isar 1.33.0__py3-none-any.whl → 1.33.2__py3-none-any.whl

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/storage/blob_storage.py

@@ -1,13 +1,17 @@
 import logging
 from pathlib import Path
-from typing import Union
 
 from azure.core.exceptions import ResourceExistsError
-from azure.storage.blob import BlobServiceClient
+from azure.storage.blob import BlobServiceClient, ContainerClient
 
 from isar.config.keyvault.keyvault_service import Keyvault
 from isar.config.settings import settings
-from isar.storage.storage_interface import StorageException, StorageInterface
+from isar.storage.storage_interface import (
+    BlobStoragePath,
+    StorageException,
+    StorageInterface,
+    StoragePaths,
+)
 from isar.storage.utilities import construct_metadata_file, construct_paths
 from robot_interface.models.inspection.inspection import InspectionBlob
 from robot_interface.models.mission.mission import Mission
@@ -17,12 +21,18 @@ class BlobStorage(StorageInterface):
     def __init__(self, keyvault: Keyvault) -> None:
         self.logger = logging.getLogger("uploader")
 
-        storage_connection_string = keyvault.get_secret(
-            "AZURE-STORAGE-CONNECTION-STRING"
-        ).value
+        self.container_client_data = self._get_container_client(
+            keyvault, "AZURE-STORAGE-CONNECTION-STRING-DATA"
+        )
+        self.container_client_metadata = self._get_container_client(
+            keyvault, "AZURE-STORAGE-CONNECTION-STRING-METADATA"
+        )
+
+    def _get_container_client(self, keyvault: Keyvault, secret_name: str):
+        storage_connection_string = keyvault.get_secret(secret_name).value
 
         if storage_connection_string is None:
-            raise RuntimeError("AZURE-STORAGE-CONNECTION-STRING from keyvault is None")
+            raise RuntimeError(f"{secret_name} from keyvault is None")
 
         try:
             blob_service_client = BlobServiceClient.from_connection_string(
@@ -32,48 +42,60 @@ class BlobStorage(StorageInterface):
             self.logger.error("Unable to retrieve blob service client. Error: %s", e)
             raise e
 
-        self.container_client = blob_service_client.get_container_client(
+        container_client = blob_service_client.get_container_client(
             settings.BLOB_CONTAINER
         )
 
-        if not self.container_client.exists():
+        if not container_client.exists():
             raise RuntimeError(
                 "The configured blob container %s does not exist",
                 settings.BLOB_CONTAINER,
             )
+        return container_client
 
-    def store(self, inspection: InspectionBlob, mission: Mission) -> Union[str, dict]:
+    def store(
+        self, inspection: InspectionBlob, mission: Mission
+    ) -> StoragePaths[BlobStoragePath]:
         if inspection.data is None:
             raise StorageException("Nothing to store. The inspection data is empty")
 
-        data_path, metadata_path = construct_paths(
+        data_filename, metadata_filename = construct_paths(
             inspection=inspection, mission=mission
         )
 
         metadata_bytes: bytes = construct_metadata_file(
-            inspection=inspection, mission=mission, filename=data_path.name
+            inspection=inspection, mission=mission, filename=data_filename.name
         )
 
-        self._upload_file(path=metadata_path, data=metadata_bytes)
-        return self._upload_file(path=data_path, data=inspection.data)
+        data_path = self._upload_file(
+            filename=data_filename,
+            data=inspection.data,
+            container_client=self.container_client_data,
+        )
+        metadata_path = self._upload_file(
+            filename=metadata_filename,
+            data=metadata_bytes,
+            container_client=self.container_client_metadata,
+        )
+        return StoragePaths(data_path=data_path, metadata_path=metadata_path)
 
-    def _upload_file(self, path: Path, data: bytes) -> Union[str, dict]:
-        blob_client = self.container_client.get_blob_client(path.as_posix())
+    def _upload_file(
+        self, filename: Path, data: bytes, container_client: ContainerClient
+    ) -> BlobStoragePath:
+        blob_client = container_client.get_blob_client(filename.as_posix())
         try:
             blob_client.upload_blob(data=data)
         except ResourceExistsError as e:
             self.logger.error(
-                f"Blob {path.as_posix()} already exists in container. Error: {e}"
+                "Blob %s already exists in container. Error: %s", filename.as_posix(), e
             )
             raise StorageException from e
         except Exception as e:
             self.logger.error("An unexpected error occurred while uploading blob")
             raise StorageException from e
 
-        absolute_inspection_path = {
-            "source": "blob",
-            "storage_account": settings.BLOB_STORAGE_ACCOUNT,
-            "blob_container": settings.BLOB_CONTAINER,
-            "blob_name": blob_client.blob_name,
-        }
-        return absolute_inspection_path
+        return BlobStoragePath(
+            storage_account=settings.BLOB_STORAGE_ACCOUNT,
+            blob_container=settings.BLOB_CONTAINER,
+            blob_name=blob_client.blob_name,
+        )

isar/storage/local_storage.py

@@ -2,7 +2,12 @@ import logging
 from pathlib import Path
 
 from isar.config.settings import settings
-from isar.storage.storage_interface import StorageException, StorageInterface
+from isar.storage.storage_interface import (
+    LocalStoragePath,
+    StorageException,
+    StorageInterface,
+    StoragePaths,
+)
 from isar.storage.utilities import construct_metadata_file, construct_paths
 from robot_interface.models.inspection.inspection import InspectionBlob
 from robot_interface.models.mission.mission import Mission
@@ -13,33 +18,35 @@ class LocalStorage(StorageInterface):
         self.root_folder: Path = Path(settings.LOCAL_STORAGE_PATH)
         self.logger = logging.getLogger("uploader")
 
-    def store(self, inspection: InspectionBlob, mission: Mission) -> str:
+    def store(
+        self, inspection: InspectionBlob, mission: Mission
+    ) -> StoragePaths[LocalStoragePath]:
         if inspection.data is None:
             raise StorageException("Nothing to store. The inspection data is empty")
 
-        local_path, local_metadata_path = construct_paths(
+        local_filename, local_metadata_filename = construct_paths(
             inspection=inspection, mission=mission
         )
 
-        absolute_path: Path = self.root_folder.joinpath(local_path)
-        absolute_metadata_path: Path = self.root_folder.joinpath(local_metadata_path)
+        data_path: Path = self.root_folder.joinpath(local_filename)
+        metadata_path: Path = self.root_folder.joinpath(local_metadata_filename)
 
-        absolute_path.parent.mkdir(parents=True, exist_ok=True)
+        data_path.parent.mkdir(parents=True, exist_ok=True)
 
         metadata_bytes: bytes = construct_metadata_file(
-            inspection=inspection, mission=mission, filename=local_path.name
+            inspection=inspection, mission=mission, filename=local_filename.name
         )
         try:
             with (
-                open(absolute_path, "wb") as file,
-                open(absolute_metadata_path, "wb") as metadata_file,
+                open(data_path, "wb") as file,
+                open(metadata_path, "wb") as metadata_file,
             ):
                 file.write(inspection.data)
                 metadata_file.write(metadata_bytes)
         except IOError as e:
             self.logger.warning(
                 f"Failed open/write for one of the following files: \n"
-                f"{absolute_path}\n{absolute_metadata_path}"
+                f"{data_path}\n{metadata_path}"
             )
             raise StorageException from e
         except Exception as e:
@@ -47,4 +54,7 @@ class LocalStorage(StorageInterface):
                 "An unexpected error occurred while writing to local storage"
             )
             raise StorageException from e
-        return str(absolute_path)
+        return StoragePaths(
+            data_path=LocalStoragePath(file_path=data_path),
+            metadata_path=LocalStoragePath(file_path=metadata_path),
+        )

isar/storage/storage_interface.py

@@ -1,25 +1,46 @@
 from abc import ABCMeta, abstractmethod
-from typing import Union
+from pathlib import Path
+from typing import Generic, TypeVar
+
+from pydantic import BaseModel
 
 from robot_interface.models.inspection.inspection import InspectionBlob
 from robot_interface.models.mission.mission import Mission
 
 
+class BlobStoragePath(BaseModel):
+    storage_account: str
+    blob_container: str
+    blob_name: str
+
+
+class LocalStoragePath(BaseModel):
+    file_path: Path
+
+
+TPath = TypeVar("TPath", BlobStoragePath, LocalStoragePath)
+
+
+class StoragePaths(BaseModel, Generic[TPath]):
+    data_path: TPath
+    metadata_path: TPath
+
+
 class StorageInterface(metaclass=ABCMeta):
     @abstractmethod
-    def store(self, inspection: InspectionBlob, mission: Mission) -> Union[str, dict]:
+    def store(self, inspection: InspectionBlob, mission: Mission) -> StoragePaths:
         """
         Parameters
         ----------
-        mission : Mission
-            Mission the inspection is a part of.
         inspection : InspectionBlob
             The inspection object to be stored.
+        mission : Mission
+            Mission the inspection is a part of.
 
         Returns
         ----------
-        String
-            Path of the saved inspection
+        StoragePaths
+            Paths to the data and metadata
 
         Raises
         ----------

isar/storage/uploader.py

@@ -4,11 +4,17 @@ from dataclasses import dataclass
 from datetime import datetime, timedelta, timezone
 from queue import Empty, Queue
 from threading import Event
-from typing import List, Union
+from typing import List
 
 from isar.config.settings import settings
 from isar.models.events import Events
-from isar.storage.storage_interface import StorageException, StorageInterface
+from isar.storage.storage_interface import (
+    BlobStoragePath,
+    LocalStoragePath,
+    StorageException,
+    StorageInterface,
+    StoragePaths,
+)
 from robot_interface.models.inspection.inspection import (
     Inspection,
     InspectionBlob,
@@ -133,10 +139,10 @@ class Uploader:
             except Empty:
                 continue
 
-    def _upload(self, item: BlobItem) -> Union[str, dict]:
-        inspection_path: Union[str, dict] = ""
+    def _upload(self, item: BlobItem) -> StoragePaths:
+        inspection_paths: StoragePaths
         try:
-            inspection_path = item.storage_handler.store(
+            inspection_paths = item.storage_handler.store(
                 inspection=item.inspection, mission=item.mission
             )
             self.logger.info(
@@ -144,7 +150,7 @@ class Uploader:
                 f"uploaded inspection {str(item.inspection.id)[:8]}"
             )
             self._internal_upload_queue.remove(item)
-        except StorageException:
+        except StorageException as e:
             if item.get_retry_count() < self.max_retry_attempts:
                 item.increment_retry(self.max_wait_time)
                 self.logger.warning(
@@ -160,7 +166,8 @@ class Uploader:
                     f"{str(item.inspection.id)[:8]}. Aborting upload."
                 )
                 self._internal_upload_queue.remove(item)
-        return inspection_path
+            raise e
+        return inspection_paths
 
     def _process_upload_queue(self) -> None:
         def should_upload(_item):
@@ -181,10 +188,17 @@ class Uploader:
                 )
                 self._internal_upload_queue.remove(item)
             elif isinstance(item, BlobItem):
-                inspection_path = self._upload(item)
-                self._publish_inspection_result(
-                    inspection=item.inspection, inspection_path=inspection_path
-                )
+                try:
+                    inspection_paths = self._upload(item)
+                    if isinstance(inspection_paths.data_path, LocalStoragePath):
+                        self.logger.info("Skipping publishing when using local storage")
+                    else:
+                        self._publish_inspection_result(
+                            inspection=item.inspection,
+                            inspection_paths=inspection_paths,
+                        )
+                except StorageException:
+                    pass
             else:
                 self.logger.warning(
                     f"Unable to process upload item as its type {type(item).__name__} is not supported"
@@ -223,7 +237,9 @@ class Uploader:
         )
 
     def _publish_inspection_result(
-        self, inspection: InspectionBlob, inspection_path: Union[str, dict]
+        self,
+        inspection: InspectionBlob,
+        inspection_paths: StoragePaths[BlobStoragePath],
     ) -> None:
         """Publishes the reference of the inspection result to the MQTT Broker
         along with the analysis type
@@ -235,7 +251,8 @@ class Uploader:
             isar_id=settings.ISAR_ID,
             robot_name=settings.ROBOT_NAME,
             inspection_id=inspection.id,
-            inspection_path=inspection_path,
+            blob_storage_data_path=inspection_paths.data_path,
+            blob_storage_metadata_path=inspection_paths.metadata_path,
             installation_code=settings.PLANT_SHORT_NAME,
             tag_id=inspection.metadata.tag_id,
             inspection_type=type(inspection).__name__,

{isar-1.33.0.dist-info → isar-1.33.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.0
+Version: 1.33.2
 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-1.33.2.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
@@ -16,7 +16,7 @@ isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5
 isar/config/log.py,sha256=f_mLLz5RSa0kZkdpi1m0iMdwwDc4RQp12mnT6gu2exE,1303
 isar/config/logging.conf,sha256=a7ZBvZkrMDaPU3eRGAjL_eZz6hZsa6BaRJOfx8mbnnM,629
 isar/config/open_telemetry.py,sha256=Lgu0lbRQA-zz6ZDoBKKk0whQex5w18jl1wjqWzHUGdg,3634
-isar/config/settings.py,sha256=fUEsKeCwxWg1kMb3rlOgmIyw0V_ia9o-sqfXq2KMovA,14040
+isar/config/settings.py,sha256=etvCAo1ndds9zTE1yK2CBjWPS_5cD6oM1lJ0R74nnqU,14242
 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
@@ -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
@@ -54,49 +54,49 @@ isar/services/auth/azure_credentials.py,sha256=9PlwGe5FrPRbW2dp0go7LMp8_l_FRvL8x
 isar/services/service_connections/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/service_connections/request_handler.py,sha256=0LxC0lu_HXeEf_xmJWjfEsh14oAUI97cpG1IWtBlcs4,4278
 isar/services/service_connections/mqtt/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/services/service_connections/mqtt/mqtt_client.py,sha256=se8uLvjy-cElM-WhmHEPXfEA8u05huOLnkcOCYRpcE4,3551
-isar/services/service_connections/mqtt/robot_heartbeat_publisher.py,sha256=_bUOG7CfqBlCRvG4vh2XGoMXucBxsJarFIeXIKOH1aw,1019
+isar/services/service_connections/mqtt/mqtt_client.py,sha256=ABJLJOckSq9ElkZYLKF64mOEUESgxjW1V6ySZX3de6M,4462
+isar/services/service_connections/mqtt/robot_heartbeat_publisher.py,sha256=SKPvY2QwBxqnhL9aGuZQDGQ8F_NDqPtQI5bzRBIUxkQ,1203
 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=G3SgWUIMAmAmdfbFd1oeUtRVOZEClE0wugdldEEwN_s,13499
+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=VvArtwOkvA63WMVAeW2WVHvxWse_qSok1RjustPYJgk,18028
+isar/state_machine/state_machine.py,sha256=PL-dImdaFsvoWQ_z8U9IImFXfSplUOQ5V7VBgePoW64,18314
 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
-isar/state_machine/states/monitor.py,sha256=_Y6FFsuUEzEveH4skKAE8Cf6cie4keXr_LGA6gbUlQg,4741
+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/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
+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=E14fZR4RhEBdLaeeKPbRYXb2Y36zus7fXoVT_02PiEI,4649
+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=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/blob_storage.py,sha256=d44z3XpZDUbiKwN8Av2gytTJxnefMXrp5VhiGm4PWxU,3703
+isar/storage/local_storage.py,sha256=Rn-iiiz9DI7PzIhevOMshPIaqzJaqBXeVJMQRhVSl2M,2191
+isar/storage/storage_interface.py,sha256=x-imVeQTdL6dCaTaPTHpXwCR6N4e27WxK_Vpumg0x-Y,1230
+isar/storage/uploader.py,sha256=HurLZb4MbZYRRocsJimoUrP3UHrE7wiO0IfIpKBSHrw,9988
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.33.0.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.33.2.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
@@ -115,13 +115,13 @@ robot_interface/models/robots/battery_state.py,sha256=ktOtJ8ltdK0k_i7BoqYfhc5dbO
 robot_interface/models/robots/media.py,sha256=8A-CuuubfngzPprs6zWB9hSaqe3jzgsE8rcCzRX2Uto,227
 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=T7EK-b0bVhADDTKMIAHmcPVtPxuR16csmZoOJQl9P4c,3103
+robot_interface/telemetry/mqtt_client.py,sha256=0P1S9mWdJcByGoSOwwn2NPQr9I-OX4b1VPbrIYOU-Zo,4334
+robot_interface/telemetry/payloads.py,sha256=RfLlm_te-bV_xcLtbBx27bgE8gkwPAhWBTF9JrxY7f8,3209
 robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/utilities/json_service.py,sha256=qkzVkb60Gi_pto-b5n1vNzCrQze2yqgIJqSLNLYj1Fg,1034
+robot_interface/utilities/json_service.py,sha256=9N1zijW7K4d3WFR2autpaS8U9o1ibymiOX-6stTKCyk,1243
 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,,
+isar-1.33.2.dist-info/METADATA,sha256=3Hzfh4ScmPbEXrX9zdzbcaC1I9cbGLpO23j_2Ihy61M,31217
+isar-1.33.2.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.33.2.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.33.2.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.33.2.dist-info/RECORD,,

robot_interface/telemetry/mqtt_client.py

@@ -5,6 +5,10 @@ from datetime import datetime, timezone
 from queue import Queue
 from typing import Callable, Tuple
 
+from paho.mqtt.packettypes import PacketTypes
+from paho.mqtt.properties import Properties
+
+from isar.config.settings import settings
 from robot_interface.models.exceptions.robot_exceptions import (
     RobotTelemetryException,
     RobotTelemetryNoUpdateException,
@@ -14,10 +18,21 @@ from robot_interface.telemetry.payloads import CloudHealthPayload
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
 
+def props_expiry(seconds: int) -> Properties:
+    p = Properties(PacketTypes.PUBLISH)
+    p.MessageExpiryInterval = seconds
+    return p
+
+
 class MqttClientInterface(metaclass=ABCMeta):
     @abstractmethod
     def publish(
-        self, topic: str, payload: str, qos: int = 0, retain: bool = False
+        self,
+        topic: str,
+        payload: str,
+        qos: int = 0,
+        retain: bool = False,
+        properties: Properties = None,
     ) -> None:
         """
         Parameters
@@ -42,9 +57,20 @@ class MqttPublisher(MqttClientInterface):
         self.mqtt_queue: Queue = mqtt_queue
 
     def publish(
-        self, topic: str, payload: str, qos: int = 0, retain: bool = False
+        self,
+        topic: str,
+        payload: str,
+        qos: int = 0,
+        retain: bool = False,
+        properties: Properties = None,
     ) -> None:
-        queue_message: Tuple[str, str, int, bool] = (topic, payload, qos, retain)
+        queue_message: Tuple[str, str, int, bool, Properties] = (
+            topic,
+            payload,
+            qos,
+            retain,
+            properties,
+        )
         self.mqtt_queue.put(queue_message)
 
 
@@ -57,6 +83,7 @@ class MqttTelemetryPublisher(MqttClientInterface):
         interval: float,
         qos: int = 0,
         retain: bool = False,
+        properties: Properties = None,
     ) -> None:
         self.mqtt_queue: Queue = mqtt_queue
         self.telemetry_method: Callable = telemetry_method
@@ -64,9 +91,13 @@ class MqttTelemetryPublisher(MqttClientInterface):
         self.interval: float = interval
         self.qos: int = qos
         self.retain: bool = retain
+        self.properties: Properties = properties
 
     def run(self, isar_id: str, robot_name: str) -> None:
         self.cloud_health_topic: str = f"isar/{isar_id}/cloud_health"
+        self.battery_topic: str = f"isar/{isar_id}/battery"
+        self.pose_topic: str = f"isar/{isar_id}/pose"
+        self.pressure_topic: str = f"isar/{isar_id}/pressure"
         topic: str
         payload: str
 
@@ -84,12 +115,37 @@ class MqttTelemetryPublisher(MqttClientInterface):
                 )
                 topic = self.cloud_health_topic
 
-            self.publish(topic=topic, payload=payload, qos=self.qos, retain=self.retain)
+            publish_properties = self.properties
+
+            if topic in (
+                self.battery_topic,
+                self.pose_topic,
+                self.pressure_topic,
+            ):
+                publish_properties = props_expiry(settings.MQTT_TELEMETRY_EXPIRY)
 
+            self.publish(
+                topic=topic,
+                payload=payload,
+                qos=self.qos,
+                retain=self.retain,
+                properties=publish_properties,
+            )
             time.sleep(self.interval)
 
     def publish(
-        self, topic: str, payload: str, qos: int = 0, retain: bool = False
+        self,
+        topic: str,
+        payload: str,
+        qos: int = 0,
+        retain: bool = False,
+        properties: Properties = None,
     ) -> None:
-        queue_message: Tuple[str, str, int, bool] = (topic, payload, qos, retain)
+        queue_message: Tuple[str, str, int, bool, Properties] = (
+            topic,
+            payload,
+            qos,
+            retain,
+            properties,
+        )
         self.mqtt_queue.put(queue_message)