isar 1.33.1__py3-none-any.whl → 1.33.3__py3-none-any.whl

{isar-1.33.1.dist-info → isar-1.33.3.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=xpKlxxxBQuHZ37WP1OU8SR198YIIrr2NdWWJeaZpuEc,9366
+isar/apis/schedule/scheduling_controller.py,sha256=RKtQmNtcepG0mgu5ihidc2J7ZJ9c1plIgUQCEBz_3SE,9476
 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
@@ -54,49 +54,50 @@ 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=3vFU7t7oEZTFQNJdAxfhaADScRJIxznWhDbagHyLKOQ,13605
+isar/services/utilities/scheduling_utilities.py,sha256=6t42uyHXRr8QtRU6qH_EzYKlvwXEAUCwe7U5IDUp4nc,13502
 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=6P88wFxvkHaYWK_WBCzTVdNkn7wqbwJVR0So-en2u_w,18038
-isar/state_machine/states_enum.py,sha256=4Kysag9JPi2JSyC2me2B1sLH3Sfo7qGJonc-Q_IiUug,511
+isar/state_machine/state_machine.py,sha256=W2RMBhSRtu5kH0LAuRHbPhxHxtFa0knWfBv7EMRuQcI,18610
+isar/state_machine/states_enum.py,sha256=hBbP87Aw9JiIBScfAkflWgQHYBrLA17ex0XXO4suRYY,555
 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/home.py,sha256=718NFxbYQTM5VLKbL8e5ELlbXWYis1GfaZfl34EhfQo,2292
 isar/state_machine/states/intervention_needed.py,sha256=A0QYz1vD1tDKAealihXDuoGuMLtXrRfn_AwFoaUhT_Q,1640
 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/paused.py,sha256=OruA2oPGWsVjnQ8xxVJJsGO3xKzXz2xF5uWsrvH27Ng,2101
 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/return_home_paused.py,sha256=nVfNqutEG251NCk18UqIerh0SdAgGsXMXBt5iT2oRK0,2711
+isar/state_machine/states/returning_home.py,sha256=75pfHNCjpV4jfhcmNAoabTwBzed1_-aFJE_KkTUTAnA,4513
+isar/state_machine/states/stopping.py,sha256=h0x94hVoIUJyml3WMrbJlbxG2dzMCeOL1rJoNCQfzGQ,3057
+isar/state_machine/states/stopping_return_home.py,sha256=ub952Ulas3a0lsV_dI4liBiInADo3zaPAGod2bPe_18,2985
 isar/state_machine/states/unknown_status.py,sha256=Y-g9cgme5zriyZ6YUzFRYhOvv9ZylCSwfaY8MJ7xEJ0,1791
-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/mission.py,sha256=W56bs4jSFwH2K4yAwxzLWh7dDuLi8j-L4mVvmfeKjWw,6313
+isar/state_machine/transitions/return_home.py,sha256=9fXFVozsCZqtKjQwiPLLc3ExrgLj5zU9AD7a9IMe0Pw,4348
+isar/state_machine/transitions/robot_status.py,sha256=qJMurCpuficOiXs9us4lZJ5p_kOFSwKxJigiXfB1OS8,2430
 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=Wa9XlhXVRNzxoYSsHc0w87ht4nQ5dGh50fjfA9lrAmI,1987
+isar/state_machine/transitions/functions/pause.py,sha256=R4Bbb-XcmcCwGiY3-lsYiK-WAz2KfVj4kM_pzE8OFyg,3472
 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/robot_status.py,sha256=2P3EfP2c06GY-LUquyBTyHn1Ard31Hl3UeT-e-VaIWE,768
 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=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-1.33.1.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.33.3.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
@@ -108,20 +109,20 @@ robot_interface/models/inspection/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeR
 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=KC-79HBjM1-6xA0WmwAtZl8QC0pZu6u4wbYWb0IjGd8,816
+robot_interface/models/mission/status.py,sha256=e5Yr-GSV_CNSOV9MH2TQP4H_WbSG-z8Ty0JKkYFbZKA,856
 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
 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-1.33.1.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,,
+isar-1.33.3.dist-info/METADATA,sha256=zwaDNL8KlyrTfG5zP61l0H1Pli0zKRf4V9tCnctVPFI,31190
+isar-1.33.3.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.33.3.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.33.3.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.33.3.dist-info/RECORD,,

robot_interface/models/mission/status.py

@@ -23,10 +23,11 @@ class TaskStatus(str, Enum):
 
 class RobotStatus(Enum):
     Available = "available"
+    ReturnHomePaused = "returnhomepaused"
+    Paused = "paused"
     Busy = "busy"
     Home = "home"
     Offline = "offline"
-    Blocked = "blocked"
     BlockedProtectiveStop = "blockedprotectivestop"
     ReturningHome = "returninghome"
     InterventionNeeded = "interventionneeded"

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)

robot_interface/telemetry/payloads.py

@@ -1,9 +1,10 @@
 from dataclasses import dataclass
 from datetime import datetime
-from typing import List, Optional, Union
+from typing import List, Optional
 
 from alitra import Pose
 
+from isar.storage.storage_interface import BlobStoragePath
 from robot_interface.models.exceptions.robot_exceptions import ErrorReason
 from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
 from robot_interface.models.mission.task import TaskTypes
@@ -119,7 +120,8 @@ class InspectionResultPayload:
     isar_id: str
     robot_name: str
     inspection_id: str
-    inspection_path: Union[str, dict]
+    blob_storage_data_path: BlobStoragePath
+    blob_storage_metadata_path: BlobStoragePath
     installation_code: str
     tag_id: Optional[str]
     inspection_type: Optional[str]

robot_interface/utilities/json_service.py

@@ -7,6 +7,7 @@ from uuid import UUID
 
 import numpy as np
 from alitra import Orientation
+from pydantic import BaseModel
 
 
 class EnhancedJSONEncoder(json.JSONEncoder):
@@ -15,6 +16,11 @@ class EnhancedJSONEncoder(json.JSONEncoder):
     """
 
     def default(self, o):
+        if isinstance(o, BaseModel):
+            dump = getattr(o, "model_dump", None)
+            if callable(dump):
+                return dump()
+            return o.__dict__
         if is_dataclass(o):
             return asdict(o)  # type: ignore
         if isinstance(o, UUID):

isar/state_machine/states/robot_standing_still.py

@@ -1,52 +0,0 @@
-from typing import TYPE_CHECKING, List
-
-from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
-from isar.state_machine.utils.common_event_handlers import (
-    return_home_event_handler,
-    robot_status_event_handler,
-    start_mission_event_handler,
-    stop_mission_event_handler,
-)
-from robot_interface.models.mission.status import RobotStatus
-
-if TYPE_CHECKING:
-    from isar.state_machine.state_machine import StateMachine
-
-
-class RobotStandingStill(EventHandlerBase):
-
-    def __init__(self, state_machine: "StateMachine"):
-        events = state_machine.events
-        shared_state = state_machine.shared_state
-
-        event_handlers: List[EventHandlerMapping] = [
-            EventHandlerMapping(
-                name="start_mission_event",
-                event=events.api_requests.start_mission.request,
-                handler=lambda event: start_mission_event_handler(
-                    state_machine, event, events.api_requests.start_mission.response
-                ),
-            ),
-            EventHandlerMapping(
-                name="return_home_event",
-                event=events.api_requests.return_home.request,
-                handler=lambda event: return_home_event_handler(state_machine, event),
-            ),
-            EventHandlerMapping(
-                name="stop_mission_event",
-                event=events.api_requests.return_home.request,
-                handler=lambda event: stop_mission_event_handler(state_machine, event),
-            ),
-            EventHandlerMapping(
-                name="robot_status_event",
-                event=shared_state.robot_status,
-                handler=lambda event: robot_status_event_handler(
-                    state_machine, RobotStatus.Available, event
-                ),
-            ),
-        ]
-        super().__init__(
-            state_name="robot_standing_still",
-            state_machine=state_machine,
-            event_handler_mappings=event_handlers,
-        )