isar 1.33.3__py3-none-any.whl → 1.33.5__py3-none-any.whl

isar/apis/robot_control/robot_controller.py

@@ -1,12 +1,15 @@
 import logging
 
 from fastapi import HTTPException
+from opentelemetry import trace
 
 from isar.apis.models.models import RobotInfoResponse
 from isar.config.settings import robot_settings, settings
 from isar.services.utilities.robot_utilities import RobotUtilities
 from robot_interface.models.robots.media import MediaConfig
 
+tracer = trace.get_tracer(__name__)
+
 
 class RobotController:
     def __init__(
@@ -16,6 +19,7 @@ class RobotController:
         self.robot_utilities: RobotUtilities = robot_utilities
         self.logger = logging.getLogger("api")
 
+    @tracer.start_as_current_span("generate_media_config")
     def generate_media_config(self) -> MediaConfig:
         media_config: MediaConfig = self.robot_utilities.generate_media_config()
         if media_config is None:
@@ -25,6 +29,7 @@ class RobotController:
             )
         return media_config
 
+    @tracer.start_as_current_span("get_info")
     def get_info(self) -> RobotInfoResponse:
         return RobotInfoResponse(
             robot_package=settings.ROBOT_PACKAGE,

isar/apis/schedule/scheduling_controller.py

@@ -2,6 +2,7 @@ import logging
 from http import HTTPStatus
 
 from fastapi import Body, HTTPException, Path
+from opentelemetry import trace
 
 from isar.apis.models.models import (
     ControlMissionResponse,
@@ -20,6 +21,8 @@ from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.task import TASKS, InspectionTask, MoveArm
 
+tracer = trace.get_tracer(__name__)
+
 
 class SchedulingController:
     def __init__(
@@ -29,6 +32,7 @@ class SchedulingController:
         self.scheduling_utilities: SchedulingUtilities = scheduling_utilities
         self.logger = logging.getLogger("api")
 
+    @tracer.start_as_current_span("start_mission_by_id")
     def start_mission_by_id(
         self,
         mission_id: str = Path(
@@ -54,6 +58,7 @@ class SchedulingController:
 
         return self._api_response(mission)
 
+    @tracer.start_as_current_span("start_mission")
     def start_mission(
         self,
         mission_definition: StartMissionDefinition = Body(
@@ -98,6 +103,7 @@ class SchedulingController:
         self.scheduling_utilities.start_mission(mission=mission)
         return self._api_response(mission)
 
+    @tracer.start_as_current_span("return_home")
     def return_home(self) -> None:
         self.logger.info("Received request to return home")
 
@@ -108,6 +114,7 @@ class SchedulingController:
 
         self.scheduling_utilities.return_home()
 
+    @tracer.start_as_current_span("pause_mission")
     def pause_mission(self) -> ControlMissionResponse:
         self.logger.info("Received request to pause current mission")
 
@@ -131,6 +138,7 @@ class SchedulingController:
         )
         return pause_mission_response
 
+    @tracer.start_as_current_span("resume_mission")
     def resume_mission(self) -> ControlMissionResponse:
         self.logger.info("Received request to resume current mission")
 
@@ -148,6 +156,7 @@ class SchedulingController:
         )
         return resume_mission_response
 
+    @tracer.start_as_current_span("stop_mission")
     def stop_mission(
         self,
         mission_id: StopMissionDefinition = Body(
@@ -181,6 +190,7 @@ class SchedulingController:
         )
         return stop_mission_response
 
+    @tracer.start_as_current_span("start_move_arm_mission")
     def start_move_arm_mission(
         self,
         arm_pose_literal: str = Path(
@@ -227,6 +237,7 @@ class SchedulingController:
         self.scheduling_utilities.start_mission(mission=mission)
         return self._api_response(mission)
 
+    @tracer.start_as_current_span("release_intervention_needed")
     def release_intervention_needed(self) -> None:
         self.logger.info("Received request to release intervention needed state")
 

isar/config/settings.py

@@ -30,7 +30,7 @@ class Settings(BaseSettings):
     REQUEST_TIMEOUT: int = Field(default=30)
 
     # Timeout in seconds for checking whether there is a message on a queue
-    QUEUE_TIMEOUT: int = Field(default=3)
+    QUEUE_TIMEOUT: int = Field(default=10)
 
     # Sleep time for while loops in the finite state machine in seconds
     # The sleep is used to throttle the system on every iteration in the loop

isar/services/service_connections/mqtt/mqtt_client.py

@@ -106,15 +106,15 @@ class MqttClient(MqttClientInterface):
             )
 
     def on_connect(self, client, userdata, flags, reason_code, properties):
-        self.logger.info(
-            "Connection returned result: " + mqtt.connack_string(reason_code)
-        )
-
-    def on_disconnect(self, client, userdata, reason_code, properties):
-        if reason_code != 0:
-            self.logger.warning(
-                f"Unexpected disconnection from MQTT Broker, {reason_code}"
-            )
+        self.logger.info(f"Connected: {reason_code}")
+
+    def on_disconnect(self, client, userdata, *args):
+        if not args:
+            return
+        reason_code = args[0] if len(args) < 3 else args[1]
+        rc = getattr(reason_code, "value", reason_code)
+        if rc != 0:
+            self.logger.warning(f"Unexpected disconnect: {reason_code}.")
 
     @backoff.on_exception(
         backoff.expo,

isar/storage/uploader.py

@@ -29,6 +29,14 @@ from robot_interface.telemetry.payloads import (
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
 
+def has_empty_blob_storage_path(storage_paths: StoragePaths):
+    for path in (storage_paths.data_path, storage_paths.metadata_path):
+        for value in (path.storage_account, path.blob_container, path.blob_name):
+            if not (value and value.strip()):
+                return True
+    return False
+
+
 @dataclass
 class UploaderQueueItem:
     inspection: Inspection
@@ -192,6 +200,13 @@ class Uploader:
                     inspection_paths = self._upload(item)
                     if isinstance(inspection_paths.data_path, LocalStoragePath):
                         self.logger.info("Skipping publishing when using local storage")
+                    elif isinstance(
+                        inspection_paths.data_path, BlobStoragePath
+                    ) and has_empty_blob_storage_path(inspection_paths):
+                        self.logger.warning(
+                            "Skipping publishing: Blob storage paths are empty for inspection %s",
+                            str(item.inspection.id)[:8],
+                        )
                     else:
                         self._publish_inspection_result(
                             inspection=item.inspection,

{isar-1.33.3.dist-info → isar-1.33.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.3
+Version: 1.33.5
 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-1.33.3.dist-info → isar-1.33.5.dist-info}/RECORD

@@ -6,9 +6,9 @@ isar/apis/api.py,sha256=VM_WBlHJ4Juv9A0FvaUTeaMVYCN6a7pAojxIGCmDtf0,14154
 isar/apis/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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/robot_control/robot_controller.py,sha256=RSVlxbw9D668tHWItVLtyjvAnsJkCs2yUSkU3iqeAcY,1393
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/schedule/scheduling_controller.py,sha256=RKtQmNtcepG0mgu5ihidc2J7ZJ9c1plIgUQCEBz_3SE,9476
+isar/apis/schedule/scheduling_controller.py,sha256=w7YJfN5vSRfnd_56ilPi0WRnScsGzo1m8pTQyj2w7bA,9980
 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=etvCAo1ndds9zTE1yK2CBjWPS_5cD6oM1lJ0R74nnqU,14242
+isar/config/settings.py,sha256=5A_hxq6AFzg94ROz8yIK8KKZcygwJAosM4ROKJOeCfU,14243
 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
@@ -54,7 +54,7 @@ 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=ABJLJOckSq9ElkZYLKF64mOEUESgxjW1V6ySZX3de6M,4462
+isar/services/service_connections/mqtt/mqtt_client.py,sha256=8Dr65JNwPx5-kRY8UsRtZ_nrQ2gXXSUH6LWFOYlnluo,4482
 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
@@ -95,15 +95,15 @@ isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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/uploader.py,sha256=oaGhHqYrtyvJoFUuD7ZyBgdPNkYaSgQokQZkAjmd4vI,10702
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.33.3.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.33.5.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
 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/exceptions/robot_exceptions.py,sha256=UFya2u-slcf2ebc3ZVCs-Kp1SS9PQvKdWInYMBEQ8BY,10404
 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=cjAvekL8r82s7bgukWeXpYylHvJG_oRSCJNISPVCvZg,2238
@@ -121,8 +121,8 @@ robot_interface/telemetry/payloads.py,sha256=RfLlm_te-bV_xcLtbBx27bgE8gkwPAhWBTF
 robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/utilities/json_service.py,sha256=9N1zijW7K4d3WFR2autpaS8U9o1ibymiOX-6stTKCyk,1243
 robot_interface/utilities/uuid_string_factory.py,sha256=_NQIbBQ56w0qqO0MUDP6aPpHbxW7ATRhK8HnQiBSLkc,76
-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,,
+isar-1.33.5.dist-info/METADATA,sha256=NsNwJPhbo_FDVWvBhXwlElPGRsgIXk7-kVlchgZNnXw,31190
+isar-1.33.5.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.33.5.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.33.5.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.33.5.dist-info/RECORD,,

robot_interface/models/exceptions/robot_exceptions.py

@@ -8,6 +8,7 @@ class ErrorReason(str, Enum):
     RobotCommunicationTimeoutException = "robot_communication_timeout_exception"
     RobotInfeasibleTaskException = "robot_infeasible_task_exception"
     RobotInfeasibleMissionException = "robot_infeasible_mission_exception"
+    RobotUnreliableDockingStatusException = "robot_unreliable_docking_status_exception"
     RobotMissionStatusException = "robot_mission_status_exception"
     RobotTaskStatusException = "robot_task_status_exception"
     RobotAPIException = "robot_api_exception"
@@ -88,6 +89,16 @@ class RobotInfeasibleMissionException(RobotException):
     pass
 
 
+class RobotUnreliableDockingStatusException(RobotException):
+    def __init__(self, error_description: str) -> None:
+        super().__init__(
+            error_reason=ErrorReason.RobotUnreliableDockingStatusException,
+            error_description=error_description,
+        )
+
+    pass
+
+
 # An exception which should be thrown by the robot package if it is unable to collect
 # the status of the current mission.
 class RobotMissionStatusException(RobotException):