isar 1.33.4__tar.gz → 1.33.6__tar.gz

{isar-1.33.4 → isar-1.33.6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.4
+Version: 1.33.6
 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-1.33.4 → isar-1.33.6}/requirements.txt

@@ -8,13 +8,13 @@ alitra==1.1.5
     # via isar (pyproject.toml)
 annotated-types==0.7.0
     # via pydantic
-anyio==4.9.0
+anyio==4.10.0
     # via
     #   httpx
     #   starlette
 asgiref==3.9.1
     # via opentelemetry-instrumentation-asgi
-azure-core==1.35.0
+azure-core==1.35.1
     # via
     #   azure-core-tracing-opentelemetry
     #   azure-identity
@@ -25,15 +25,15 @@ azure-core==1.35.0
     #   msrest
 azure-core-tracing-opentelemetry==1.0.0b12
     # via azure-monitor-opentelemetry
-azure-identity==1.23.1
+azure-identity==1.25.0
     # via
     #   azure-monitor-opentelemetry-exporter
     #   isar (pyproject.toml)
 azure-keyvault-secrets==4.10.0
     # via isar (pyproject.toml)
-azure-monitor-opentelemetry==1.6.13
+azure-monitor-opentelemetry==1.6.7
     # via isar (pyproject.toml)
-azure-monitor-opentelemetry-exporter==1.0.0b40
+azure-monitor-opentelemetry-exporter==1.0.0b41
     # via
     #   azure-monitor-opentelemetry
     #   isar (pyproject.toml)
@@ -41,21 +41,21 @@ azure-storage-blob==12.26.0
     # via isar (pyproject.toml)
 backoff==2.2.1
     # via isar (pyproject.toml)
-certifi==2025.7.14
+certifi==2025.8.3
     # via
     #   httpcore
     #   httpx
     #   msrest
     #   requests
-cffi==1.17.1
+cffi==2.0.0
     # via cryptography
-charset-normalizer==3.4.2
+charset-normalizer==3.4.3
     # via requests
 click==8.2.1
     # via
     #   isar (pyproject.toml)
     #   uvicorn
-cryptography==45.0.5
+cryptography==45.0.7
     # via
     #   azure-identity
     #   azure-storage-blob
@@ -110,14 +110,14 @@ msal-extensions==1.3.1
     # via azure-identity
 msrest==0.7.1
     # via azure-monitor-opentelemetry-exporter
-numpy==2.3.2
+numpy==2.3.3
     # via
     #   alitra
     #   isar (pyproject.toml)
     #   scipy
 oauthlib==3.3.1
     # via requests-oauthlib
-opentelemetry-api==1.36.0
+opentelemetry-api==1.37.0
     # via
     #   azure-core-tracing-opentelemetry
     #   azure-monitor-opentelemetry-exporter
@@ -137,17 +137,17 @@ opentelemetry-api==1.36.0
     #   opentelemetry-instrumentation-wsgi
     #   opentelemetry-sdk
     #   opentelemetry-semantic-conventions
-opentelemetry-exporter-otlp==1.36.0
+opentelemetry-exporter-otlp==1.37.0
     # via isar (pyproject.toml)
-opentelemetry-exporter-otlp-proto-common==1.36.0
+opentelemetry-exporter-otlp-proto-common==1.37.0
     # via
     #   opentelemetry-exporter-otlp-proto-grpc
     #   opentelemetry-exporter-otlp-proto-http
-opentelemetry-exporter-otlp-proto-grpc==1.36.0
+opentelemetry-exporter-otlp-proto-grpc==1.37.0
     # via opentelemetry-exporter-otlp
-opentelemetry-exporter-otlp-proto-http==1.36.0
+opentelemetry-exporter-otlp-proto-http==1.37.0
     # via opentelemetry-exporter-otlp
-opentelemetry-instrumentation==0.57b0
+opentelemetry-instrumentation==0.58b0
     # via
     #   opentelemetry-instrumentation-asgi
     #   opentelemetry-instrumentation-dbapi
@@ -159,38 +159,38 @@ opentelemetry-instrumentation==0.57b0
     #   opentelemetry-instrumentation-urllib
     #   opentelemetry-instrumentation-urllib3
     #   opentelemetry-instrumentation-wsgi
-opentelemetry-instrumentation-asgi==0.57b0
+opentelemetry-instrumentation-asgi==0.58b0
     # via opentelemetry-instrumentation-fastapi
-opentelemetry-instrumentation-dbapi==0.57b0
+opentelemetry-instrumentation-dbapi==0.58b0
     # via opentelemetry-instrumentation-psycopg2
-opentelemetry-instrumentation-django==0.57b0
+opentelemetry-instrumentation-django==0.58b0
     # via azure-monitor-opentelemetry
-opentelemetry-instrumentation-fastapi==0.57b0
+opentelemetry-instrumentation-fastapi==0.58b0
     # via
     #   azure-monitor-opentelemetry
     #   isar (pyproject.toml)
-opentelemetry-instrumentation-flask==0.57b0
+opentelemetry-instrumentation-flask==0.58b0
     # via azure-monitor-opentelemetry
-opentelemetry-instrumentation-psycopg2==0.57b0
+opentelemetry-instrumentation-psycopg2==0.58b0
     # via azure-monitor-opentelemetry
-opentelemetry-instrumentation-requests==0.57b0
+opentelemetry-instrumentation-requests==0.58b0
     # via azure-monitor-opentelemetry
-opentelemetry-instrumentation-urllib==0.57b0
+opentelemetry-instrumentation-urllib==0.58b0
     # via azure-monitor-opentelemetry
-opentelemetry-instrumentation-urllib3==0.57b0
+opentelemetry-instrumentation-urllib3==0.58b0
     # via azure-monitor-opentelemetry
-opentelemetry-instrumentation-wsgi==0.57b0
+opentelemetry-instrumentation-wsgi==0.58b0
     # via
     #   opentelemetry-instrumentation-django
     #   opentelemetry-instrumentation-flask
-opentelemetry-proto==1.36.0
+opentelemetry-proto==1.37.0
     # via
     #   opentelemetry-exporter-otlp-proto-common
     #   opentelemetry-exporter-otlp-proto-grpc
     #   opentelemetry-exporter-otlp-proto-http
 opentelemetry-resource-detector-azure==0.1.5
     # via azure-monitor-opentelemetry
-opentelemetry-sdk==1.36.0
+opentelemetry-sdk==1.37.0
     # via
     #   azure-monitor-opentelemetry
     #   azure-monitor-opentelemetry-exporter
@@ -198,7 +198,7 @@ opentelemetry-sdk==1.36.0
     #   opentelemetry-exporter-otlp-proto-grpc
     #   opentelemetry-exporter-otlp-proto-http
     #   opentelemetry-resource-detector-azure
-opentelemetry-semantic-conventions==0.57b0
+opentelemetry-semantic-conventions==0.58b0
     # via
     #   opentelemetry-instrumentation
     #   opentelemetry-instrumentation-asgi
@@ -211,7 +211,7 @@ opentelemetry-semantic-conventions==0.57b0
     #   opentelemetry-instrumentation-urllib3
     #   opentelemetry-instrumentation-wsgi
     #   opentelemetry-sdk
-opentelemetry-util-http==0.57b0
+opentelemetry-util-http==0.58b0
     # via
     #   opentelemetry-instrumentation-asgi
     #   opentelemetry-instrumentation-django
@@ -227,15 +227,15 @@ packaging==25.0
     #   opentelemetry-instrumentation-flask
 paho-mqtt==2.1.0
     # via isar (pyproject.toml)
-protobuf==6.31.1
+protobuf==6.32.1
     # via
     #   googleapis-common-protos
     #   opentelemetry-proto
 psutil==7.0.0
     # via azure-monitor-opentelemetry-exporter
-pycparser==2.22
+pycparser==2.23
     # via cffi
-pydantic==2.11.7
+pydantic==2.11.9
     # via
     #   fastapi
     #   isar (pyproject.toml)
@@ -255,7 +255,7 @@ python-dotenv==1.1.1
     #   pydantic-settings
 pyyaml==6.0.2
     # via isar (pyproject.toml)
-requests==2.32.4
+requests==2.32.5
     # via
     #   azure-core
     #   isar (pyproject.toml)
@@ -268,7 +268,7 @@ requests-oauthlib==2.0.0
     # via msrest
 requests-toolbelt==1.0.0
     # via isar (pyproject.toml)
-scipy==1.16.1
+scipy==1.16.2
     # via alitra
 six==1.17.0
     # via
@@ -276,11 +276,11 @@ six==1.17.0
     #   transitions
 sniffio==1.3.1
     # via anyio
-starlette==0.47.2
+starlette==0.47.3
     # via fastapi
 transitions==0.9.3
     # via isar (pyproject.toml)
-typing-extensions==4.14.1
+typing-extensions==4.15.0
     # via
     #   azure-core
     #   azure-identity
@@ -303,7 +303,7 @@ urllib3==2.5.0
     # via requests
 uvicorn==0.35.0
     # via isar (pyproject.toml)
-wrapt==1.17.2
+wrapt==1.17.3
     # via
     #   opentelemetry-instrumentation
     #   opentelemetry-instrumentation-dbapi

{isar-1.33.4 → isar-1.33.6}/src/isar/apis/api.py

@@ -245,6 +245,40 @@ class API:
                 },
             },
         )
+        router.add_api_route(
+            path="/schedule/lockdown",
+            endpoint=self.scheduling_controller.lockdown,
+            methods=["POST"],
+            dependencies=[authentication_dependency],
+            summary="Send the robot to dock and ensure that it stays there",
+            responses={
+                HTTPStatus.OK.value: {"description": "Robot going to dock"},
+                HTTPStatus.CONFLICT.value: {
+                    "description": "Conflict - Invalid command in the current state"
+                },
+                HTTPStatus.INTERNAL_SERVER_ERROR.value: {
+                    "description": "Internal Server Error - Current state of state machine unknown"
+                },
+            },
+        )
+        router.add_api_route(
+            path="/schedule/release-lockdown",
+            endpoint=self.scheduling_controller.release_lockdown,
+            methods=["POST"],
+            dependencies=[authentication_dependency],
+            summary="Allow the robot to start missions again",
+            responses={
+                HTTPStatus.OK.value: {
+                    "description": "Robot is able to receive missions again"
+                },
+                HTTPStatus.CONFLICT.value: {
+                    "description": "Conflict - Invalid command in the current state"
+                },
+                HTTPStatus.INTERNAL_SERVER_ERROR.value: {
+                    "description": "Internal Server Error - Current state of state machine unknown"
+                },
+            },
+        )
         router.add_api_route(
             path="/schedule/release-intervention-needed",
             endpoint=self.scheduling_controller.release_intervention_needed,

{isar-1.33.4 → isar-1.33.6}/src/isar/apis/models/models.py

@@ -32,6 +32,11 @@ class MissionStartResponse(BaseModel):
     mission_not_started_reason: Optional[str] = None
 
 
+class LockdownResponse(BaseModel):
+    lockdown_started: bool
+    failure_reason: Optional[str] = None
+
+
 class RobotInfoResponse(BaseModel):
     robot_package: str
     isar_id: str

{isar-1.33.4 → isar-1.33.6}/src/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-1.33.4 → isar-1.33.6}/src/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")
 
@@ -243,6 +254,40 @@ class SchedulingController:
         self.scheduling_utilities.release_intervention_needed()
         self.logger.info("Released intervention needed state successfully")
 
+    @tracer.start_as_current_span("lockdown")
+    def lockdown(self) -> None:
+        self.logger.info("Received request to lockdown robot")
+
+        state: States = self.scheduling_utilities.get_state()
+
+        if state == States.Lockdown:
+            error_message = "Conflict - Lockdown command received in lockdown state"
+            self.logger.warning(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.CONFLICT,
+                detail=error_message,
+            )
+
+        self.scheduling_utilities.lock_down_robot()
+        self.logger.info("Lockdown started successfully")
+
+    @tracer.start_as_current_span("release_lockdown")
+    def release_lockdown(self) -> None:
+        self.logger.info("Received request to release robot lockdown")
+
+        state: States = self.scheduling_utilities.get_state()
+
+        if state != States.Lockdown:
+            error_message = f"Conflict - Release lockdown command received in invalid state - State: {state}"
+            self.logger.warning(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.CONFLICT,
+                detail=error_message,
+            )
+
+        self.scheduling_utilities.release_robot_lockdown()
+        self.logger.info("Released lockdown successfully")
+
     def _api_response(self, mission: Mission) -> StartMissionResponse:
         return StartMissionResponse(
             id=mission.id,

{isar-1.33.4 → isar-1.33.6}/src/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-1.33.4 → isar-1.33.6}/src/isar/models/events.py

@@ -4,7 +4,11 @@ from typing import Generic, Optional, TypeVar
 
 from transitions import State
 
-from isar.apis.models.models import ControlMissionResponse, MissionStartResponse
+from isar.apis.models.models import (
+    ControlMissionResponse,
+    LockdownResponse,
+    MissionStartResponse,
+)
 from isar.config.settings import settings
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.mission.mission import Mission
@@ -105,6 +109,12 @@ class APIRequests:
         self.release_intervention_needed: APIEvent[bool, bool] = APIEvent(
             "release_intervention_needed"
         )
+        self.send_to_lockdown: APIEvent[bool, LockdownResponse] = APIEvent(
+            "send_to_lockdown"
+        )
+        self.release_from_lockdown: APIEvent[bool, bool] = APIEvent(
+            "release_from_lockdown"
+        )
 
 
 class StateMachineEvents:
@@ -128,6 +138,12 @@ class RobotServiceEvents:
         self.mission_successfully_stopped: Event[bool] = Event(
             "mission_successfully_stopped"
         )
+        self.mission_failed_to_pause: Event[ErrorMessage] = Event(
+            "mission_failed_to_pause"
+        )
+        self.mission_successfully_paused: Event[bool] = Event(
+            "mission_successfully_paused"
+        )
 
 
 class SharedState:

{isar-1.33.4 → isar-1.33.6}/src/isar/robot/robot.py

@@ -9,6 +9,7 @@ from isar.models.events import (
     SharedState,
     StateMachineEvents,
 )
+from isar.robot.robot_pause_mission import RobotPauseMissionThread
 from isar.robot.robot_start_mission import RobotStartMissionThread
 from isar.robot.robot_status import RobotStatusThread
 from isar.robot.robot_stop_mission import RobotStopMissionThread
@@ -31,6 +32,7 @@ class Robot(object):
         self.robot_status_thread: Optional[RobotStatusThread] = None
         self.robot_task_status_thread: Optional[RobotTaskStatusThread] = None
         self.stop_mission_thread: Optional[RobotStopMissionThread] = None
+        self.pause_mission_thread: Optional[RobotPauseMissionThread] = None
         self.signal_thread_quitting: ThreadEvent = ThreadEvent()
 
     def stop(self) -> None:
@@ -111,6 +113,34 @@ class Robot(object):
             )
             self.stop_mission_thread.start()
 
+    def _pause_mission_request_handler(self, event: Event[bool]) -> None:
+        if event.consume_event():
+            if (
+                self.pause_mission_thread is not None
+                and self.pause_mission_thread.is_alive()
+            ):
+                self.logger.warning(
+                    "Received pause mission event while trying to pause a mission. Aborting pause attempt."
+                )
+                return
+            if (
+                self.start_mission_thread is not None
+                and self.start_mission_thread.is_alive()
+            ):
+                error_description = "Received pause mission event while trying to start a mission. Aborting pause attempt."
+                error_message = ErrorMessage(
+                    error_reason=ErrorReason.RobotStillStartingMissionException,
+                    error_description=error_description,
+                )
+                self.robot_service_events.mission_failed_to_stop.trigger_event(
+                    error_message
+                )
+                return
+            self.pause_mission_thread = RobotPauseMissionThread(
+                self.robot_service_events, self.robot, self.signal_thread_quitting
+            )
+            self.pause_mission_thread.start()
+
     def run(self) -> None:
         self.robot_status_thread = RobotStatusThread(
             self.robot, self.signal_thread_quitting, self.shared_state
@@ -124,6 +154,8 @@ class Robot(object):
                 self.state_machine_events.task_status_request
             )
 
+            self._pause_mission_request_handler(self.state_machine_events.pause_mission)
+
             self._stop_mission_request_handler(self.state_machine_events.stop_mission)
 
         self.logger.info("Exiting robot service main thread")

isar-1.33.6/src/isar/robot/robot_pause_mission.py

@@ -0,0 +1,63 @@
+import logging
+import time
+from threading import Event, Thread
+from typing import Optional
+
+from isar.config.settings import settings
+from isar.models.events import RobotServiceEvents
+from robot_interface.models.exceptions.robot_exceptions import (
+    ErrorMessage,
+    RobotActionException,
+    RobotException,
+)
+from robot_interface.robot_interface import RobotInterface
+
+
+class RobotPauseMissionThread(Thread):
+    def __init__(
+        self,
+        robot_service_events: RobotServiceEvents,
+        robot: RobotInterface,
+        signal_thread_quitting: Event,
+    ):
+        self.logger = logging.getLogger("robot")
+        self.robot_service_events: RobotServiceEvents = robot_service_events
+        self.robot: RobotInterface = robot
+        self.signal_thread_quitting: Event = signal_thread_quitting
+        Thread.__init__(self, name="Robot pause mission thread")
+
+    def run(self) -> None:
+        retries = 0
+        error: Optional[ErrorMessage] = None
+        while retries < settings.STATE_TRANSITION_NUM_RETIRES:
+            if self.signal_thread_quitting.wait(0):
+                return
+
+            try:
+                self.robot.pause()
+            except (RobotActionException, RobotException) as e:
+                self.logger.warning(
+                    f"\nFailed to pause robot because: {e.error_description}"
+                    f"\nAttempting to pause the robot again"
+                )
+                retries += 1
+                error = ErrorMessage(
+                    error_reason=e.error_reason, error_description=e.error_description
+                )
+                time.sleep(settings.FSM_SLEEP_TIME)
+                continue
+            self.robot_service_events.mission_successfully_paused.trigger_event(True)
+            return
+
+        error_description = (
+            f"\nFailed to pause the robot after {retries} attempts because: "
+            f"{error.error_description}"
+            f"\nBe aware that the robot may still be moving even though a pause has "
+            "been attempted"
+        )
+
+        error_message = ErrorMessage(
+            error_reason=error.error_reason,
+            error_description=error_description,
+        )
+        self.robot_service_events.mission_failed_to_pause.trigger_event(error_message)

{isar-1.33.4 → isar-1.33.6}/src/isar/robot/robot_stop_mission.py

@@ -24,7 +24,7 @@ class RobotStopMissionThread(Thread):
         self.robot_service_events: RobotServiceEvents = robot_service_events
         self.robot: RobotInterface = robot
         self.signal_thread_quitting: Event = signal_thread_quitting
-        Thread.__init__(self, name="Robot start mission thread")
+        Thread.__init__(self, name="Robot stop mission thread")
 
     def run(self) -> None:
         retries = 0