isar 1.32.0__tar.gz → 1.32.2__tar.gz

{isar-1.32.0 → isar-1.32.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.32.0
+Version: 1.32.2
 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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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:

{isar-1.32.0 → isar-1.32.2}/src/isar/services/utilities/scheduling_utilities.py

@@ -311,11 +311,11 @@ class SchedulingUtilities:
             )
 
     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-1.32.0 → isar-1.32.2}/src/isar/state_machine/state_machine.py

@@ -368,7 +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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/isar/state_machine/states/intervention_needed.py

@@ -18,7 +18,7 @@ class InterventionNeeded(EventHandlerBase):
             event: Event[bool],
         ) -> Optional[Callable]:
             if event.consume_event():
-                state_machine.events.api_requests.release_intervention_needed.output.trigger_event(
+                state_machine.events.api_requests.release_intervention_needed.response.trigger_event(
                     True
                 )
                 return state_machine.release_intervention_needed  # type: ignore
@@ -27,12 +27,12 @@ class InterventionNeeded(EventHandlerBase):
         event_handlers: List[EventHandlerMapping] = [
             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="release_intervention_needed_event",
-                event=events.api_requests.release_intervention_needed.input,
+                event=events.api_requests.release_intervention_needed.request,
                 handler=release_intervention_needed_handler,
             ),
         ]

{isar-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/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": [

{isar-1.32.0 → isar-1.32.2}/src/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-1.32.0 → isar-1.32.2}/src/isar/storage/blob_storage.py

@@ -3,34 +3,49 @@ from pathlib import Path
 from typing import Union
 
 from azure.core.exceptions import ResourceExistsError
-from azure.storage.blob import BlobClient, BlobServiceClient, ContainerClient
+from azure.storage.blob import BlobServiceClient
 
 from isar.config.keyvault.keyvault_service import Keyvault
 from isar.config.settings import settings
 from isar.storage.storage_interface import StorageException, StorageInterface
 from isar.storage.utilities import construct_metadata_file, construct_paths
-from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.inspection.inspection import InspectionBlob
 from robot_interface.models.mission.mission import Mission
 
 
 class BlobStorage(StorageInterface):
-    def __init__(
-        self, keyvault: Keyvault, container_name: str = settings.BLOB_CONTAINER
-    ) -> None:
-        self.keyvault = keyvault
-        self.storage_connection_string = self.keyvault.get_secret(
+    def __init__(self, keyvault: Keyvault) -> None:
+        self.logger = logging.getLogger("uploader")
+
+        storage_connection_string = keyvault.get_secret(
             "AZURE-STORAGE-CONNECTION-STRING"
         ).value
-        self.container_name = container_name
 
-        self.blob_service_client = self._get_blob_service_client()
-        self.container_client = self._get_container_client(
-            blob_service_client=self.blob_service_client
+        if storage_connection_string is None:
+            raise RuntimeError("AZURE-STORAGE-CONNECTION-STRING from keyvault is None")
+
+        try:
+            blob_service_client = BlobServiceClient.from_connection_string(
+                storage_connection_string
+            )
+        except Exception as e:
+            self.logger.error("Unable to retrieve blob service client. Error: %s", e)
+            raise e
+
+        self.container_client = blob_service_client.get_container_client(
+            settings.BLOB_CONTAINER
         )
 
-        self.logger = logging.getLogger("uploader")
+        if not self.container_client.exists():
+            raise RuntimeError(
+                "The configured blob container %s does not exist",
+                settings.BLOB_CONTAINER,
+            )
+
+    def store(self, inspection: InspectionBlob, mission: Mission) -> Union[str, dict]:
+        if inspection.data is None:
+            raise StorageException("Nothing to store. The inspection data is empty")
 
-    def store(self, inspection: Inspection, mission: Mission) -> Union[str, dict]:
         data_path, metadata_path = construct_paths(
             inspection=inspection, mission=mission
         )
@@ -43,7 +58,7 @@ class BlobStorage(StorageInterface):
         return self._upload_file(path=data_path, data=inspection.data)
 
     def _upload_file(self, path: Path, data: bytes) -> Union[str, dict]:
-        blob_client = self._get_blob_client(path)
+        blob_client = self.container_client.get_blob_client(path.as_posix())
         try:
             blob_client.upload_blob(data=data)
         except ResourceExistsError as e:
@@ -62,20 +77,3 @@ class BlobStorage(StorageInterface):
             "blob_name": blob_client.blob_name,
         }
         return absolute_inspection_path
-
-    def _get_blob_service_client(self) -> BlobServiceClient:
-        try:
-            return BlobServiceClient.from_connection_string(
-                self.storage_connection_string
-            )
-        except Exception as e:
-            self.logger.error("Unable to retrieve blob service client. Error: %s", e)
-            raise e
-
-    def _get_container_client(
-        self, blob_service_client: BlobServiceClient
-    ) -> ContainerClient:
-        return blob_service_client.get_container_client(self.container_name)
-
-    def _get_blob_client(self, path_to_blob: Path) -> BlobClient:
-        return self.container_client.get_blob_client(path_to_blob.as_posix())

{isar-1.32.0 → isar-1.32.2}/src/isar/storage/local_storage.py

@@ -4,7 +4,7 @@ from pathlib import Path
 from isar.config.settings import settings
 from isar.storage.storage_interface import StorageException, StorageInterface
 from isar.storage.utilities import construct_metadata_file, construct_paths
-from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.inspection.inspection import InspectionBlob
 from robot_interface.models.mission.mission import Mission
 
 
@@ -13,7 +13,10 @@ class LocalStorage(StorageInterface):
         self.root_folder: Path = Path(settings.LOCAL_STORAGE_PATH)
         self.logger = logging.getLogger("uploader")
 
-    def store(self, inspection: Inspection, mission: Mission) -> str:
+    def store(self, inspection: InspectionBlob, mission: Mission) -> str:
+        if inspection.data is None:
+            raise StorageException("Nothing to store. The inspection data is empty")
+
         local_path, local_metadata_path = construct_paths(
             inspection=inspection, mission=mission
         )

{isar-1.32.0 → isar-1.32.2}/src/isar/storage/storage_interface.py

@@ -1,19 +1,19 @@
 from abc import ABCMeta, abstractmethod
 from typing import Union
 
-from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.inspection.inspection import InspectionBlob
 from robot_interface.models.mission.mission import Mission
 
 
 class StorageInterface(metaclass=ABCMeta):
     @abstractmethod
-    def store(self, inspection: Inspection, mission: Mission) -> Union[str, dict]:
+    def store(self, inspection: InspectionBlob, mission: Mission) -> Union[str, dict]:
         """
         Parameters
         ----------
         mission : Mission
             Mission the inspection is a part of.
-        inspection : Inspection
+        inspection : InspectionBlob
             The inspection object to be stored.
 
         Returns

{isar-1.32.0 → isar-1.32.2}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.32.0
+Version: 1.32.2
 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-1.32.0 → isar-1.32.2}/tests/isar/models/communication/test_events.py

@@ -6,21 +6,21 @@ class TestEvents:
         events: Events = Events()
         assert events.api_requests.start_mission is not None
         assert (
-            events.api_requests.start_mission.input is not None
-            and events.api_requests.start_mission.input.maxsize == 1
+            events.api_requests.start_mission.request is not None
+            and events.api_requests.start_mission.request.maxsize == 1
         )
         assert (
-            events.api_requests.start_mission.output is not None
-            and events.api_requests.start_mission.output.maxsize == 1
+            events.api_requests.start_mission.response is not None
+            and events.api_requests.start_mission.response.maxsize == 1
         )
         assert events.api_requests.stop_mission is not None
         assert (
-            events.api_requests.stop_mission.input is not None
-            and events.api_requests.stop_mission.input.maxsize == 1
+            events.api_requests.stop_mission.request is not None
+            and events.api_requests.stop_mission.request.maxsize == 1
         )
         assert (
-            events.api_requests.stop_mission.output is not None
-            and events.api_requests.stop_mission.output.maxsize == 1
+            events.api_requests.stop_mission.response is not None
+            and events.api_requests.stop_mission.response.maxsize == 1
         )
 
 

{isar-1.32.0 → isar-1.32.2}/tests/isar/services/utilities/test_scheduling_utilities.py

@@ -17,7 +17,7 @@ def test_timeout_send_command(
     q: APIEvent = APIEvent()
     with pytest.raises(EventTimeoutError):
         scheduling_utilities._send_command(True, q)
-    assert q.input.empty()
+    assert q.request.empty()
 
 
 def test_robot_capable_of_mission(scheduling_utilities: SchedulingUtilities):

{isar-1.32.0 → isar-1.32.2}/tests/isar/state_machine/test_state_machine.py

@@ -474,7 +474,7 @@ def test_state_machine_with_mission_start_during_return_home_without_queueing_st
         ]
     )
     assert (
-        not state_machine_thread.state_machine.events.api_requests.start_mission.input.has_event()
+        not state_machine_thread.state_machine.events.api_requests.start_mission.request.has_event()
     )