isar 1.32.2__py3-none-any.whl → 1.33.0__py3-none-any.whl

isar/apis/models/models.py

@@ -26,6 +26,12 @@ class ControlMissionResponse(BaseModel):
     task_status: Optional[str]
 
 
+class MissionStartResponse(BaseModel):
+    mission_id: Optional[str] = None
+    mission_started: bool
+    mission_not_started_reason: Optional[str] = None
+
+
 class RobotInfoResponse(BaseModel):
     robot_package: str
     isar_id: str

isar/config/open_telemetry.py

@@ -1,4 +1,5 @@
 import logging
+from urllib.parse import urljoin
 
 from azure.monitor.opentelemetry.exporter import (
     AzureMonitorLogExporter,
@@ -7,6 +8,12 @@ from azure.monitor.opentelemetry.exporter import (
 from fastapi import FastAPI
 from opentelemetry import trace
 from opentelemetry._logs import set_logger_provider
+from opentelemetry.exporter.otlp.proto.http._log_exporter import (
+    OTLPLogExporter as OTLPHttpLogExporter,
+)
+from opentelemetry.exporter.otlp.proto.http.trace_exporter import (
+    OTLPSpanExporter as OTLPHttpSpanExporter,
+)
 from opentelemetry.instrumentation.fastapi import FastAPIInstrumentor
 from opentelemetry.sdk._logs import LoggerProvider, LoggingHandler
 from opentelemetry.sdk._logs.export import BatchLogRecordProcessor
@@ -17,22 +24,45 @@ from opentelemetry.sdk.trace.export import BatchSpanProcessor
 from isar.config.log import load_log_config
 from isar.config.settings import settings
 
+logging.getLogger("opentelemetry.sdk").setLevel(logging.CRITICAL)
+
 
 def setup_open_telemetry(app: FastAPI) -> None:
-    if not settings.LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED:
-        return
-    trace_exporter, log_exporter = get_azure_monitor_exporters()
 
-    service_name = settings.OPEN_TELEMETRY_SERVICE_NAME
+    service_name = settings.ROBOT_NAME
     resource = Resource.create({SERVICE_NAME: service_name})
 
     tracer_provider = TracerProvider(resource=resource)
-    tracer_provider.add_span_processor(BatchSpanProcessor(trace_exporter))
-    trace.set_tracer_provider(tracer_provider)
-
     log_provider = LoggerProvider(resource=resource)
+
+    if settings.LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED:
+        print("[OTEL] Azure Monitor exporters enabled")
+        azure_monitor_trace_exporter, azure_monitor_log_exporter = (
+            get_azure_monitor_exporters()
+        )
+
+        tracer_provider.add_span_processor(
+            BatchSpanProcessor(azure_monitor_trace_exporter)
+        )
+
+        log_provider.add_log_record_processor(
+            BatchLogRecordProcessor(azure_monitor_log_exporter)
+        )
+
+    otlp_exporter_endpoint = settings.OPEN_TELEMETRY_OTLP_EXPORTER_ENDPOINT
+    if otlp_exporter_endpoint:
+        print(f"[OTEL] OTLP exporters enabled, endpoint={otlp_exporter_endpoint}")
+        otlp_trace_exporter, otlp_log_exporter = get_otlp_exporters(
+            otlp_exporter_endpoint
+        )
+        tracer_provider.add_span_processor(BatchSpanProcessor(otlp_trace_exporter))
+
+        log_provider.add_log_record_processor(
+            BatchLogRecordProcessor(otlp_log_exporter)
+        )
+
     set_logger_provider(log_provider)
-    log_provider.add_log_record_processor(BatchLogRecordProcessor(log_exporter))
+    trace.set_tracer_provider(tracer_provider)
 
     handler = LoggingHandler(logger_provider=log_provider)
     attach_loggers_for_open_telemetry(handler)
@@ -51,12 +81,22 @@ def attach_loggers_for_open_telemetry(handler: LoggingHandler):
 def get_azure_monitor_exporters() -> (
     tuple[AzureMonitorTraceExporter, AzureMonitorLogExporter]
 ):
-    """
-    If connection string is defined in environment variables, then use it to create Azure Monitor Exporters.
-    Else use Azure Managed Identity to create Azure Monitor Exporters.
-    """
     connection_string = settings.APPLICATIONINSIGHTS_CONNECTION_STRING
     trace_exporter = AzureMonitorTraceExporter(connection_string=connection_string)
     log_exporter = AzureMonitorLogExporter(connection_string=connection_string)
 
     return trace_exporter, log_exporter
+
+
+def get_otlp_exporters(
+    endpoint: str,
+) -> tuple[OTLPHttpSpanExporter, OTLPHttpLogExporter]:
+    base = endpoint.rstrip("/") + "/"
+    trace_ep = urljoin(base, "v1/traces")
+    log_ep = urljoin(base, "v1/logs")
+
+    print("[OTEL] Using HTTP/Protobuf protocol for OpenTelemetry export")
+    print(f"[OTEL]  traces → {trace_ep}")
+    print(f"[OTEL]  logs   → {log_ep}")
+
+    return OTLPHttpSpanExporter(endpoint=trace_ep), OTLPHttpLogExporter(endpoint=log_ep)

isar/config/settings.py

@@ -12,8 +12,9 @@ from robot_interface.telemetry.payloads import DocumentInfo
 
 
 class Settings(BaseSettings):
-    # Name of the OpenTelemetry service
-    OPEN_TELEMETRY_SERVICE_NAME: str = Field(default="isar")
+    # Endpoint open telemetry will export telemetry in the otlp protocol to
+    OPEN_TELEMETRY_OTLP_EXPORTER_ENDPOINT: str = Field(default="http://localhost:4318")
+
     # Connection string for Azure Application Insights
     # This is optional and it will use managed identity if not set
     APPLICATIONINSIGHTS_CONNECTION_STRING: str = Field(default="")
@@ -29,7 +30,7 @@ class Settings(BaseSettings):
     REQUEST_TIMEOUT: int = Field(default=30)
 
     # Timeout in seconds for checking whether there is a message on a queue
-    QUEUE_TIMEOUT: int = Field(default=10)
+    QUEUE_TIMEOUT: int = Field(default=3)
 
     # Sleep time for while loops in the finite state machine in seconds
     # The sleep is used to throttle the system on every iteration in the loop
@@ -80,6 +81,15 @@ class Settings(BaseSettings):
     ROBOT_API_STATUS_POLL_INTERVAL: float = Field(default=5)
     THREAD_CHECK_INTERVAL: float = Field(default=0.01)
 
+    # Determines the minimum battery level the robot must have to start a mission
+    # If it drops below this level it will recharge to the value set by
+    # ROBOT_BATTERY_RECHARGE_THRESHOLD before starting new missions
+    ROBOT_MISSION_BATTERY_START_THRESHOLD: float = Field(default=25.0)
+
+    # Determines the minimum battery threshold to consider the robot recharged
+    # and ready for more missions, after having run low on charge
+    ROBOT_BATTERY_RECHARGE_THRESHOLD: float = Field(default=80.0)
+
     # FastAPI host
     API_HOST_VIEWED_EXTERNALLY: str = Field(default="0.0.0.0")
 
@@ -89,6 +99,9 @@ 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")
 
@@ -212,6 +225,9 @@ class Settings(BaseSettings):
     # List of MQTT Topics
     TOPIC_ISAR_STATUS: str = Field(default="status", validate_default=True)
     TOPIC_ISAR_MISSION: str = Field(default="mission", validate_default=True)
+    TOPIC_ISAR_MISSION_ABORTED: str = Field(
+        default="aborted_mission", validate_default=True
+    )
     TOPIC_ISAR_TASK: str = Field(default="task", validate_default=True)
     TOPIC_ISAR_INSPECTION_RESULT: str = Field(
         default="inspection_result", validate_default=True
@@ -279,6 +295,7 @@ class Settings(BaseSettings):
         "TOPIC_ISAR_INSPECTION_VALUE",
         "TOPIC_ISAR_STARTUP",
         "TOPIC_ISAR_INTERVENTION_NEEDED",
+        "TOPIC_ISAR_MISSION_ABORTED",
     )
     @classmethod
     def prefix_isar_topics(cls, v: Any, info: ValidationInfo):

isar/eventhandlers/eventhandler.py

@@ -58,6 +58,28 @@ class EventHandlerBase(State):
     def stop(self) -> None:
         return
 
+    def get_event_handler_by_name(
+        self, event_handler_name: str
+    ) -> Optional[EventHandlerMapping]:
+        filtered_handlers = list(
+            filter(
+                lambda mapping: mapping.name == event_handler_name,
+                self.event_handler_mappings,
+            )
+        )
+        return filtered_handlers[0] if len(filtered_handlers) > 0 else None
+
+    def get_event_timer_by_name(
+        self, event_timer_name: str
+    ) -> Optional[TimeoutHandlerMapping]:
+        filtered_timers = list(
+            filter(
+                lambda mapping: mapping.name == event_timer_name,
+                self.timers,
+            )
+        )
+        return filtered_timers[0] if len(filtered_timers) > 0 else None
+
     def _run(self) -> None:
         should_exit_state: bool = False
         timers = deepcopy(self.timers)

isar/models/events.py

@@ -4,7 +4,7 @@ from typing import Generic, Optional, TypeVar
 
 from transitions import State
 
-from isar.apis.models.models import ControlMissionResponse
+from isar.apis.models.models import ControlMissionResponse, MissionStartResponse
 from isar.config.settings import settings
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.mission.mission import Mission
@@ -20,8 +20,13 @@ class Event(Queue[T]):
     def __init__(self) -> None:
         super().__init__(maxsize=1)
 
-    def trigger_event(self, data: T) -> None:
-        self.put(data)
+    def trigger_event(self, data: T, timeout: int = None) -> None:
+        try:
+            self.put(data, timeout=timeout)
+        except Exception:
+            if timeout is not None:
+                raise EventTimeoutError
+            return None
 
     def consume_event(self, timeout: int = None) -> Optional[T]:
         try:
@@ -81,7 +86,7 @@ class APIEvent(Generic[T1, T2]):
 
 class APIRequests:
     def __init__(self) -> None:
-        self.start_mission: APIEvent[Mission, bool] = APIEvent()
+        self.start_mission: APIEvent[Mission, MissionStartResponse] = APIEvent()
         self.stop_mission: APIEvent[str, ControlMissionResponse] = APIEvent()
         self.pause_mission: APIEvent[bool, ControlMissionResponse] = APIEvent()
         self.resume_mission: APIEvent[bool, ControlMissionResponse] = APIEvent()
@@ -113,7 +118,12 @@ class SharedState:
         self.state: Event[State] = Event()
         self.robot_status: Event[RobotStatus] = Event()
         self.state_machine_current_task: Event[TASKS] = Event()
+        self.robot_battery_level: Event[float] = Event()
 
 
 class EventTimeoutError(Exception):
     pass
+
+
+class EventConflictError(Exception):
+    pass

isar/robot/robot_status.py

@@ -48,7 +48,10 @@ class RobotStatusThread(Thread):
                 self.last_robot_status_poll_time = time.time()
 
                 robot_status = self.robot.robot_status()
+                robot_battery_level = self.robot.get_battery_level()
+
                 self.shared_state.robot_status.update(robot_status)
+                self.shared_state.robot_battery_level.update(robot_battery_level)
             except RobotException as e:
                 self.logger.error(f"Failed to retrieve robot status: {e}")
                 continue

isar/services/utilities/scheduling_utilities.py

@@ -16,6 +16,7 @@ from isar.mission_planner.mission_planner_interface import (
 from isar.models.events import (
     APIEvent,
     APIRequests,
+    EventConflictError,
     Events,
     EventTimeoutError,
     SharedState,
@@ -176,16 +177,28 @@ class SchedulingUtilities:
             If there is a timeout while communicating with the state machine
         """
         try:
-            self._send_command(
+            mission_start_response = self._send_command(
                 deepcopy(mission),
                 self.api_events.start_mission,
             )
+            if not mission_start_response.mission_started:
+                self.logger.warning(
+                    f"Mission failed to start - {mission_start_response.mission_not_started_reason}"
+                )
+                raise HTTPException(
+                    status_code=HTTPStatus.CONFLICT,
+                    detail=mission_start_response.mission_not_started_reason,
+                )
+        except EventConflictError:
+            error_message = "Previous mission request is still being processed"
+            self.logger.warning(error_message)
+            raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
         except EventTimeoutError:
-            error_message = "Internal Server Error - Failed to start mission in ISAR"
-            self.logger.error(error_message)
-            raise HTTPException(
-                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            error_message = (
+                "State machine has entered a state which cannot start a mission"
             )
+            self.logger.warning(error_message)
+            raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
         self.logger.info("OK - Mission started in ISAR")
 
     def return_home(
@@ -203,14 +216,14 @@ class SchedulingUtilities:
                 True,
                 self.api_events.return_home,
             )
+        except EventConflictError:
+            error_message = "Previous return home request is still being processed"
+            self.logger.warning(error_message)
+            raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
         except EventTimeoutError:
-            error_message = (
-                "Internal Server Error - Failed to start return home mission in ISAR"
-            )
-            self.logger.error(error_message)
-            raise HTTPException(
-                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
-            )
+            error_message = "State machine has entered a state which cannot start a return home mission"
+            self.logger.warning(error_message)
+            raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
         self.logger.info("OK - Return home mission started in ISAR")
 
     def pause_mission(self) -> ControlMissionResponse:
@@ -225,12 +238,16 @@ class SchedulingUtilities:
             response = self._send_command(True, self.api_events.pause_mission)
             self.logger.info("OK - Mission successfully paused")
             return response
+        except EventConflictError:
+            error_message = "Previous pause mission request is still being processed"
+            self.logger.warning(error_message)
+            raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
         except EventTimeoutError:
-            error_message = "Internal Server Error - Failed to pause mission"
-            self.logger.error(error_message)
-            raise HTTPException(
-                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            error_message = (
+                "State machine has entered a state which cannot pause a mission"
             )
+            self.logger.warning(error_message)
+            raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
 
     def resume_mission(self) -> ControlMissionResponse:
         """Resume mission
@@ -244,6 +261,10 @@ class SchedulingUtilities:
             response = self._send_command(True, self.api_events.resume_mission)
             self.logger.info("OK - Mission successfully resumed")
             return response
+        except EventConflictError:
+            error_message = "Previous resume mission request is still being processed"
+            self.logger.warning(error_message)
+            raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
         except EventTimeoutError:
             error_message = "Internal Server Error - Failed to resume mission"
             self.logger.error(error_message)
@@ -281,12 +302,16 @@ class SchedulingUtilities:
                 raise HTTPException(
                     status_code=HTTPStatus.CONFLICT, detail=error_message
                 )
+        except EventConflictError:
+            error_message = "Previous stop mission request is still being processed"
+            self.logger.warning(error_message)
+            raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
         except EventTimeoutError:
-            error_message = "Internal Server Error - Failed to stop mission"
-            self.logger.error(error_message)
-            raise HTTPException(
-                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            error_message = (
+                "State machine has entered a state which cannot stop a mission"
             )
+            self.logger.warning(error_message)
+            raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
         self.logger.info("OK - Mission successfully stopped")
         return stop_mission_response
 
@@ -311,8 +336,11 @@ class SchedulingUtilities:
             )
 
     def _send_command(self, input: T1, api_event: APIEvent[T1, T2]) -> T2:
-        api_event.request.trigger_event(input)
+        if api_event.request.has_event() or api_event.response.has_event():
+            raise EventConflictError("API event has already been sent")
+
         try:
+            api_event.request.trigger_event(input, timeout=1)
             return api_event.response.consume_event(timeout=self.queue_timeout)
         except EventTimeoutError as e:
             self.logger.error("Queue timed out")

isar/state_machine/state_machine.py

@@ -22,6 +22,7 @@ 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
+from isar.state_machine.states.recharging import Recharging
 from isar.state_machine.states.returning_home import ReturningHome
 from isar.state_machine.states.robot_standing_still import RobotStandingStill
 from isar.state_machine.states.stopping import Stopping
@@ -43,6 +44,7 @@ from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 from robot_interface.telemetry.payloads import (
     InterventionNeededPayload,
+    MissionAbortedPayload,
     MissionPayload,
     RobotStatusPayload,
     TaskPayload,
@@ -108,6 +110,7 @@ class StateMachine(object):
         # Status states
         self.offline_state: State = Offline(self)
         self.blocked_protective_stopping_state: State = BlockedProtectiveStop(self)
+        self.recharging_state: State = Recharging(self)
 
         # Error and special status states
         self.unknown_status_state: State = UnknownStatus(self)
@@ -124,6 +127,7 @@ class StateMachine(object):
             self.blocked_protective_stopping_state,
             self.unknown_status_state,
             self.intervention_needed_state,
+            self.recharging_state,
         ]
 
         self.machine = Machine(
@@ -189,6 +193,12 @@ class StateMachine(object):
                 self.current_task = None
             self.send_task_status()
 
+    def battery_level_is_above_mission_start_threshold(self):
+        return (
+            not self.shared_state.robot_battery_level.check()
+            < settings.ROBOT_MISSION_BATTERY_START_THRESHOLD
+        )
+
     def update_state(self):
         """Updates the current state of the state machine."""
         self.current_state = States(self.state)  # type: ignore
@@ -227,6 +237,32 @@ class StateMachine(object):
                 f"Task: {str(task.id)[:8]} was reported as task.status by the robot"
             )
 
+    def publish_mission_aborted(self, reason: str, can_be_continued: bool) -> None:
+        if not self.mqtt_publisher:
+            return
+
+        if self.current_mission is None:
+            self.logger.warning(
+                "Could not publish mission aborted message. No ongoing mission."
+            )
+            return
+
+        payload: MissionAbortedPayload = MissionAbortedPayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            mission_id=self.current_mission.id,
+            reason=reason,
+            can_be_continued=can_be_continued,
+            timestamp=datetime.now(timezone.utc),
+        )
+
+        self.mqtt_publisher.publish(
+            topic=settings.TOPIC_ISAR_MISSION_ABORTED,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
+            qos=1,
+            retain=True,
+        )
+
     def publish_mission_status(self) -> None:
         if not self.mqtt_publisher:
             return
@@ -339,6 +375,8 @@ class StateMachine(object):
             return RobotStatus.BlockedProtectiveStop
         elif self.current_state == States.InterventionNeeded:
             return RobotStatus.InterventionNeeded
+        elif self.current_state == States.Recharging:
+            return RobotStatus.Recharging
         else:
             return RobotStatus.Busy
 

isar/state_machine/states/await_next_mission.py

@@ -25,7 +25,9 @@ class AwaitNextMission(EventHandlerBase):
             EventHandlerMapping(
                 name="start_mission_event",
                 event=events.api_requests.start_mission.request,
-                handler=lambda event: start_mission_event_handler(state_machine, event),
+                handler=lambda event: start_mission_event_handler(
+                    state_machine, event, events.api_requests.start_mission.response
+                ),
             ),
             EventHandlerMapping(
                 name="return_home_event",

isar/state_machine/states/home.py

@@ -23,7 +23,9 @@ class Home(EventHandlerBase):
             EventHandlerMapping(
                 name="start_mission_event",
                 event=events.api_requests.start_mission.request,
-                handler=lambda event: start_mission_event_handler(state_machine, event),
+                handler=lambda event: start_mission_event_handler(
+                    state_machine, event, events.api_requests.start_mission.response
+                ),
             ),
             EventHandlerMapping(
                 name="return_home_event",

isar/state_machine/states/monitor.py

@@ -2,6 +2,7 @@ import logging
 from copy import deepcopy
 from typing import TYPE_CHECKING, Callable, List, Optional
 
+from isar.config.settings import settings
 from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
 from isar.models.events import Event
 from isar.services.utilities.threaded_request import ThreadedRequest
@@ -23,6 +24,7 @@ class Monitor(EventHandlerBase):
     def __init__(self, state_machine: "StateMachine"):
         logger = logging.getLogger("state_machine")
         events = state_machine.events
+        shared_state = state_machine.shared_state
 
         def _pause_mission_event_handler(event: Event[bool]) -> Optional[Callable]:
             if event.consume_event():
@@ -46,6 +48,23 @@ class Monitor(EventHandlerBase):
                 return state_machine.mission_finished  # type: ignore
             return None
 
+        def _robot_battery_level_updated_handler(
+            event: Event[float],
+        ) -> Optional[Callable]:
+            battery_level: float = event.check()
+            if battery_level < settings.ROBOT_MISSION_BATTERY_START_THRESHOLD:
+                state_machine.publish_mission_aborted(
+                    "Robot battery too low to continue mission", True
+                )
+                state_machine._finalize()
+                state_machine.logger.warning(
+                    "Cancelling current mission due to low battery"
+                )
+                state_machine.current_mission = None
+                state_machine.current_task = None
+                return state_machine.request_return_home  # type: ignore
+            return None
+
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(
                 name="stop_mission_event",
@@ -85,6 +104,11 @@ class Monitor(EventHandlerBase):
                     state_machine, _handle_task_completed, event
                 ),
             ),
+            EventHandlerMapping(
+                name="robot_battery_update_event",
+                event=shared_state.robot_battery_level,
+                handler=_robot_battery_level_updated_handler,
+            ),
         ]
         super().__init__(
             state_name="monitor",

isar/state_machine/states/recharging.py

@@ -0,0 +1,44 @@
+from typing import TYPE_CHECKING, List
+
+from isar.config.settings import settings
+from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
+from isar.models.events import Event
+from robot_interface.models.mission.status import RobotStatus
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+class Recharging(EventHandlerBase):
+
+    def __init__(self, state_machine: "StateMachine"):
+        shared_state = state_machine.shared_state
+
+        def robot_battery_level_updated_handler(event: Event[float]):
+            battery_level: float = event.check()
+            if battery_level >= settings.ROBOT_BATTERY_RECHARGE_THRESHOLD:
+                return state_machine.robot_recharged  # type: ignore
+            return None
+
+        def robot_offline_handler(event: Event[RobotStatus]):
+            robot_status: RobotStatus = event.check()
+            if robot_status == RobotStatus.Offline:
+                return state_machine.robot_went_offline  # type: ignore
+
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="robot_battery_update_event",
+                event=shared_state.robot_battery_level,
+                handler=robot_battery_level_updated_handler,
+            ),
+            EventHandlerMapping(
+                name="robot_offline_event",
+                event=shared_state.robot_status,
+                handler=robot_offline_handler,
+            ),
+        ]
+        super().__init__(
+            state_name="recharging",
+            state_machine=state_machine,
+            event_handler_mappings=event_handlers,
+        )

isar/state_machine/states/returning_home.py

@@ -1,7 +1,8 @@
 from typing import TYPE_CHECKING, Callable, List, Optional
 
+from isar.apis.models.models import MissionStartResponse
 from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
-from isar.models.events import Event
+from isar.models.events import Event, EventTimeoutError
 from isar.state_machine.utils.common_event_handlers import (
     mission_failed_event_handler,
     mission_started_event_handler,
@@ -20,6 +21,7 @@ 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):
@@ -28,13 +30,31 @@ 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
+
+            if not state_machine.battery_level_is_above_mission_start_threshold():
+                return state_machine.starting_recharging  # type: ignore
+            else:
+                return state_machine.returned_home  # type: ignore
 
         def _start_mission_event_handler(
             event: Event[Mission],
         ) -> Optional[Callable]:
             if event.has_event():
+                if not state_machine.battery_level_is_above_mission_start_threshold():
+                    try:
+                        state_machine.events.api_requests.start_mission.response.trigger_event(
+                            MissionStartResponse(
+                                mission_id=None,
+                                mission_started=False,
+                                mission_not_started_reason="Robot battery too low",
+                            ),
+                            timeout=1,  # This conflict can happen if two API requests are received at the same time
+                        )
+                    except EventTimeoutError:
+                        pass
+                    return None
                 return state_machine.stop  # type: ignore
             return None
 

isar/state_machine/states/robot_standing_still.py

@@ -23,7 +23,9 @@ class RobotStandingStill(EventHandlerBase):
             EventHandlerMapping(
                 name="start_mission_event",
                 event=events.api_requests.start_mission.request,
-                handler=lambda event: start_mission_event_handler(state_machine, event),
+                handler=lambda event: start_mission_event_handler(
+                    state_machine, event, events.api_requests.start_mission.response
+                ),
             ),
             EventHandlerMapping(
                 name="return_home_event",

isar/state_machine/states_enum.py

@@ -13,6 +13,7 @@ class States(str, Enum):
     BlockedProtectiveStop = "blocked_protective_stop"
     UnknownStatus = "unknown_status"
     InterventionNeeded = "intervention_needed"
+    Recharging = "recharging"
 
     def __repr__(self):
         return self.value

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/functions/start_mission.py

@@ -3,6 +3,7 @@ from typing import TYPE_CHECKING
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
+from isar.apis.models.models import MissionStartResponse
 from robot_interface.models.exceptions.robot_exceptions import (
     ErrorMessage,
     RobotException,
@@ -12,7 +13,9 @@ from robot_interface.models.mission.status import MissionStatus, TaskStatus
 
 
 def acknowledge_mission(state_machine: "StateMachine") -> bool:
-    state_machine.events.api_requests.start_mission.response.put(True)
+    state_machine.events.api_requests.start_mission.response.put(
+        MissionStartResponse(mission_started=True)
+    )
     return True
 
 
@@ -70,5 +73,10 @@ def trigger_start_mission_event(state_machine: "StateMachine") -> bool:
 
 
 def _initialization_failed(state_machine: "StateMachine") -> None:
-    state_machine.events.api_requests.start_mission.response.put(False)
+    state_machine.events.api_requests.start_mission.response.put(
+        MissionStartResponse(
+            mission_started=False,
+            mission_not_started_reason="Failed to initialize robot",
+        )
+    )
     state_machine._finalize()

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 (
@@ -28,12 +30,14 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 state_machine.home_state,
                 state_machine.robot_standing_still_state,
                 state_machine.intervention_needed_state,
+                state_machine.monitor_state,
             ],
             "dest": state_machine.returning_home_state,
             "conditions": [
                 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 +63,34 @@ 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": "starting_recharging",
+            "source": state_machine.returning_home_state,
+            "dest": state_machine.recharging_state,
+            "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 +100,7 @@ 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/state_machine/transitions/robot_status.py

@@ -69,5 +69,15 @@ def get_robot_status_transitions(state_machine: "StateMachine") -> List[dict]:
             ],
             "dest": state_machine.unknown_status_state,
         },
+        {
+            "trigger": "robot_went_offline",
+            "source": [state_machine.recharging_state],
+            "dest": state_machine.offline_state,
+        },
+        {
+            "trigger": "robot_recharged",
+            "source": [state_machine.recharging_state],
+            "dest": state_machine.home_state,
+        },
     ]
     return robot_status_transitions

isar/state_machine/utils/common_event_handlers.py

@@ -1,7 +1,7 @@
 from typing import TYPE_CHECKING, Callable, Optional
 
-from isar.apis.models.models import ControlMissionResponse
-from isar.models.events import Event
+from isar.apis.models.models import ControlMissionResponse, MissionStartResponse
+from isar.models.events import Event, EventTimeoutError
 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
@@ -11,10 +11,25 @@ if TYPE_CHECKING:
 
 
 def start_mission_event_handler(
-    state_machine: "StateMachine", event: Event[Mission]
+    state_machine: "StateMachine",
+    event: Event[Mission],
+    response: Event[MissionStartResponse],
 ) -> Optional[Callable]:
     mission: Optional[Mission] = event.consume_event()
     if mission:
+        if not state_machine.battery_level_is_above_mission_start_threshold():
+            try:
+                response.trigger_event(
+                    MissionStartResponse(
+                        mission_id=mission.id,
+                        mission_started=False,
+                        mission_not_started_reason="Robot battery too low",
+                    ),
+                    timeout=1,  # This conflict can happen if two API requests are received at the same time
+                )
+            except EventTimeoutError:
+                pass
+            return None
         state_machine.start_mission(mission=mission)
         return state_machine.request_mission_start  # type: ignore
     return None

{isar-1.32.2.dist-info → isar-1.33.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.32.2
+Version: 1.33.0
 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-1.32.2.dist-info → isar-1.33.0.dist-info}/RECORD

@@ -4,7 +4,7 @@ isar/script.py,sha256=LCb7CHvNyZhQz1OaQ-BUX8w7RDmu975zA0kL6FPwfzk,5912
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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/models.py,sha256=iRyqflpjGopm4KJjgRrOnC2swNEk3a-iwVynzw3Nm6c,1992
 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
@@ -15,8 +15,8 @@ isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5ATfKc,46
 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/open_telemetry.py,sha256=Lgu0lbRQA-zz6ZDoBKKk0whQex5w18jl1wjqWzHUGdg,3634
+isar/config/settings.py,sha256=fUEsKeCwxWg1kMb3rlOgmIyw0V_ia9o-sqfXq2KMovA,14040
 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
@@ -35,17 +35,17 @@ 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/eventhandlers/eventhandler.py,sha256=Wu4IsJA-k0I1F41q7qDT_QJl_OaUHNeGgzPufv8q5wo,3507
 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/events.py,sha256=Q9YaHSsjI6gS-mZ16HLEXpbSBuEFcgHMxG_MeEEfdBo,3870
+isar/models/events.py,sha256=7xawOqXnM48JhTGIaKz7tiTjIMauMfyJZUd68jEgzdo,4194
 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_status.py,sha256=OXx18Qj0bvb2sKzn5-yKXWGdZ9GYyCOIgiTaGof-0Wc,2055
 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
@@ -59,55 +59,56 @@ 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=jxwvVahRJeuoYDtOcVyLwm1BTFKKq92icjR-bA_R0bg,11674
+isar/services/utilities/scheduling_utilities.py,sha256=G3SgWUIMAmAmdfbFd1oeUtRVOZEClE0wugdldEEwN_s,13499
 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=vrsQfDyUUHOh20nEZ0qZaMUmSb2KkMx1fnWHyfHdRWc,16670
-isar/state_machine/states_enum.py,sha256=4XZ6dGGjXVZ8PwQCnAIH3MMNbMP2h3bmmPHFk6m_RlY,481
+isar/state_machine/state_machine.py,sha256=VvArtwOkvA63WMVAeW2WVHvxWse_qSok1RjustPYJgk,18028
+isar/state_machine/states_enum.py,sha256=4Kysag9JPi2JSyC2me2B1sLH3Sfo7qGJonc-Q_IiUug,511
 isar/state_machine/states/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/states/await_next_mission.py,sha256=VfsJFHh_G371bUVkJgh_5o7d0DLNeMexV35Bw6Jsj7M,1879
+isar/state_machine/states/await_next_mission.py,sha256=yg0aH4eukcnE1xRKiPVafRxqHt3WdvqD08EATzdEojk,1961
 isar/state_machine/states/blocked_protective_stop.py,sha256=GEOvxnHXjpCsrh3aa8Idtn1zMYv5HLQzj9qQAq8HvaU,1180
-isar/state_machine/states/home.py,sha256=tbwWoxQdrZb4zkqgXpDjzTZD-IqKTgHoC_MmFdTEjKQ,1868
+isar/state_machine/states/home.py,sha256=TYv7WF5yX31Zw6Cn5MY2GHebUfypL5w510I92BEi_vE,1950
 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/monitor.py,sha256=_Y6FFsuUEzEveH4skKAE8Cf6cie4keXr_LGA6gbUlQg,4741
 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/robot_standing_still.py,sha256=78W465FlVBCTUpmjQHzO5MT7fI6_M8Rh9gS-M8Y9irs,1903
+isar/state_machine/states/recharging.py,sha256=ni5WqFU0VDhdGC3ZfHcabSICm_5kwaS72wc3ecAB_os,1651
+isar/state_machine/states/returning_home.py,sha256=B57eFsMOMTbYH1IwbLLnhhMy-SaeGLnrXH1oY8V5Vk8,4508
+isar/state_machine/states/robot_standing_still.py,sha256=EWG2_IPbxK6HFERHcmMFlWdN5PnXJXjwEfNlpsJnPkQ,1985
 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/robot_status.py,sha256=c1ceyWRGCtx-KTDtxHXRD7oPbt8TQ2ej24A0wyim8vc,2720
+isar/state_machine/transitions/return_home.py,sha256=E14fZR4RhEBdLaeeKPbRYXb2Y36zus7fXoVT_02PiEI,4649
+isar/state_machine/transitions/robot_status.py,sha256=sALt9BwZUnIFmVe35N1ptC-PyhfdHiTGu1R0GzpAQXk,3056
 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/start_mission.py,sha256=dUNy_EvkdR9Ud9PHwAaew9pzpdyus6n-X_F2Jwv1X7c,2834
 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=hyzOvj5EA4Ob9DjbtbnPKge_t6Umd0_Cc-b6wfy8CP8,5777
+isar/state_machine/utils/common_event_handlers.py,sha256=0rQJM-HWGjaSc_60NYcEkJFMzEWCBSYC7i8IHrz1S9M,6447
 isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/storage/blob_storage.py,sha256=QueyHzCJfUUyOLxBeYwK0Ot7w_CYakBEhtTtITelKAo,3026
 isar/storage/local_storage.py,sha256=-9Bz2WmniLKwKMeAdrgoMzkj781AOLIUsfaqQERqpUk,1985
 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-1.33.0.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/robot_interface.py,sha256=A6t19lcNU_6AfkYKY5DaF0sheym_SZEAawbfaj36Kjk,8997
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
 robot_interface/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/exceptions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/exceptions/robot_exceptions.py,sha256=VrsWPf4g0qN5sJRKhc3ER_Wt5drK0MZRuECU-csIlDA,10026
 robot_interface/models/initialize/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/inspection/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/models/inspection/inspection.py,sha256=2T8czQcNt9J1M96tKGQA6P3s5CikdZ7-0RevXQ4-CfA,2520
+robot_interface/models/inspection/inspection.py,sha256=cjAvekL8r82s7bgukWeXpYylHvJG_oRSCJNISPVCvZg,2238
 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=rlgU9Xpsk-rOHF-z6ziIMCYpOAqtu7lOMIUY1e0yZCY,786
+robot_interface/models/mission/status.py,sha256=KC-79HBjM1-6xA0WmwAtZl8QC0pZu6u4wbYWb0IjGd8,816
 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
@@ -115,12 +116,12 @@ 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=Fqkfv77_T2Ttk5EjWRU5HH0XAxFhIuz7k-LMftuXk2k,2927
+robot_interface/telemetry/payloads.py,sha256=T7EK-b0bVhADDTKMIAHmcPVtPxuR16csmZoOJQl9P4c,3103
 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-1.33.0.dist-info/METADATA,sha256=T0cbwIlPcWsZ0jwsQbKTLZBo3BI2FTlXq_LwoLKcbdQ,31217
+isar-1.33.0.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.33.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.33.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.33.0.dist-info/RECORD,,

robot_interface/models/inspection/inspection.py

@@ -1,5 +1,3 @@
-from abc import ABC
-from dataclasses import dataclass, field
 from datetime import datetime
 from typing import Optional, Type
 
@@ -7,42 +5,35 @@ from alitra import Pose, Position
 from pydantic import BaseModel, Field
 
 
-@dataclass
-class InspectionMetadata(ABC):
+class InspectionMetadata(BaseModel):
     start_time: datetime
     robot_pose: Pose
     target_position: Position
     file_type: str
-    tag_id: Optional[str] = field(default=None, init=False)
-    inspection_description: Optional[str] = field(default=None, init=False)
+    tag_id: Optional[str] = None
+    inspection_description: Optional[str] = None
 
 
-@dataclass
 class ImageMetadata(InspectionMetadata):
     pass
 
 
-@dataclass
 class ThermalImageMetadata(InspectionMetadata):
     pass
 
 
-@dataclass
 class VideoMetadata(InspectionMetadata):
-    duration: Optional[float] = field(default=None)
+    duration: float
 
 
-@dataclass
 class ThermalVideoMetadata(InspectionMetadata):
-    duration: Optional[float] = field(default=None)
+    duration: float
 
 
-@dataclass
 class AudioMetadata(InspectionMetadata):
-    duration: Optional[float] = field(default=None)
+    duration: float
 
 
-@dataclass
 class GasMeasurementMetadata(InspectionMetadata):
     pass
 

robot_interface/models/mission/status.py

@@ -30,3 +30,4 @@ class RobotStatus(Enum):
     BlockedProtectiveStop = "blockedprotectivestop"
     ReturningHome = "returninghome"
     InterventionNeeded = "interventionneeded"
+    Recharging = "recharging"

robot_interface/robot_interface.py

@@ -244,3 +244,30 @@ class RobotInterface(metaclass=ABCMeta):
 
         """
         raise NotImplementedError
+
+    @abstractmethod
+    def get_battery_level(self) -> float:
+        """
+        Method which returns the percent charge remaining in the robot battery.
+
+        Returns
+        -------
+        float
+            The battery percentage on the robot
+
+        Raises
+        -------
+        RobotCommunicationException
+            Raised if the robot package is unable to communicate with the robot API.
+            The fetching of robot battery level will be attempted again until success
+        RobotAPIException
+            Raised if the robot package is able to communicate with the API but an error
+            occurred while interpreting the response. The fetching of robot battery level
+            will be attempted again until success
+        RobotException
+            Catches other RobotExceptions that may have occurred while retrieving the
+            robot battery level. The fetching of robot battery level will
+            be attempted again until success
+
+        """
+        raise NotImplementedError

robot_interface/telemetry/payloads.py

@@ -91,6 +91,16 @@ class MissionPayload:
     timestamp: datetime
 
 
+@dataclass
+class MissionAbortedPayload:
+    isar_id: str
+    robot_name: str
+    mission_id: str
+    can_be_continued: bool
+    timestamp: datetime
+    reason: Optional[str]
+
+
 @dataclass
 class TaskPayload:
     isar_id: str