isar 1.33.5__py3-none-any.whl → 1.33.6__py3-none-any.whl

isar/state_machine/transitions/return_home.py

@@ -1,6 +1,7 @@
 from typing import TYPE_CHECKING, List
 
 from isar.state_machine.transitions.functions.fail_mission import (
+    report_failed_lockdown_and_intervention_needed,
     report_failed_mission_and_finalize,
     report_failed_return_home_and_intervention_needed,
 )
@@ -71,6 +72,11 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 def_transition(state_machine, return_home_finished),
             ],
         },
+        {
+            "trigger": "starting_recharging",
+            "source": state_machine.lockdown_state,
+            "dest": state_machine.recharging_state,
+        },
         {
             "trigger": "return_home_failed",
             "source": state_machine.returning_home_state,
@@ -103,5 +109,52 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
             "source": state_machine.intervention_needed_state,
             "dest": state_machine.unknown_status_state,
         },
+        {
+            "trigger": "request_lockdown_mission",
+            "source": [
+                state_machine.stopping_go_to_lockdown_state,
+                state_machine.await_next_mission_state,
+            ],
+            "dest": state_machine.going_to_lockdown_state,
+            "conditions": [
+                def_transition(state_machine, start_return_home_mission),
+                def_transition(state_machine, set_return_home_status),
+                def_transition(state_machine, initialize_robot),
+            ],
+            "before": def_transition(state_machine, trigger_start_mission_event),
+        },
+        {
+            "trigger": "go_to_lockdown",
+            "source": [
+                state_machine.returning_home_state,
+                state_machine.return_home_paused_state,
+            ],
+            "dest": state_machine.going_to_lockdown_state,
+        },
+        {
+            "trigger": "reached_lockdown",
+            "source": [
+                state_machine.home_state,
+                state_machine.going_to_lockdown_state,
+                state_machine.recharging_state,
+            ],
+            "dest": state_machine.lockdown_state,
+        },
+        {
+            "trigger": "lockdown_mission_failed",
+            "source": state_machine.going_to_lockdown_state,
+            "dest": state_machine.intervention_needed_state,
+            "before": [
+                def_transition(
+                    state_machine, report_failed_lockdown_and_intervention_needed
+                ),
+                def_transition(state_machine, report_failed_mission_and_finalize),
+            ],
+        },
+        {
+            "trigger": "release_from_lockdown",
+            "source": state_machine.lockdown_state,
+            "dest": state_machine.home_state,
+        },
     ]
     return return_home_transitions

{isar-1.33.5.dist-info → isar-1.33.6.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.5
+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-1.33.5.dist-info → isar-1.33.6.dist-info}/RECORD

@@ -2,13 +2,13 @@ isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
 isar/modules.py,sha256=1QdULg-9gV5Ds4pMV4IQTlImSgsVwqs-g15ifllF2kg,4757
 isar/script.py,sha256=LCb7CHvNyZhQz1OaQ-BUX8w7RDmu975zA0kL6FPwfzk,5912
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/api.py,sha256=VM_WBlHJ4Juv9A0FvaUTeaMVYCN6a7pAojxIGCmDtf0,14154
+isar/apis/api.py,sha256=iqCaDDXpSfqfZp0nWg2-A_ujAOh-U0eXwXRRCu49Gk4,15694
 isar/apis/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/models/models.py,sha256=iRyqflpjGopm4KJjgRrOnC2swNEk3a-iwVynzw3Nm6c,1992
+isar/apis/models/models.py,sha256=4w8oJIvhnarikCZe6d32GG80RtsyaSWLpOpUiEAMr0Q,2097
 isar/apis/models/start_mission_definition.py,sha256=v-wt1XDd53Sw7DCdFAkxBBut-xd_uGJa7qMJnE3VI9k,6364
 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=w7YJfN5vSRfnd_56ilPi0WRnScsGzo1m8pTQyj2w7bA,9980
+isar/apis/schedule/scheduling_controller.py,sha256=pBSikDCajv1UbiCb5p8jHd1QSJ6UwbesmqZKAMTouXs,11277
 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
@@ -42,11 +42,12 @@ 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=M-0p4krtLpCfBMbClQvBFvfFB4NWBm55AlO1ngzVM_g,5024
-isar/robot/robot.py,sha256=keqsYmfRlyIC4CWkMG0erDt_4uIC0IPvyG2ni4MemyI,5350
+isar/models/events.py,sha256=GzoOzwZA5PgPuI8Uc-bR3Kvrj-OJuSUIHPynZrkjgU8,5521
+isar/robot/robot.py,sha256=jeDVTWneDPFfHcpa4QUVx6DscE7gAiZ85UMuB-Xwm9o,6853
+isar/robot/robot_pause_mission.py,sha256=BFTLVFOnCeuLlyz1Lu12_6EgYBhk8frsviCs-kGq7AA,2277
 isar/robot/robot_start_mission.py,sha256=RPYH9VtXDFdPqhOpt6kSbT17RHkJQPKkQ6d4784_pFE,3210
 isar/robot/robot_status.py,sha256=OXx18Qj0bvb2sKzn5-yKXWGdZ9GYyCOIgiTaGof-0Wc,2055
-isar/robot/robot_stop_mission.py,sha256=4GZyhLU0hB6ZK0ArCVhFS9Sf3ZbqFI9DvPNfvD889Ps,2270
+isar/robot/robot_stop_mission.py,sha256=lKWY9LsBeeMsBZHJEN-Mfm2h3DYoBQT71TgEKlxw9ng,2269
 isar/robot/robot_task_status.py,sha256=jefIDfrbly7vWZztWA2zLmK5Yz1NSEytw2YUmprccNA,3161
 isar/services/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -59,31 +60,36 @@ isar/services/service_connections/mqtt/robot_heartbeat_publisher.py,sha256=SKPvY
 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=6t42uyHXRr8QtRU6qH_EzYKlvwXEAUCwe7U5IDUp4nc,13502
+isar/services/utilities/scheduling_utilities.py,sha256=yIhvYeWjU4e6n0R84yfSve-CqUCENg1vqoSPuHTfcOE,15584
 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=W2RMBhSRtu5kH0LAuRHbPhxHxtFa0knWfBv7EMRuQcI,18610
-isar/state_machine/states_enum.py,sha256=hBbP87Aw9JiIBScfAkflWgQHYBrLA17ex0XXO4suRYY,555
+isar/state_machine/state_machine.py,sha256=CUDTwPEOVpyV8up5bhVLKLkPDcc1mMx_NchmqCe27z0,19730
+isar/state_machine/states_enum.py,sha256=EzqLHsNbR7KBMIY5Fa_CDaHm9v6g8UFzq9DJs4x0OU8,746
 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/await_next_mission.py,sha256=3_KrK7nWu1Dm-VA3Rt1gwVsUbn9WuB7MoqLCfobGJSM,2749
 isar/state_machine/states/blocked_protective_stop.py,sha256=GEOvxnHXjpCsrh3aa8Idtn1zMYv5HLQzj9qQAq8HvaU,1180
-isar/state_machine/states/home.py,sha256=718NFxbYQTM5VLKbL8e5ELlbXWYis1GfaZfl34EhfQo,2292
+isar/state_machine/states/going_to_lockdown.py,sha256=RLMOH2lXiT3hQhfUtbBVAUfwKUd33yxbjq4uZDZ_Tkc,3388
+isar/state_machine/states/home.py,sha256=aWJYsGkv8zVaKZJ4OUbbRPHyI4j8Jj9Uy0PvLx6jI2U,2984
 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/lockdown.py,sha256=mWjhjtky5GbW6BLjsi2TsS0LXI-yq7l29FaqZ2TbTek,1375
+isar/state_machine/states/monitor.py,sha256=wmiJrbKntnNw9ExS6-VdJJuW2Q3Jzl9DozmZmEXJ0Cw,5285
 isar/state_machine/states/offline.py,sha256=5wdNzC1wG0cWrpuT_r_mk8UNFHA4QSyg8ejXUTAg4Io,1137
-isar/state_machine/states/paused.py,sha256=OruA2oPGWsVjnQ8xxVJJsGO3xKzXz2xF5uWsrvH27Ng,2101
-isar/state_machine/states/recharging.py,sha256=ni5WqFU0VDhdGC3ZfHcabSICm_5kwaS72wc3ecAB_os,1651
-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/paused.py,sha256=1ADoTJ3b137k7dmZYxeyGVhyrRF8qotxoV1NaWCbBUk,2870
+isar/state_machine/states/pausing.py,sha256=r0GywI1-JDOJLZEnxhnq_yFKza37eL45qHP0ir8SBsY,2762
+isar/state_machine/states/pausing_return_home.py,sha256=USyBLWpJqrsJ2hsdyW6i-gvEsog2l7OMJLdgIj-hq0Y,2808
+isar/state_machine/states/recharging.py,sha256=6zRppneGXetMaZVvhqCPcSoQyz08tftNhWHYxLCRGc8,2367
+isar/state_machine/states/return_home_paused.py,sha256=eBBFFbkLVfY_5yP2kPZnHHwxcwOcHKAxjkQTMat55HU,3398
+isar/state_machine/states/returning_home.py,sha256=47M760nPt1dh1P0C0PmfVLrjsZaWz_pGizuBbWZ0OeI,5211
 isar/state_machine/states/stopping.py,sha256=h0x94hVoIUJyml3WMrbJlbxG2dzMCeOL1rJoNCQfzGQ,3057
+isar/state_machine/states/stopping_go_to_lockdown.py,sha256=npbz0aFbbCpsEbmBYc8wE9DZXztkLkRB-OD7tslbE0c,3166
 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=W56bs4jSFwH2K4yAwxzLWh7dDuLi8j-L4mVvmfeKjWw,6313
-isar/state_machine/transitions/return_home.py,sha256=9fXFVozsCZqtKjQwiPLLc3ExrgLj5zU9AD7a9IMe0Pw,4348
+isar/state_machine/transitions/mission.py,sha256=lwXdC5Jn19gO-wrSaZp3_77mLnvj-CaBYZk61U-qgoo,8211
+isar/state_machine/transitions/return_home.py,sha256=0tB2n07_eq7J3-Aq3v5ob8Mh-yyCkSNu07OgD9NkCY0,6374
 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/fail_mission.py,sha256=fBwLW22d8MyrH4047hb3eXn87yLq4v5SkLSIhV9Ge5k,947
 isar/state_machine/transitions/functions/finish_mission.py,sha256=TRQrk7HdllmAkwsp25HRZAFAk46Y1hLx3jmkIAKrHDI,1442
-isar/state_machine/transitions/functions/pause.py,sha256=R4Bbb-XcmcCwGiY3-lsYiK-WAz2KfVj4kM_pzE8OFyg,3472
+isar/state_machine/transitions/functions/pause.py,sha256=QCIKTpB_CAkUVaSy02i2cpLJAWx3-qGN5RPbK9L2qPY,983
 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=2P3EfP2c06GY-LUquyBTyHn1Ard31Hl3UeT-e-VaIWE,768
@@ -97,7 +103,7 @@ isar/storage/local_storage.py,sha256=Rn-iiiz9DI7PzIhevOMshPIaqzJaqBXeVJMQRhVSl2M
 isar/storage/storage_interface.py,sha256=x-imVeQTdL6dCaTaPTHpXwCR6N4e27WxK_Vpumg0x-Y,1230
 isar/storage/uploader.py,sha256=oaGhHqYrtyvJoFUuD7ZyBgdPNkYaSgQokQZkAjmd4vI,10702
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.33.5.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.33.6.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
@@ -109,7 +115,7 @@ 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=e5Yr-GSV_CNSOV9MH2TQP4H_WbSG-z8Ty0JKkYFbZKA,856
+robot_interface/models/mission/status.py,sha256=sCYeqIFgCSCBy8UocUWup3U6g45G0af5mdeST-G7Zfc,922
 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
@@ -121,8 +127,8 @@ 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-1.33.5.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,,
+isar-1.33.6.dist-info/METADATA,sha256=vYkbIytrQRoVeNmSZw0byZnvMgocqVQ2ttxSQ9xS-2g,31190
+isar-1.33.6.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.33.6.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.33.6.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.33.6.dist-info/RECORD,,

robot_interface/models/mission/status.py

@@ -32,3 +32,5 @@ class RobotStatus(Enum):
     ReturningHome = "returninghome"
     InterventionNeeded = "interventionneeded"
     Recharging = "recharging"
+    Lockdown = "lockdown"
+    GoingToLockdown = "goingtolockdown"