isar 1.33.5__py3-none-any.whl → 1.33.7__py3-none-any.whl

isar/state_machine/states/stopping_go_to_lockdown.py

@@ -0,0 +1,79 @@
+from typing import TYPE_CHECKING, Callable, List, Optional
+
+from isar.apis.models.models import LockdownResponse
+from isar.eventhandlers.eventhandler import EventHandlerBase, EventHandlerMapping
+from isar.models.events import Event
+from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
+from robot_interface.models.mission.status import MissionStatus, TaskStatus
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+class StoppingGoToLockdown(EventHandlerBase):
+
+    def __init__(self, state_machine: "StateMachine"):
+        events = state_machine.events
+
+        def _stop_mission_cleanup() -> None:
+            if state_machine.current_mission is None:
+                state_machine._queue_empty_response()
+                state_machine.reset_state_machine()
+                return None
+
+            state_machine.current_mission.status = MissionStatus.Cancelled
+
+            for task in state_machine.current_mission.tasks:
+                if task.status in [
+                    TaskStatus.NotStarted,
+                    TaskStatus.InProgress,
+                    TaskStatus.Paused,
+                ]:
+                    task.status = TaskStatus.Cancelled
+
+            state_machine.publish_task_status(task=state_machine.current_task)
+            return None
+
+        def _failed_stop_event_handler(
+            event: Event[ErrorMessage],
+        ) -> Optional[Callable]:
+            error_message: Optional[ErrorMessage] = event.consume_event()
+            if error_message is not None:
+                events.api_requests.send_to_lockdown.response.trigger_event(
+                    LockdownResponse(
+                        lockdown_started=False,
+                        failure_reason="Failed to stop ongoing mission",
+                    )
+                )
+                return state_machine.mission_stopping_failed  # type: ignore
+            return None
+
+        def _successful_stop_event_handler(event: Event[bool]) -> Optional[Callable]:
+            if event.consume_event():
+                state_machine.publish_mission_aborted(
+                    "Robot being sent to lockdown", True
+                )
+                _stop_mission_cleanup()
+                events.api_requests.send_to_lockdown.response.trigger_event(
+                    LockdownResponse(lockdown_started=True)
+                )
+                return state_machine.request_lockdown_mission  # type: ignore
+            return None
+
+        event_handlers: List[EventHandlerMapping] = [
+            EventHandlerMapping(
+                name="failed_stop_event",
+                event=events.robot_service_events.mission_failed_to_stop,
+                handler=_failed_stop_event_handler,
+            ),
+            EventHandlerMapping(
+                name="successful_stop_event",
+                event=events.robot_service_events.mission_successfully_stopped,
+                handler=_successful_stop_event_handler,
+            ),
+        ]
+        super().__init__(
+            state_name="stopping_go_to_lockdown",
+            state_machine=state_machine,
+            event_handler_mappings=event_handlers,
+        )

isar/state_machine/states_enum.py

@@ -7,6 +7,8 @@ class States(str, Enum):
     Stopping = "stopping"
     StoppingReturnHome = "stopping_return_home"
     Paused = "paused"
+    Pausing = "pausing"
+    PausingReturnHome = "pausing_return_home"
     ReturnHomePaused = "return_home_paused"
     AwaitNextMission = "await_next_mission"
     Home = "home"
@@ -15,6 +17,9 @@ class States(str, Enum):
     UnknownStatus = "unknown_status"
     InterventionNeeded = "intervention_needed"
     Recharging = "recharging"
+    StoppingGoToLockdown = "stopping_go_to_lockdown"
+    GoingToLockdown = "going_to_lockdown"
+    Lockdown = "lockdown"
 
     def __repr__(self):
         return self.value

isar/state_machine/transitions/functions/fail_mission.py

@@ -18,3 +18,10 @@ def report_failed_return_home_and_intervention_needed(
 ) -> None:
     error_message: str = "Return home failed."
     state_machine.publish_intervention_needed(error_message=error_message)
+
+
+def report_failed_lockdown_and_intervention_needed(
+    state_machine: "StateMachine",
+) -> None:
+    error_message: str = "Lockdown mission failed."
+    state_machine.publish_intervention_needed(error_message=error_message)

isar/state_machine/transitions/functions/pause.py

@@ -1,91 +1,31 @@
 from typing import TYPE_CHECKING
 
-if TYPE_CHECKING:
-    from isar.state_machine.state_machine import StateMachine
-
-import time
-
 from isar.apis.models.models import ControlMissionResponse
-from isar.config.settings import settings
-from robot_interface.models.exceptions.robot_exceptions import (
-    RobotActionException,
-    RobotException,
-)
-from robot_interface.models.mission.status import MissionStatus, TaskStatus
-
-
-def pause_mission(state_machine: "StateMachine") -> bool:
-    state_machine.logger.info("Pausing mission: %s", state_machine.current_mission.id)
-
-    max_retries = settings.STATE_TRANSITION_NUM_RETIRES
-    retry_interval = settings.STATE_TRANSITION_RETRY_INTERVAL_SEC
-
-    for attempt in range(max_retries):
-        try:
-            state_machine.robot.pause()
-            state_machine.current_mission.status = MissionStatus.Paused
-            state_machine.current_task.status = TaskStatus.Paused
-
-            paused_mission_response: ControlMissionResponse = (
-                state_machine._make_control_mission_response()
-            )
-            state_machine.events.api_requests.pause_mission.response.trigger_event(
-                paused_mission_response
-            )
-
-            state_machine.publish_mission_status()
-            state_machine.publish_task_status(task=state_machine.current_task)
-
-            state_machine.logger.info("Mission paused successfully.")
-            return True
-        except RobotActionException as e:
-            state_machine.logger.warning(
-                f"Attempt {attempt + 1} to pause mission failed: {e.error_description}"
-            )
-            time.sleep(retry_interval)
-        except RobotException as e:
-            state_machine.logger.warning(
-                f"Attempt {attempt + 1} to pause mission raised a RobotException: {e.error_description}"
-            )
-            time.sleep(retry_interval)
-
-    state_machine.logger.error("Failed to pause mission after multiple attempts.")
-    return False
 
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
 
-def pause_return_home_mission(state_machine: "StateMachine") -> bool:
-    state_machine.logger.info("Pausing return home misson")
 
-    max_retries = settings.STATE_TRANSITION_NUM_RETIRES
-    retry_interval = settings.STATE_TRANSITION_RETRY_INTERVAL_SEC
+def trigger_pause_mission_event(state_machine: "StateMachine") -> bool:
+    state_machine.events.state_machine_events.pause_mission.trigger_event(True)
+    return True
 
-    for attempt in range(max_retries):
-        try:
-            state_machine.robot.pause()
-            state_machine.current_mission.status = MissionStatus.Paused
-            state_machine.current_task.status = TaskStatus.Paused
 
-            paused_mission_response: ControlMissionResponse = (
-                state_machine._make_control_mission_response()
-            )
-            state_machine.events.api_requests.pause_mission.response.trigger_event(
-                paused_mission_response
-            )
+def pause_mission_failed(state_machine: "StateMachine") -> bool:
+    paused_mission_response: ControlMissionResponse = (
+        state_machine._make_control_mission_response()
+    )
+    state_machine.events.api_requests.pause_mission.response.trigger_event(
+        paused_mission_response
+    )
+    return True
 
-            state_machine.logger.info("Return home mission paused successfully.")
-            return True
-        except RobotActionException as e:
-            state_machine.logger.warning(
-                f"Attempt {attempt + 1} to pause return home mission failed: {e.error_description}"
-            )
-            time.sleep(retry_interval)
-        except RobotException as e:
-            state_machine.logger.warning(
-                f"Attempt {attempt + 1} to pause return home mission raised a RobotException: {e.error_description}"
-            )
-            time.sleep(retry_interval)
 
-    state_machine.logger.error(
-        "Failed to pause return home mission after multiple attempts."
+def stop_return_home_mission_failed(state_machine: "StateMachine") -> bool:
+    paused_mission_response: ControlMissionResponse = (
+        state_machine._make_control_mission_response()
+    )
+    state_machine.events.api_requests.pause_mission.response.trigger_event(
+        paused_mission_response
     )
-    return False
+    return True

isar/state_machine/transitions/functions/robot_status.py

@@ -1,5 +1,7 @@
+import time
 from typing import TYPE_CHECKING
 
+from isar.config.settings import settings
 from robot_interface.models.mission.status import RobotStatus
 
 if TYPE_CHECKING:
@@ -19,3 +21,16 @@ def is_available_or_home(state_machine: "StateMachine") -> bool:
 def is_blocked_protective_stop(state_machine: "StateMachine") -> bool:
     robot_status = state_machine.shared_state.robot_status.check()
     return robot_status == RobotStatus.BlockedProtectiveStop
+
+
+def clear_robot_status(state_machine: "StateMachine") -> bool:
+    state_machine.events.state_machine_events.clear_robot_status.trigger_event(True)
+    start_time: float = time.time()
+    while time.time() - start_time < settings.CLEAR_ROBOT_STATUS_TIMEOUT:
+        if (
+            state_machine.events.robot_service_events.robot_status_cleared.consume_event()
+        ):
+            return True
+        time.sleep(settings.FSM_SLEEP_TIME)
+    state_machine.logger.error("Timed out waiting for robot status to be cleared")
+    return False

isar/state_machine/transitions/mission.py

@@ -5,8 +5,8 @@ from isar.state_machine.transitions.functions.fail_mission import (
 )
 from isar.state_machine.transitions.functions.finish_mission import finish_mission
 from isar.state_machine.transitions.functions.pause import (
-    pause_mission,
-    pause_return_home_mission,
+    pause_mission_failed,
+    trigger_pause_mission_event,
 )
 from isar.state_machine.transitions.functions.resume import resume_mission
 from isar.state_machine.transitions.functions.return_home import (
@@ -36,24 +36,39 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
         {
             "trigger": "pause",
             "source": state_machine.monitor_state,
+            "dest": state_machine.pausing_state,
+            "conditions": def_transition(state_machine, trigger_pause_mission_event),
+        },
+        {
+            "trigger": "mission_paused",
+            "source": state_machine.pausing_state,
             "dest": state_machine.paused_state,
-            "conditions": def_transition(state_machine, pause_mission),
         },
         {
-            "trigger": "pause",
-            "source": state_machine.monitor_state,
+            "trigger": "mission_pausing_failed",
+            "source": state_machine.pausing_state,
             "dest": state_machine.monitor_state,
+            "before": def_transition(state_machine, pause_mission_failed),
         },
         {
-            "trigger": "pause",
+            "trigger": "pause_return_home",
             "source": state_machine.returning_home_state,
-            "dest": state_machine.return_home_paused_state,
-            "conditions": def_transition(state_machine, pause_return_home_mission),
+            "dest": state_machine.pausing_return_home_state,
+            "before": [
+                def_transition(state_machine, trigger_pause_mission_event),
+                def_transition(state_machine, reset_return_home_failure_counter),
+            ],
         },
         {
-            "trigger": "pause",
-            "source": state_machine.returning_home_state,
+            "trigger": "return_home_mission_pausing_failed",
+            "source": state_machine.pausing_return_home_state,
             "dest": state_machine.returning_home_state,
+            "before": def_transition(state_machine, stop_return_home_mission_failed),
+        },
+        {
+            "trigger": "return_home_mission_paused",
+            "source": state_machine.pausing_return_home_state,
+            "dest": state_machine.return_home_paused_state,
         },
         {
             "trigger": "resume",
@@ -77,6 +92,12 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "source": state_machine.return_home_paused_state,
             "dest": state_machine.return_home_paused_state,
         },
+        {
+            "trigger": "resume_lockdown",
+            "source": state_machine.return_home_paused_state,
+            "dest": state_machine.going_to_lockdown_state,
+            "conditions": def_transition(state_machine, resume_mission),
+        },
         {
             "trigger": "stop",
             "source": [
@@ -87,6 +108,14 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "dest": state_machine.stopping_state,
             "before": def_transition(state_machine, trigger_stop_mission_event),
         },
+        {
+            "trigger": "stop_go_to_lockdown",
+            "source": [
+                state_machine.monitor_state,
+            ],
+            "dest": state_machine.stopping_go_to_lockdown_state,
+            "before": def_transition(state_machine, trigger_stop_mission_event),
+        },
         {
             "trigger": "stop_return_home",
             "source": [
@@ -105,12 +134,22 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "source": state_machine.stopping_state,
             "dest": state_machine.await_next_mission_state,
         },
+        {
+            "trigger": "mission_stopped",
+            "source": state_machine.stopping_go_to_lockdown_state,
+            "dest": state_machine.going_to_lockdown_state,
+        },
         {
             "trigger": "mission_stopping_failed",
             "source": state_machine.stopping_state,
             "dest": state_machine.monitor_state,
             "before": def_transition(state_machine, stop_mission_failed),
         },
+        {
+            "trigger": "mission_stopping_failed",
+            "source": state_machine.stopping_go_to_lockdown_state,
+            "dest": state_machine.monitor_state,
+        },
         {
             "trigger": "return_home_mission_stopping_failed",
             "source": state_machine.stopping_return_home_state,
@@ -159,5 +198,11 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "dest": state_machine.await_next_mission_state,
             "before": def_transition(state_machine, finish_mission),
         },
+        {
+            "trigger": "lock_down_successful",
+            "source": state_machine.going_to_lockdown_state,
+            "dest": state_machine.lockdown_state,
+            "before": def_transition(state_machine, finish_mission),
+        },
     ]
     return mission_transitions

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,
 )
@@ -11,6 +12,7 @@ from isar.state_machine.transitions.functions.return_home import (
     should_retry_return_home,
     start_return_home_mission,
 )
+from isar.state_machine.transitions.functions.robot_status import clear_robot_status
 from isar.state_machine.transitions.functions.start_mission import (
     initialize_robot,
     trigger_start_mission_event,
@@ -57,11 +59,19 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
             "trigger": "returned_home",
             "source": state_machine.returning_home_state,
             "dest": state_machine.home_state,
+            "conditions": [
+                def_transition(state_machine, clear_robot_status),
+            ],
             "before": [
                 def_transition(state_machine, reset_return_home_failure_counter),
                 def_transition(state_machine, return_home_finished),
             ],
         },
+        {
+            "trigger": "returned_home",
+            "source": state_machine.returning_home_state,
+            "dest": state_machine.intervention_needed_state,
+        },
         {
             "trigger": "starting_recharging",
             "source": state_machine.returning_home_state,
@@ -71,6 +81,11 @@ 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 +118,52 @@ 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/state_machine/utils/common_event_handlers.py

@@ -43,9 +43,12 @@ def return_home_event_handler(
 def robot_status_event_handler(
     state_machine: "StateMachine",
     expected_status: RobotStatus,
-    event: Event[RobotStatus],
+    status_changed_event: Event[bool],
+    status_event: Event[RobotStatus],
 ) -> Optional[Callable]:
-    robot_status: RobotStatus = event.check()
+    if not status_changed_event.consume_event():
+        return None
+    robot_status: Optional[RobotStatus] = status_event.check()
     if robot_status != expected_status:
         return state_machine.robot_status_changed  # type: ignore
     return None

{isar-1.33.5.dist-info → isar-1.33.7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.5
+Version: 1.33.7
 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-1.33.7.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
@@ -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=5A_hxq6AFzg94ROz8yIK8KKZcygwJAosM4ROKJOeCfU,14243
+isar/config/settings.py,sha256=XMPU4d1V6FspjvMmto5TFmC8Slt8Nrpmn9n_tsyPTYk,14423
 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
@@ -42,11 +42,13 @@ 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=D3f5v0mmGlkIYT1ZSfSZILuMyVi4zDA-VxohuzRM6AA,5675
+isar/robot/robot.py,sha256=sn-JfJE6lC6Auo13fdS556Uwq_xZE6VSrR4DhNcgOno,7560
+isar/robot/robot_battery.py,sha256=goLdgmn61QCgE2Ja3YuiwE_sqJzIhCkS3u90sz1kdug,2089
+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_status.py,sha256=8201XW9SmYFLVjys9zk972a8ge9aEgCsdm-V1S2VTjM,2924
+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
@@ -59,45 +61,50 @@ 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/blocked_protective_stop.py,sha256=GEOvxnHXjpCsrh3aa8Idtn1zMYv5HLQzj9qQAq8HvaU,1180
-isar/state_machine/states/home.py,sha256=718NFxbYQTM5VLKbL8e5ELlbXWYis1GfaZfl34EhfQo,2292
+isar/state_machine/states/await_next_mission.py,sha256=3_KrK7nWu1Dm-VA3Rt1gwVsUbn9WuB7MoqLCfobGJSM,2749
+isar/state_machine/states/blocked_protective_stop.py,sha256=HJr_jH8OdHMuX8zhjlF5jtNAfMCxkA1X7nOGmkAz-RY,1263
+isar/state_machine/states/going_to_lockdown.py,sha256=RLMOH2lXiT3hQhfUtbBVAUfwKUd33yxbjq4uZDZ_Tkc,3388
+isar/state_machine/states/home.py,sha256=mCwXSb9LygNpY4qaKEkEYC3nP-6HdsSGmEyjsENumgM,3396
 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=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/lockdown.py,sha256=mWjhjtky5GbW6BLjsi2TsS0LXI-yq7l29FaqZ2TbTek,1375
+isar/state_machine/states/monitor.py,sha256=wmiJrbKntnNw9ExS6-VdJJuW2Q3Jzl9DozmZmEXJ0Cw,5285
+isar/state_machine/states/offline.py,sha256=k1UdcRWLd6lJiL5cnpHKBkvMY4xZMt_x7XIauy-Rgww,1219
+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=ho4Nae-C5BaxVFciFL546EuoMSDIWLqT58E8bNraW4o,6749
 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
+isar/state_machine/transitions/functions/robot_status.py,sha256=bA8G5WtY7TA88MKpdOcR6qftFjW8OttntmptZDXpTKg,1365
 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/state_machine/utils/common_event_handlers.py,sha256=LqXPB4qojzz0LqKF14g4pUd0HYBqZiCV83I4UMgy9DY,6450
 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=oaGhHqYrtyvJoFUuD7ZyBgdPNkYaSgQokQZkAjmd4vI,10702
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.33.5.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.33.7.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 +116,7 @@ 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 +128,8 @@ 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-1.33.7.dist-info/METADATA,sha256=azNe_j08RzYztSEwtbNt_zov9uaQauwP34HW3NuZwF4,31190
+isar-1.33.7.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.33.7.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.33.7.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.33.7.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"