/transitions/functions/start_mission.py

@@ -11,12 +11,12 @@ from robot_interface.models.exceptions.robot_exceptions import (
 from robot_interface.models.mission.status import MissionStatus, TaskStatus
 
 
-def put_start_mission_on_queue(state_machine: "StateMachine") -> bool:
-    state_machine.events.api_requests.start_mission.output.put(True)
+def acknowledge_mission(state_machine: "StateMachine") -> bool:
+    state_machine.events.api_requests.start_mission.response.put(True)
     return True
 
 
-def initiate_mission(state_machine: "StateMachine") -> bool:
+def prepare_state_machine_before_mission(state_machine: "StateMachine") -> bool:
     state_machine.logger.info(
         "Initiating mission:\n"
         f"  Mission ID: {state_machine.current_mission.id}\n"
@@ -70,5 +70,5 @@ def trigger_start_mission_event(state_machine: "StateMachine") -> bool:
 
 
 def _initialization_failed(state_machine: "StateMachine") -> None:
-    state_machine.events.api_requests.start_mission.output.put(False)
+    state_machine.events.api_requests.start_mission.response.put(False)
     state_machine._finalize()

isar/state_machine/transitions/functions/stop.py

@@ -31,7 +31,9 @@ def stop_mission_cleanup(state_machine: "StateMachine") -> bool:
     stopped_mission_response: ControlMissionResponse = (
         state_machine._make_control_mission_response()
     )
-    state_machine.events.api_requests.stop_mission.output.put(stopped_mission_response)
+    state_machine.events.api_requests.stop_mission.response.put(
+        stopped_mission_response
+    )
     state_machine.publish_task_status(task=state_machine.current_task)
     state_machine._finalize()
     return True
@@ -41,7 +43,9 @@ def stop_mission_failed(state_machine: "StateMachine") -> bool:
     stopped_mission_response: ControlMissionResponse = (
         state_machine._make_control_mission_response()
     )
-    state_machine.events.api_requests.stop_mission.output.put(stopped_mission_response)
+    state_machine.events.api_requests.stop_mission.response.put(
+        stopped_mission_response
+    )
     return True
 
 
@@ -51,7 +55,7 @@ def stop_return_home_mission_cleanup(state_machine: "StateMachine") -> bool:
         state_machine.reset_state_machine()
         return True
 
-    if not state_machine.events.api_requests.start_mission.input.has_event():
+    if not state_machine.events.api_requests.start_mission.request.has_event():
         state_machine.current_mission.status = MissionStatus.Cancelled
 
         for task in state_machine.current_mission.tasks:
@@ -65,7 +69,7 @@ def stop_return_home_mission_cleanup(state_machine: "StateMachine") -> bool:
         stopped_mission_response: ControlMissionResponse = (
             state_machine._make_control_mission_response()
         )
-        state_machine.events.api_requests.stop_mission.output.put(
+        state_machine.events.api_requests.stop_mission.response.put(
             stopped_mission_response
         )
 
@@ -74,10 +78,12 @@ def stop_return_home_mission_cleanup(state_machine: "StateMachine") -> bool:
 
 
 def stop_return_home_mission_failed(state_machine: "StateMachine") -> bool:
-    if state_machine.events.api_requests.start_mission.input.has_event():
+    if state_machine.events.api_requests.start_mission.request.has_event():
         return True
     stopped_mission_response: ControlMissionResponse = (
         state_machine._make_control_mission_response()
     )
-    state_machine.events.api_requests.stop_mission.output.put(stopped_mission_response)
+    state_machine.events.api_requests.stop_mission.response.put(
+        stopped_mission_response
+    )
     return True

isar/state_machine/transitions/mission.py

@@ -7,9 +7,9 @@ from isar.state_machine.transitions.functions.finish_mission import finish_missi
 from isar.state_machine.transitions.functions.pause import pause_mission
 from isar.state_machine.transitions.functions.resume import resume_mission
 from isar.state_machine.transitions.functions.start_mission import (
+    acknowledge_mission,
     initialize_robot,
-    initiate_mission,
-    put_start_mission_on_queue,
+    prepare_state_machine_before_mission,
     set_mission_to_in_progress,
     trigger_start_mission_event,
 )
@@ -94,9 +94,9 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
                 state_machine.robot_standing_still_state,
             ],
             "dest": state_machine.monitor_state,
-            "prepare": def_transition(state_machine, put_start_mission_on_queue),
+            "prepare": def_transition(state_machine, acknowledge_mission),
             "conditions": [
-                def_transition(state_machine, initiate_mission),
+                def_transition(state_machine, prepare_state_machine_before_mission),
                 def_transition(state_machine, initialize_robot),
             ],
             "before": [
@@ -122,12 +122,6 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "dest": state_machine.home_state,
             "before": def_transition(state_machine, report_failed_mission_and_finalize),
         },
-        {
-            "trigger": "request_mission_start",
-            "source": state_machine.returning_home_state,
-            "dest": state_machine.returning_home_state,
-            "before": def_transition(state_machine, report_failed_mission_and_finalize),
-        },
         {
             "trigger": "mission_failed_to_start",
             "source": [state_machine.monitor_state, state_machine.returning_home_state],

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

@@ -24,7 +24,7 @@ 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)
+        state_machine.events.api_requests.return_home.response.put(True)
         return state_machine.request_return_home  # type: ignore
     return None
 
@@ -48,7 +48,7 @@ def stop_mission_event_handler(
         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(
+            state_machine.events.api_requests.stop_mission.response.put(
                 ControlMissionResponse(
                     mission_id=mission_id,
                     mission_status=state_machine.current_mission.status,

{isar-1.31.1.dist-info → isar-1.32.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.31.1
+Version: 1.32.1
 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-1.31.1.dist-info → isar-1.32.1.dist-info}/RECORD

@@ -1,22 +1,22 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
 isar/modules.py,sha256=1QdULg-9gV5Ds4pMV4IQTlImSgsVwqs-g15ifllF2kg,4757
-isar/script.py,sha256=8wDcpsbOdFzSkkOOUBFxz9OJYzBiqnTDqr-175tiyL4,6211
+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/models/start_mission_definition.py,sha256=v-wt1XDd53Sw7DCdFAkxBBut-xd_uGJa7qMJnE3VI9k,6364
 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/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=-fBxs0TUGmoCX4nF1Rwg0YMZ-WQ6qsqFZpWHxqwOrlk,13029
+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
@@ -42,7 +42,7 @@ isar/mission_planner/mission_planner_interface.py,sha256=UgpPIM4FbrWOD7fGY3Ul64k
 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/events.py,sha256=9NgvX68Nb8WJyuafD-NYyxxb2Bo9zN15ozNPKURyrxk,3782
+isar/models/events.py,sha256=Q9YaHSsjI6gS-mZ16HLEXpbSBuEFcgHMxG_MeEEfdBo,3870
 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
@@ -59,42 +59,43 @@ isar/services/service_connections/mqtt/robot_heartbeat_publisher.py,sha256=_bUOG
 isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=AxokGk51hRPTxxD2r0P9braPJCMrf1InaCxrUBKkF4g,1402
 isar/services/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/robot_utilities.py,sha256=4zCigsLXfqDC8POHchktSq81zr1_pTaRve_LQsVr6Mk,514
-isar/services/utilities/scheduling_utilities.py,sha256=O-V6EBfYcx8HMxa2bf0QBxX7Km5m1hBf9h4P5RGlMfY,10907
+isar/services/utilities/scheduling_utilities.py,sha256=jxwvVahRJeuoYDtOcVyLwm1BTFKKq92icjR-bA_R0bg,11674
 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=RDpUngEf1BAVXDRC52FkUVMSIVhmfTEgQw_kDC06WPE,15663
-isar/state_machine/states_enum.py,sha256=Z3dO6k6JmQAZ1lzcR58oVCxoCky_-ZS9MaL3RSaNbZ4,434
+isar/state_machine/state_machine.py,sha256=vrsQfDyUUHOh20nEZ0qZaMUmSb2KkMx1fnWHyfHdRWc,16670
+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=RDWqGFdQ6PX7AtSjlrR-fH6s441mKooOpkceTO7pvkc,1873
+isar/state_machine/states/await_next_mission.py,sha256=VfsJFHh_G371bUVkJgh_5o7d0DLNeMexV35Bw6Jsj7M,1879
 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/home.py,sha256=tbwWoxQdrZb4zkqgXpDjzTZD-IqKTgHoC_MmFdTEjKQ,1868
+isar/state_machine/states/intervention_needed.py,sha256=A0QYz1vD1tDKAealihXDuoGuMLtXrRfn_AwFoaUhT_Q,1640
+isar/state_machine/states/monitor.py,sha256=366CZSEf1HRVqpm0RkFjIDGnc_9fjeer7qwu1fvbcKQ,3670
 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/paused.py,sha256=osmLZhm0-2jcZmNRauveeidCBYayDZvLy-1TNYv6CgQ,1091
+isar/state_machine/states/returning_home.py,sha256=6NEszX7phRN46ST25YFZZja75Z1RHSswWSv7V1-26wU,3424
+isar/state_machine/states/robot_standing_still.py,sha256=78W465FlVBCTUpmjQHzO5MT7fI6_M8Rh9gS-M8Y9irs,1903
 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/states/unknown_status.py,sha256=Y-g9cgme5zriyZ6YUzFRYhOvv9ZylCSwfaY8MJ7xEJ0,1791
+isar/state_machine/transitions/mission.py,sha256=mUOtEyK2UX_kdK-_L4wq5a60882H2KnlxImO72YMtuo,5557
+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/pause.py,sha256=gWr-s76gL0-otrZxCBNmTxUicrAVsdNWDQmHSAOvs6E,1977
+isar/state_machine/transitions/functions/resume.py,sha256=ji4GjQvQQCr_jYRUGYHSYt-vePtO2z7VAUeKF-hyLBw,2106
 isar/state_machine/transitions/functions/return_home.py,sha256=UlniwYvpz74hxqgN0TyVv3LCmiMsqsosKEtEGLqkNj0,1139
 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=5tPYE4WB98iammX81wEdrAUvX0huJ2PBooVaY_7i6GY,2902
+isar/state_machine/transitions/functions/start_mission.py,sha256=PcD9ANNN3Hxyq6hzvpISMiR94-y1BPNupU-wlRysqT8,2581
+isar/state_machine/transitions/functions/stop.py,sha256=ZG33TK3VuJwT-LAQ0a3thgt714yCIu42_bo-u1-V1J0,2956
 isar/state_machine/transitions/functions/utils.py,sha256=Wa72Ocq4QT1E6qkpEJZQ3h5o33pGvx7Tlkt2JZ2Grbk,314
-isar/state_machine/utils/common_event_handlers.py,sha256=Grv34hVwDjzi9BizqRLMJAKtRpucuklXGR3hoC_0kkQ,5773
+isar/state_machine/utils/common_event_handlers.py,sha256=hyzOvj5EA4Ob9DjbtbnPKge_t6Umd0_Cc-b6wfy8CP8,5777
 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=uD1DzvJ2yYtNAwQGa7UD7kNOxZfKxJ1cCdi7sfOVZ10,9443
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.31.1.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.32.1.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
@@ -106,7 +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
@@ -114,12 +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-1.31.1.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-1.32.1.dist-info/METADATA,sha256=AOF9icV4ETW8Ddolnlh6hQzjWm1B_3Z9Go1B4q3WfOQ,31217
+isar-1.32.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.32.1.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.32.1.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.32.1.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