isar 1.33.0__py3-none-any.whl → 1.33.1__py3-none-any.whl

isar/apis/schedule/scheduling_controller.py

@@ -1,6 +1,5 @@
 import logging
 from http import HTTPStatus
-from threading import Lock
 
 from fastapi import Body, HTTPException, Path
 
@@ -29,7 +28,6 @@ class SchedulingController:
     ):
         self.scheduling_utilities: SchedulingUtilities = scheduling_utilities
         self.logger = logging.getLogger("api")
-        self.start_mission_lock: Lock = Lock()
 
     def start_mission_by_id(
         self,
@@ -77,67 +75,38 @@ class SchedulingController:
                 detail=error_message_no_mission_definition,
             )
 
-        if not self.start_mission_lock.acquire(blocking=False):
-            error_message_another_mission_starting: str = (
-                "Conflict - Another mission is currently being started"
-            )
-            self.logger.warning(error_message_another_mission_starting)
-            raise HTTPException(
-                status_code=HTTPStatus.CONFLICT,
-                detail=error_message_another_mission_starting,
-            )
+        state: States = self.scheduling_utilities.get_state()
+        self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         try:
-            state: States = self.scheduling_utilities.get_state()
-            self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(
-                state
+            mission: Mission = to_isar_mission(
+                start_mission_definition=mission_definition
             )
-
-            try:
-                mission: Mission = to_isar_mission(
-                    start_mission_definition=mission_definition
-                )
-            except MissionPlannerError as e:
-                error_message = f"Bad Request - Cannot create ISAR mission: {e}"
-                self.logger.warning(error_message)
-                raise HTTPException(
-                    status_code=HTTPStatus.BAD_REQUEST,
-                    detail=error_message,
-                )
-
-            self.scheduling_utilities.verify_robot_capable_of_mission(
-                mission=mission, robot_capabilities=robot_settings.CAPABILITIES
+        except MissionPlannerError as e:
+            error_message = f"Bad Request - Cannot create ISAR mission: {e}"
+            self.logger.warning(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.BAD_REQUEST,
+                detail=error_message,
             )
 
-            self.logger.info("Starting mission: %s", mission.id)
-            self.scheduling_utilities.start_mission(mission=mission)
-            return self._api_response(mission)
+        self.scheduling_utilities.verify_robot_capable_of_mission(
+            mission=mission, robot_capabilities=robot_settings.CAPABILITIES
+        )
 
-        finally:
-            self.start_mission_lock.release()
+        self.logger.info("Starting mission: %s", mission.id)
+        self.scheduling_utilities.start_mission(mission=mission)
+        return self._api_response(mission)
 
     def return_home(self) -> None:
         self.logger.info("Received request to return home")
 
-        if not self.start_mission_lock.acquire(blocking=False):
-            error_message_another_mission_starting: str = (
-                "Conflict - Another mission is currently being started"
-            )
-            self.logger.warning(error_message_another_mission_starting)
-            raise HTTPException(
-                status_code=HTTPStatus.CONFLICT,
-                detail=error_message_another_mission_starting,
-            )
-
-        try:
-            state: States = self.scheduling_utilities.get_state()
-            self.scheduling_utilities.verify_state_machine_ready_to_receive_return_home_mission(
-                state
-            )
+        state: States = self.scheduling_utilities.get_state()
+        self.scheduling_utilities.verify_state_machine_ready_to_receive_return_home_mission(
+            state
+        )
 
-            self.scheduling_utilities.return_home()
-        finally:
-            self.start_mission_lock.release()
+        self.scheduling_utilities.return_home()
 
     def pause_mission(self) -> ControlMissionResponse:
         self.logger.info("Received request to pause current mission")

isar/models/events.py

@@ -17,12 +17,15 @@ T2 = TypeVar("T2")
 
 
 class Event(Queue[T]):
-    def __init__(self) -> None:
+    def __init__(self, name: str) -> None:
         super().__init__(maxsize=1)
+        self.name = name
 
     def trigger_event(self, data: T, timeout: int = None) -> None:
         try:
-            self.put(data, timeout=timeout)
+            # We always want a timeout when blocking for results, so that
+            # the thread will never get stuck waiting for a result
+            self.put(data, block=timeout is not None, timeout=timeout)
         except Exception:
             if timeout is not None:
                 raise EventTimeoutError
@@ -79,46 +82,62 @@ class APIEvent(Generic[T1, T2]):
     api to state machine while the response is from state machine to api.
     """
 
-    def __init__(self):
-        self.request: Event[T1] = Event()
-        self.response: Event[T2] = Event()
+    def __init__(self, name: str):
+        self.request: Event[T1] = Event("api-" + name + "-request")
+        self.response: Event[T2] = Event("api-" + name + "-request")
 
 
 class APIRequests:
     def __init__(self) -> None:
-        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()
-        self.return_home: APIEvent[bool, bool] = APIEvent()
-        self.release_intervention_needed: APIEvent[bool, bool] = APIEvent()
+        self.start_mission: APIEvent[Mission, MissionStartResponse] = APIEvent(
+            "start_mission"
+        )
+        self.stop_mission: APIEvent[str, ControlMissionResponse] = APIEvent(
+            "stop_mission"
+        )
+        self.pause_mission: APIEvent[bool, ControlMissionResponse] = APIEvent(
+            "pause_mission"
+        )
+        self.resume_mission: APIEvent[bool, ControlMissionResponse] = APIEvent(
+            "resume_mission"
+        )
+        self.return_home: APIEvent[bool, bool] = APIEvent("return_home")
+        self.release_intervention_needed: APIEvent[bool, bool] = APIEvent(
+            "release_intervention_needed"
+        )
 
 
 class StateMachineEvents:
     def __init__(self) -> None:
-        self.start_mission: Event[Mission] = Event()
-        self.stop_mission: Event[bool] = Event()
-        self.pause_mission: Event[bool] = Event()
-        self.task_status_request: Event[str] = Event()
+        self.start_mission: Event[Mission] = Event("start_mission")
+        self.stop_mission: Event[bool] = Event("stop_mission")
+        self.pause_mission: Event[bool] = Event("pause_mission")
+        self.task_status_request: Event[str] = Event("task_status_request")
 
 
 class RobotServiceEvents:
     def __init__(self) -> None:
-        self.task_status_updated: Event[TaskStatus] = Event()
-        self.task_status_failed: Event[ErrorMessage] = Event()
-        self.mission_started: Event[bool] = Event()
-        self.mission_failed: Event[ErrorMessage] = Event()
-        self.robot_status_changed: Event[bool] = Event()
-        self.mission_failed_to_stop: Event[ErrorMessage] = Event()
-        self.mission_successfully_stopped: Event[bool] = Event()
+        self.task_status_updated: Event[TaskStatus] = Event("task_status_updated")
+        self.task_status_failed: Event[ErrorMessage] = Event("task_status_failed")
+        self.mission_started: Event[bool] = Event("mission_started")
+        self.mission_failed: Event[ErrorMessage] = Event("mission_failed")
+        self.robot_status_changed: Event[bool] = Event("robot_status_changed")
+        self.mission_failed_to_stop: Event[ErrorMessage] = Event(
+            "mission_failed_to_stop"
+        )
+        self.mission_successfully_stopped: Event[bool] = Event(
+            "mission_successfully_stopped"
+        )
 
 
 class SharedState:
     def __init__(self) -> None:
-        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()
+        self.state: Event[State] = Event("state")
+        self.robot_status: Event[RobotStatus] = Event("robot_status")
+        self.state_machine_current_task: Event[TASKS] = Event(
+            "state_machine_current_task"
+        )
+        self.robot_battery_level: Event[float] = Event("robot_battery_level")
 
 
 class EventTimeoutError(Exception):

isar/services/utilities/scheduling_utilities.py

@@ -347,3 +347,6 @@ class SchedulingUtilities:
             api_event.request.clear_event()
             self.logger.error("No output received for command to state machine")
             raise e
+        finally:
+            api_event.request.clear_event()
+            api_event.response.clear_event()

isar/state_machine/state_machine.py

@@ -406,7 +406,7 @@ class StateMachine(object):
         )
 
     def _queue_empty_response(self) -> None:
-        self.events.api_requests.stop_mission.response.put(
+        self.events.api_requests.stop_mission.response.trigger_event(
             ControlMissionResponse(
                 mission_id="None",
                 mission_status="None",

isar/state_machine/states/monitor.py

@@ -60,9 +60,7 @@ class Monitor(EventHandlerBase):
                 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 state_machine.stop  # type: ignore
             return None
 
         event_handlers: List[EventHandlerMapping] = [

isar/state_machine/states/returning_home.py

@@ -2,7 +2,7 @@ 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, EventTimeoutError
+from isar.models.events import Event
 from isar.state_machine.utils.common_event_handlers import (
     mission_failed_event_handler,
     mission_started_event_handler,
@@ -43,17 +43,14 @@ class ReturningHome(EventHandlerBase):
         ) -> 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
+                    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/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/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

@@ -13,7 +13,7 @@ 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(
+    state_machine.events.api_requests.start_mission.response.trigger_event(
         MissionStartResponse(mission_started=True)
     )
     return True
@@ -66,14 +66,14 @@ 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(
+    state_machine.events.api_requests.start_mission.response.trigger_event(
         MissionStartResponse(
             mission_started=False,
             mission_not_started_reason="Failed to initialize robot",

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

@@ -31,13 +31,13 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 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),
         },

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, MissionStartResponse
-from isar.models.events import Event, EventTimeoutError
+from isar.models.events import Event
 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
@@ -18,17 +18,13 @@ def start_mission_event_handler(
     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
+            response.trigger_event(
+                MissionStartResponse(
+                    mission_id=mission.id,
+                    mission_started=False,
+                    mission_not_started_reason="Robot battery too low",
                 )
-            except EventTimeoutError:
-                pass
+            )
             return None
         state_machine.start_mission(mission=mission)
         return state_machine.request_mission_start  # type: ignore
@@ -39,7 +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
 
@@ -63,7 +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,
@@ -80,6 +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-1.33.0.dist-info → isar-1.33.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.0
+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-1.33.0.dist-info → isar-1.33.1.dist-info}/RECORD

@@ -8,7 +8,7 @@ isar/apis/models/models.py,sha256=iRyqflpjGopm4KJjgRrOnC2swNEk3a-iwVynzw3Nm6c,19
 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
@@ -42,7 +42,7 @@ isar/mission_planner/mission_planner_interface.py,sha256=UgpPIM4FbrWOD7fGY3Ul64k
 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=7xawOqXnM48JhTGIaKz7tiTjIMauMfyJZUd68jEgzdo,4194
+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=OXx18Qj0bvb2sKzn5-yKXWGdZ9GYyCOIgiTaGof-0Wc,2055
@@ -59,44 +59,44 @@ 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
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 isar/services/utilities/threaded_request.py,sha256=py4G-_RjnIdHljmKFAcQ6ddqMmp-ZYV39Ece-dqRqjs,1874
 isar/state_machine/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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 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=yg0aH4eukcnE1xRKiPVafRxqHt3WdvqD08EATzdEojk,1961
 isar/state_machine/states/blocked_protective_stop.py,sha256=GEOvxnHXjpCsrh3aa8Idtn1zMYv5HLQzj9qQAq8HvaU,1180
 isar/state_machine/states/home.py,sha256=TYv7WF5yX31Zw6Cn5MY2GHebUfypL5w510I92BEi_vE,1950
 isar/state_machine/states/intervention_needed.py,sha256=A0QYz1vD1tDKAealihXDuoGuMLtXrRfn_AwFoaUhT_Q,1640
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 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/recharging.py,sha256=ni5WqFU0VDhdGC3ZfHcabSICm_5kwaS72wc3ecAB_os,1651
-isar/state_machine/states/returning_home.py,sha256=B57eFsMOMTbYH1IwbLLnhhMy-SaeGLnrXH1oY8V5Vk8,4508
+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=fMXXvcXtzML-Q5A-uRD_gXePy51fnt9jhOTVFN-3qqA,2420
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 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=E14fZR4RhEBdLaeeKPbRYXb2Y36zus7fXoVT_02PiEI,4649
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 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
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 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=dUNy_EvkdR9Ud9PHwAaew9pzpdyus6n-X_F2Jwv1X7c,2834
-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=0rQJM-HWGjaSc_60NYcEkJFMzEWCBSYC7i8IHrz1S9M,6447
+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-1.33.0.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=A6t19lcNU_6AfkYKY5DaF0sheym_SZEAawbfaj36Kjk,8997
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
@@ -120,8 +120,8 @@ robot_interface/telemetry/payloads.py,sha256=T7EK-b0bVhADDTKMIAHmcPVtPxuR16csmZo
 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-1.33.0.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,,
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+isar-1.33.1.dist-info/RECORD,,