isar 1.32.2__py3-none-any.whl → 1.32.3__py3-none-any.whl

isar/config/settings.py

@@ -89,6 +89,9 @@ class Settings(BaseSettings):
     # Determines how long delay time should be allowed before returning home
     RETURN_HOME_DELAY: int = Field(default=10)
 
+    # Sets how many times the robot should try to return home if a return home fails
+    RETURN_HOME_RETRY_LIMIT: int = Field(default=5)
+
     # Determines which mission planner module is used by ISAR
     MISSION_PLANNER: str = Field(default="local")
 

isar/state_machine/states/returning_home.py

@@ -20,6 +20,7 @@ if TYPE_CHECKING:
 class ReturningHome(EventHandlerBase):
 
     def __init__(self, state_machine: "StateMachine"):
+        self.failed_return_home_attemps: int = 0
         events = state_machine.events
 
         def _handle_task_completed(status: TaskStatus):
@@ -28,7 +29,9 @@ class ReturningHome(EventHandlerBase):
                     error_reason=ErrorReason.RobotActionException,
                     error_description="Return home failed.",
                 )
+                self.failed_return_home_attemps += 1
                 return state_machine.return_home_failed  # type: ignore
+
             return state_machine.returned_home  # type: ignore
 
         def _start_mission_event_handler(

isar/state_machine/transitions/functions/return_home.py

@@ -5,8 +5,9 @@ if TYPE_CHECKING:
 
 from typing import TYPE_CHECKING
 
+from isar.config.settings import settings
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.status import MissionStatus, TaskStatus
+from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
 from robot_interface.models.mission.task import ReturnToHome
 
 if TYPE_CHECKING:
@@ -23,6 +24,21 @@ def start_return_home_mission(state_machine: "StateMachine") -> bool:
     return True
 
 
+def should_retry_return_home(state_machine: "StateMachine") -> bool:
+    if state_machine.shared_state.robot_status.check() != RobotStatus.Available:
+        return False
+
+    return (
+        state_machine.returning_home_state.failed_return_home_attemps
+        < settings.RETURN_HOME_RETRY_LIMIT
+    )
+
+
+def reset_return_home_failure_counter(state_machine: "StateMachine") -> bool:
+    state_machine.returning_home_state.failed_return_home_attemps = 0
+    return True
+
+
 def set_return_home_status(state_machine: "StateMachine") -> bool:
     state_machine.log_mission_overview(mission=state_machine.current_mission)
     state_machine.current_mission.status = MissionStatus.InProgress

isar/state_machine/transitions/return_home.py

@@ -5,8 +5,10 @@ from isar.state_machine.transitions.functions.fail_mission import (
     report_failed_return_home_and_intervention_needed,
 )
 from isar.state_machine.transitions.functions.return_home import (
+    reset_return_home_failure_counter,
     return_home_finished,
     set_return_home_status,
+    should_retry_return_home,
     start_return_home_mission,
 )
 from isar.state_machine.transitions.functions.start_mission import (
@@ -34,6 +36,7 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 def_transition(state_machine, start_return_home_mission),
                 def_transition(state_machine, set_return_home_status),
                 def_transition(state_machine, initialize_robot),
+                def_transition(state_machine, initialize_robot),
             ],
             "before": def_transition(state_machine, trigger_start_mission_event),
         },
@@ -59,7 +62,25 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
             "trigger": "returned_home",
             "source": state_machine.returning_home_state,
             "dest": state_machine.home_state,
-            "before": def_transition(state_machine, return_home_finished),
+            "before": [
+                def_transition(state_machine, reset_return_home_failure_counter),
+                def_transition(state_machine, return_home_finished),
+            ],
+        },
+        {
+            "trigger": "return_home_failed",
+            "source": state_machine.returning_home_state,
+            "dest": state_machine.returning_home_state,
+            "conditions": [
+                def_transition(state_machine, should_retry_return_home),
+            ],
+            "before": [
+                def_transition(state_machine, report_failed_mission_and_finalize),
+                def_transition(state_machine, start_return_home_mission),
+                def_transition(state_machine, set_return_home_status),
+                def_transition(state_machine, initialize_robot),
+                def_transition(state_machine, trigger_start_mission_event),
+            ],
         },
         {
             "trigger": "return_home_failed",
@@ -69,6 +90,7 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 def_transition(
                     state_machine, report_failed_return_home_and_intervention_needed
                 ),
+                def_transition(state_machine, reset_return_home_failure_counter),
                 def_transition(state_machine, report_failed_mission_and_finalize),
             ],
         },

{isar-1.32.2.dist-info → isar-1.32.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.32.2
+Version: 1.32.3
 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-1.32.2.dist-info → isar-1.32.3.dist-info}/RECORD

@@ -16,7 +16,7 @@ isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5
 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/settings.py,sha256=LTY_1ReDOaIpCH_B3s3Jzz7CniZBE7upYUOKkW5gd3g,13325
 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
@@ -72,18 +72,18 @@ isar/state_machine/states/intervention_needed.py,sha256=A0QYz1vD1tDKAealihXDuoGu
 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=osmLZhm0-2jcZmNRauveeidCBYayDZvLy-1TNYv6CgQ,1091
-isar/state_machine/states/returning_home.py,sha256=6NEszX7phRN46ST25YFZZja75Z1RHSswWSv7V1-26wU,3424
+isar/state_machine/states/returning_home.py,sha256=xs6iWrscar3rWiLejJUy3kTfE-w2ak52gDHLMYX8k30,3527
 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=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/return_home.py,sha256=AAkpCBMlnHolwtlz-GQQcB9_DzzJqVKTD9UR1-uzZgI,4237
 isar/state_machine/transitions/robot_status.py,sha256=c1ceyWRGCtx-KTDtxHXRD7oPbt8TQ2ej24A0wyim8vc,2720
 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=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/return_home.py,sha256=5WPO40MtuRKm9-NtyrS6m0IVEit14MXfMKjgZ2sCXRU,1666
 isar/state_machine/transitions/functions/robot_status.py,sha256=P1Cu8xVysbiKRKL4E8mSyoL2-72HfxrLvvOcdnBOlvw,889
 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
@@ -95,7 +95,7 @@ isar/storage/local_storage.py,sha256=-9Bz2WmniLKwKMeAdrgoMzkj781AOLIUsfaqQERqpUk
 isar/storage/storage_interface.py,sha256=DRIiy0mRZL3KMZysG0R2Cque6hoqd5haZBw11WM53Vc,840
 isar/storage/uploader.py,sha256=uD1DzvJ2yYtNAwQGa7UD7kNOxZfKxJ1cCdi7sfOVZ10,9443
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.32.2.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.32.3.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
@@ -119,8 +119,8 @@ robot_interface/telemetry/payloads.py,sha256=Fqkfv77_T2Ttk5EjWRU5HH0XAxFhIuz7k-L
 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-1.32.2.dist-info/METADATA,sha256=C5qAqtRjXX1tn05-zP-T56xgi1Gwh0WkjE1yHi_LfhI,31217
-isar-1.32.2.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-isar-1.32.2.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.32.2.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.32.2.dist-info/RECORD,,
+isar-1.32.3.dist-info/METADATA,sha256=M8uIww8u8xCTsjqhdGmJjsF0a7Jrh5CcKx7RBhyDgQc,31217
+isar-1.32.3.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.32.3.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.32.3.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.32.3.dist-info/RECORD,,