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

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