isar 1.32.3__py3-none-any.whl → 1.33.1__py3-none-any.whl

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 +48,21 @@ 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"
+                )
+                return state_machine.stop  # type: ignore
+            return None
+
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(
                 name="stop_mission_event",
@@ -85,6 +102,11 @@ 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

@@ -1,5 +1,6 @@
 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.state_machine.utils.common_event_handlers import (
@@ -32,12 +33,25 @@ class ReturningHome(EventHandlerBase):
                 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():
+                    response = MissionStartResponse(
+                        mission_id=None,
+                        mission_started=False,
+                        mission_not_started_reason="Robot battery too low",
+                    )
+                    state_machine.events.api_requests.start_mission.response.trigger_event(
+                        response
+                    )
+                    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/stopping.py

@@ -1,9 +1,11 @@
 import logging
 from typing import TYPE_CHECKING, Callable, List, Optional
 
+from isar.apis.models.models import ControlMissionResponse
 from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
 from isar.models.events import Event
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
+from robot_interface.models.mission.status import MissionStatus, TaskStatus
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
@@ -15,6 +17,32 @@ class Stopping(EventHandlerBase):
         logger = logging.getLogger("state_machine")
         events = state_machine.events
 
+        def _stop_mission_cleanup() -> None:
+            if state_machine.current_mission is None:
+                state_machine._queue_empty_response()
+                state_machine.reset_state_machine()
+                return None
+
+            state_machine.current_mission.status = MissionStatus.Cancelled
+
+            for task in state_machine.current_mission.tasks:
+                if task.status in [
+                    TaskStatus.NotStarted,
+                    TaskStatus.InProgress,
+                    TaskStatus.Paused,
+                ]:
+                    task.status = TaskStatus.Cancelled
+
+            stopped_mission_response: ControlMissionResponse = (
+                state_machine._make_control_mission_response()
+            )
+            state_machine.events.api_requests.stop_mission.response.trigger_event(
+                stopped_mission_response
+            )
+            state_machine.publish_task_status(task=state_machine.current_task)
+            state_machine._finalize()
+            return None
+
         def _failed_stop_event_handler(
             event: Event[ErrorMessage],
         ) -> Optional[Callable]:
@@ -38,6 +66,11 @@ class Stopping(EventHandlerBase):
                 ):
                     return state_machine.return_home_mission_stopped  # type: ignore
                 else:
+                    _stop_mission_cleanup()
+                    if (
+                        not state_machine.battery_level_is_above_mission_start_threshold()
+                    ):
+                        return state_machine.request_return_home  # type: ignore
                     return state_machine.mission_stopped  # type: ignore
             return None
 

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/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.response.put(
+            state_machine.events.api_requests.pause_mission.response.trigger_event(
                 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.response.put(
+            state_machine.events.api_requests.resume_mission.response.trigger_event(
                 resume_mission_response
             )
 

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.trigger_event(
+        MissionStartResponse(mission_started=True)
+    )
     return True
 
 
@@ -63,12 +66,17 @@ def set_mission_to_in_progress(state_machine: "StateMachine") -> bool:
 
 
 def trigger_start_mission_event(state_machine: "StateMachine") -> bool:
-    state_machine.events.state_machine_events.start_mission.put(
+    state_machine.events.state_machine_events.start_mission.trigger_event(
         state_machine.current_mission
     )
     return True
 
 
 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.trigger_event(
+        MissionStartResponse(
+            mission_started=False,
+            mission_not_started_reason="Failed to initialize robot",
+        )
+    )
     state_machine._finalize()

isar/state_machine/transitions/functions/stop.py

@@ -12,38 +12,11 @@ def trigger_stop_mission_event(state_machine: "StateMachine") -> bool:
     return True
 
 
-def stop_mission_cleanup(state_machine: "StateMachine") -> bool:
-    if state_machine.current_mission is None:
-        state_machine._queue_empty_response()
-        state_machine.reset_state_machine()
-        return True
-
-    state_machine.current_mission.status = MissionStatus.Cancelled
-
-    for task in state_machine.current_mission.tasks:
-        if task.status in [
-            TaskStatus.NotStarted,
-            TaskStatus.InProgress,
-            TaskStatus.Paused,
-        ]:
-            task.status = TaskStatus.Cancelled
-
-    stopped_mission_response: ControlMissionResponse = (
-        state_machine._make_control_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
-
-
 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.response.put(
+    state_machine.events.api_requests.stop_mission.response.trigger_event(
         stopped_mission_response
     )
     return True
@@ -69,7 +42,7 @@ 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.response.put(
+        state_machine.events.api_requests.stop_mission.response.trigger_event(
             stopped_mission_response
         )
 
@@ -83,7 +56,7 @@ def stop_return_home_mission_failed(state_machine: "StateMachine") -> bool:
     stopped_mission_response: ControlMissionResponse = (
         state_machine._make_control_mission_response()
     )
-    state_machine.events.api_requests.stop_mission.response.put(
+    state_machine.events.api_requests.stop_mission.response.trigger_event(
         stopped_mission_response
     )
     return True

isar/state_machine/transitions/mission.py

@@ -14,7 +14,6 @@ from isar.state_machine.transitions.functions.start_mission import (
     trigger_start_mission_event,
 )
 from isar.state_machine.transitions.functions.stop import (
-    stop_mission_cleanup,
     stop_mission_failed,
     stop_return_home_mission_cleanup,
     stop_return_home_mission_failed,
@@ -66,7 +65,6 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "trigger": "mission_stopped",
             "source": state_machine.stopping_state,
             "dest": state_machine.await_next_mission_state,
-            "before": def_transition(state_machine, stop_mission_cleanup),
         },
         {
             "trigger": "mission_stopping_failed",

isar/state_machine/transitions/return_home.py

@@ -30,13 +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,
+                state_machine.stopping_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),
         },
@@ -67,6 +68,15 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 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,

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

@@ -1,6 +1,6 @@
 from typing import TYPE_CHECKING, Callable, Optional
 
-from isar.apis.models.models import ControlMissionResponse
+from isar.apis.models.models import ControlMissionResponse, MissionStartResponse
 from isar.models.events import Event
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.mission.mission import Mission
@@ -11,10 +11,21 @@ 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():
+            response.trigger_event(
+                MissionStartResponse(
+                    mission_id=mission.id,
+                    mission_started=False,
+                    mission_not_started_reason="Robot battery too low",
+                )
+            )
+            return None
         state_machine.start_mission(mission=mission)
         return state_machine.request_mission_start  # type: ignore
     return None
@@ -24,7 +35,7 @@ def return_home_event_handler(
     state_machine: "StateMachine", event: Event[bool]
 ) -> Optional[Callable]:
     if event.consume_event():
-        state_machine.events.api_requests.return_home.response.put(True)
+        state_machine.events.api_requests.return_home.response.trigger_event(True)
         return state_machine.request_return_home  # type: ignore
     return None
 
@@ -48,7 +59,7 @@ 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.response.put(
+            state_machine.events.api_requests.stop_mission.response.trigger_event(
                 ControlMissionResponse(
                     mission_id=mission_id,
                     mission_status=state_machine.current_mission.status,
@@ -65,6 +76,7 @@ def mission_started_event_handler(
     event: Event[bool],
 ) -> Optional[Callable]:
     if event.consume_event():
+        state_machine.logger.info("Received confirmation that mission has started")
         state_machine.mission_ongoing = True
     return None
 

{isar-1.32.3.dist-info → isar-1.33.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.32.3
+Version: 1.33.1
 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-1.32.3.dist-info → isar-1.33.1.dist-info}/RECORD

@@ -4,19 +4,19 @@ 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
-isar/apis/schedule/scheduling_controller.py,sha256=S93DNyOWqVYAe3EnBnWuoCHLkeVFFjkR7ayBRw9J7f4,10603
+isar/apis/schedule/scheduling_controller.py,sha256=xpKlxxxBQuHZ37WP1OU8SR198YIIrr2NdWWJeaZpuEc,9366
 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=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=LTY_1ReDOaIpCH_B3s3Jzz7CniZBE7upYUOKkW5gd3g,13325
+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=M-0p4krtLpCfBMbClQvBFvfFB4NWBm55AlO1ngzVM_g,5024
 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=3vFU7t7oEZTFQNJdAxfhaADScRJIxznWhDbagHyLKOQ,13605
 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=6P88wFxvkHaYWK_WBCzTVdNkn7wqbwJVR0So-en2u_w,18038
+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=GiNGyPcskrv3QDxMfsOmHUe_MRCaNA-pYuk9p6kcKp0,4623
 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=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/recharging.py,sha256=ni5WqFU0VDhdGC3ZfHcabSICm_5kwaS72wc3ecAB_os,1651
+isar/state_machine/states/returning_home.py,sha256=mPwsOFxMTO6On5PzeYKW8Roy6TaQIXsoWCsbtzcV7M8,4267
+isar/state_machine/states/robot_standing_still.py,sha256=EWG2_IPbxK6HFERHcmMFlWdN5PnXJXjwEfNlpsJnPkQ,1985
+isar/state_machine/states/stopping.py,sha256=ROKbQcJFS4A_U0Pd8lAViG7Dz8JqfBaR3vHmpvKC2oc,3848
 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=AAkpCBMlnHolwtlz-GQQcB9_DzzJqVKTD9UR1-uzZgI,4237
-isar/state_machine/transitions/robot_status.py,sha256=c1ceyWRGCtx-KTDtxHXRD7oPbt8TQ2ej24A0wyim8vc,2720
+isar/state_machine/transitions/mission.py,sha256=oJiANT1lHd6YhEA_mQscDPDyfwMxwfosq7UcP0gfTNk,5456
+isar/state_machine/transitions/return_home.py,sha256=EIR14rnukV_mEYkwtz0J_D1Dp51oVna0wV71HSbqtuw,4630
+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/pause.py,sha256=Wa9XlhXVRNzxoYSsHc0w87ht4nQ5dGh50fjfA9lrAmI,1987
+isar/state_machine/transitions/functions/resume.py,sha256=SAu4hWomPlrvO0lnpc6uM3rj79Bwq01acnaTEvNbO9U,2116
 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
+isar/state_machine/transitions/functions/start_mission.py,sha256=tIpZzYXCoeC6ZWj18UB4DiZuICpxfzFUK23wfunad7Q,2864
+isar/state_machine/transitions/functions/stop.py,sha256=4idsNh7v6CRJivD36oKnVmdKlP7mSugTLCh9n12R1-U,2114
 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=yFZzTmTLVWzHU4RNW3q9gc6NU9eajNn50L-vt6geH38,6318
 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-1.32.3.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.33.1.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/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-1.32.3.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,,
+isar-1.33.1.dist-info/METADATA,sha256=DA8JyLIr7mtdSeQwJP_9WV5phTA4QlDj8YQd0lE7ppE,31217
+isar-1.33.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.33.1.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.33.1.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.33.1.dist-info/RECORD,,