isar 1.33.7__tar.gz → 1.33.8__tar.gz

{isar-1.33.7 → isar-1.33.8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.7
+Version: 1.33.8
 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-1.33.7 → isar-1.33.8}/src/isar/models/events.py

@@ -42,6 +42,8 @@ class Event(Queue[T]):
             if timeout is not None:
                 raise EventTimeoutError
             return None
+        except ValueError:
+            raise EventConflictError
 
     def clear_event(self) -> None:
         while True:
@@ -49,6 +51,8 @@ class Event(Queue[T]):
                 self.get(block=False)
             except Empty:
                 break
+            except ValueError:
+                break
 
     def has_event(self) -> bool:
         return (

isar-1.33.8/src/isar/models/status.py

@@ -0,0 +1,16 @@
+from enum import Enum
+
+
+class IsarStatus(Enum):
+    Available = "available"
+    ReturnHomePaused = "returnhomepaused"
+    Paused = "paused"
+    Busy = "busy"
+    Home = "home"
+    Offline = "offline"
+    BlockedProtectiveStop = "blockedprotectivestop"
+    ReturningHome = "returninghome"
+    InterventionNeeded = "interventionneeded"
+    Recharging = "recharging"
+    Lockdown = "lockdown"
+    GoingToLockdown = "goingtolockdown"

{isar-1.33.7 → isar-1.33.8}/src/isar/services/utilities/scheduling_utilities.py

@@ -94,6 +94,12 @@ class SchedulingUtilities:
                 status_code=HTTPStatus.INTERNAL_SERVER_ERROR,
                 detail="Could not plan mission",
             )
+        except Exception as e:
+            self.logger.error(e)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR,
+                detail="Could not return mission",
+            )
 
     def verify_robot_capable_of_mission(
         self, mission: Mission, robot_capabilities: List[str]
@@ -171,6 +177,10 @@ class SchedulingUtilities:
         ------
         HTTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not ready to receive a mission
+        HTTPException 500 Internal Server Error
+            If there is an unexpected error while sending the mission to the state machine
         """
         try:
             mission_start_response = self._send_command(
@@ -195,6 +205,14 @@ class SchedulingUtilities:
             )
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = (
+                f"Unexpected error while sending mission to state machine: {e}"
+            )
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
         self.logger.info("OK - Mission started in ISAR")
 
     def return_home(
@@ -206,6 +224,10 @@ class SchedulingUtilities:
         ------
         HTTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not ready to receive a return home mission
+        HTTPException 500 Internal Server Error
+            If there is an unexpected error while sending the return home command
         """
         try:
             self._send_command(
@@ -220,6 +242,12 @@ class SchedulingUtilities:
             error_message = "State machine has entered a state which cannot start a return home mission"
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = f"Unexpected error while sending return home command: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
         self.logger.info("OK - Return home mission started in ISAR")
 
     def pause_mission(self) -> ControlMissionResponse:
@@ -229,6 +257,8 @@ class SchedulingUtilities:
         ------
         HTTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not in a state which can pause a mission
         """
         try:
             response = self._send_command(True, self.api_events.pause_mission)
@@ -244,6 +274,12 @@ class SchedulingUtilities:
             )
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = f"Unexpected error while pausing mission: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def resume_mission(self) -> ControlMissionResponse:
         """Resume mission
@@ -252,6 +288,10 @@ class SchedulingUtilities:
         ------
         HTTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not in a state which can resume a mission
+        HTTPException 500 Internal Server Error
+            If there is an unexpected error while resuming the mission
         """
         try:
             response = self._send_command(True, self.api_events.resume_mission)
@@ -267,6 +307,12 @@ class SchedulingUtilities:
             raise HTTPException(
                 status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
             )
+        except Exception as e:
+            error_message = f"Unexpected error while resuming mission: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def stop_mission(self, mission_id: str = "") -> ControlMissionResponse:
         """Stop mission
@@ -279,6 +325,10 @@ class SchedulingUtilities:
             The request was understood, but attempting to stop the mission failed
         HTTPException 408 Request timeout
             If there is a timeout while communicating with the state machine
+        HTTPException 409 Conflict
+            If the state machine is not in a state which can stop a mission
+        HTTPException 500 Internal Server Error
+            If there is an unexpected error while stopping the mission
         """
         try:
             stop_mission_response: ControlMissionResponse = self._send_command(
@@ -293,7 +343,7 @@ class SchedulingUtilities:
                 )
 
             if stop_mission_response.mission_status != MissionStatus.Cancelled.value:
-                error_message = "Failed to stop mission"
+                error_message = f"Failed to stop mission, mission status is {stop_mission_response.mission_status}"
                 self.logger.error(error_message)
                 raise HTTPException(
                     status_code=HTTPStatus.CONFLICT, detail=error_message
@@ -308,6 +358,14 @@ class SchedulingUtilities:
             )
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except HTTPException as e:
+            raise e
+        except Exception as e:
+            error_message = f"Unexpected error while stopping mission: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
         self.logger.info("OK - Mission successfully stopped")
         return stop_mission_response
 
@@ -316,6 +374,10 @@ class SchedulingUtilities:
 
         Raises
         ------
+        HTTPException 409 Conflict
+            If the state machine is not in intervention needed state
+        HTTPException 408 Request timeout
+            If there is a timeout while communicating with the state machine
         HTTPException 500 Internal Server Error
             If the intervention needed state could not be released
         """
@@ -332,12 +394,22 @@ class SchedulingUtilities:
             error_message = "Cannot release intervention needed as it is not in intervention needed state"
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = (
+                f"Unexpected error while releasing intervention needed state: {e}"
+            )
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def lock_down_robot(self) -> None:
         """Lock down robot
 
         Raises
         ------
+        HTTPException 409 Conflict
+            If the state machine is not in a state which can be locked down
         HTTPException 500 Internal Server Error
             If the robot could not be locked down
         """
@@ -352,12 +424,20 @@ class SchedulingUtilities:
             error_message = "Cannot send robot to lockdown as it is already in lockdown"
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = f"Unexpected error while locking down robot: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def release_robot_lockdown(self) -> None:
         """Release robot from lockdown
 
         Raises
         ------
+        HTTPException 409 Conflict
+            If the state machine is not in lockdown
         HTTPException 500 Internal Server Error
             If the robot could not be released from lockdown
         """
@@ -376,6 +456,12 @@ class SchedulingUtilities:
             )
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
+        except Exception as e:
+            error_message = f"Unexpected error while releasing robot from lockdown: {e}"
+            self.logger.error(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
+            )
 
     def _send_command(self, input: T1, api_event: APIEvent[T1, T2]) -> T2:
         if api_event.request.has_event():

{isar-1.33.7 → isar-1.33.8}/src/isar/state_machine/state_machine.py

@@ -15,6 +15,7 @@ from isar.mission_planner.task_selector_interface import (
     TaskSelectorStop,
 )
 from isar.models.events import Events, SharedState
+from isar.models.status import IsarStatus
 from isar.services.service_connections.mqtt.mqtt_client import props_expiry
 from isar.state_machine.states.await_next_mission import AwaitNextMission
 from isar.state_machine.states.blocked_protective_stop import BlockedProtectiveStop
@@ -45,15 +46,15 @@ from robot_interface.models.exceptions.robot_exceptions import (
 )
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.status import RobotStatus, TaskStatus
+from robot_interface.models.mission.status import TaskStatus
 from robot_interface.models.mission.task import TASKS, InspectionTask, Task
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 from robot_interface.telemetry.payloads import (
     InterventionNeededPayload,
+    IsarStatusPayload,
     MissionAbortedPayload,
     MissionPayload,
-    RobotStatusPayload,
     TaskPayload,
 )
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
@@ -213,6 +214,9 @@ class StateMachine(object):
             self.send_task_status()
 
     def battery_level_is_above_mission_start_threshold(self):
+        if not self.shared_state.robot_battery_level.check():
+            self.logger.warning("Battery level is None")
+            return False
         return (
             not self.shared_state.robot_battery_level.check()
             < settings.ROBOT_MISSION_BATTERY_START_THRESHOLD
@@ -367,7 +371,7 @@ class StateMachine(object):
         if not self.mqtt_publisher:
             return
 
-        payload: RobotStatusPayload = RobotStatusPayload(
+        payload: IsarStatusPayload = IsarStatusPayload(
             isar_id=settings.ISAR_ID,
             robot_name=settings.ROBOT_NAME,
             status=self._current_status(),
@@ -381,31 +385,31 @@ class StateMachine(object):
             retain=True,
         )
 
-    def _current_status(self) -> RobotStatus:
+    def _current_status(self) -> IsarStatus:
         if self.current_state == States.AwaitNextMission:
-            return RobotStatus.Available
+            return IsarStatus.Available
         elif self.current_state == States.ReturnHomePaused:
-            return RobotStatus.ReturnHomePaused
+            return IsarStatus.ReturnHomePaused
         elif self.current_state == States.Paused:
-            return RobotStatus.Paused
+            return IsarStatus.Paused
         elif self.current_state == States.Home:
-            return RobotStatus.Home
+            return IsarStatus.Home
         elif self.current_state == States.ReturningHome:
-            return RobotStatus.ReturningHome
+            return IsarStatus.ReturningHome
         elif self.current_state == States.Offline:
-            return RobotStatus.Offline
+            return IsarStatus.Offline
         elif self.current_state == States.BlockedProtectiveStop:
-            return RobotStatus.BlockedProtectiveStop
+            return IsarStatus.BlockedProtectiveStop
         elif self.current_state == States.InterventionNeeded:
-            return RobotStatus.InterventionNeeded
+            return IsarStatus.InterventionNeeded
         elif self.current_state == States.Recharging:
-            return RobotStatus.Recharging
+            return IsarStatus.Recharging
         elif self.current_state == States.Lockdown:
-            return RobotStatus.Lockdown
+            return IsarStatus.Lockdown
         elif self.current_state == States.GoingToLockdown:
-            return RobotStatus.GoingToLockdown
+            return IsarStatus.GoingToLockdown
         else:
-            return RobotStatus.Busy
+            return IsarStatus.Busy
 
     def _log_state_transition(self, next_state) -> None:
         """Logs all state transitions that are not self-transitions."""

{isar-1.33.7 → isar-1.33.8}/src/isar/storage/uploader.py

@@ -146,6 +146,9 @@ class Uploader:
                     )
             except Empty:
                 continue
+            except Exception as e:
+                self.logger.error(f"Unexpected error in uploader thread: {e}")
+                continue
 
     def _upload(self, item: BlobItem) -> StoragePaths:
         inspection_paths: StoragePaths

{isar-1.33.7 → isar-1.33.8}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.7
+Version: 1.33.8
 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-1.33.7 → isar-1.33.8}/src/isar.egg-info/SOURCES.txt

@@ -80,6 +80,7 @@ src/isar/mission_planner/sequential_task_selector.py
 src/isar/mission_planner/task_selector_interface.py
 src/isar/models/__init__.py
 src/isar/models/events.py
+src/isar/models/status.py
 src/isar/robot/robot.py
 src/isar/robot/robot_battery.py
 src/isar/robot/robot_pause_mission.py

{isar-1.33.7 → isar-1.33.8}/src/robot_interface/models/mission/status.py

@@ -23,14 +23,8 @@ class TaskStatus(str, Enum):
 
 class RobotStatus(Enum):
     Available = "available"
-    ReturnHomePaused = "returnhomepaused"
     Paused = "paused"
     Busy = "busy"
     Home = "home"
     Offline = "offline"
     BlockedProtectiveStop = "blockedprotectivestop"
-    ReturningHome = "returninghome"
-    InterventionNeeded = "interventionneeded"
-    Recharging = "recharging"
-    Lockdown = "lockdown"
-    GoingToLockdown = "goingtolockdown"

{isar-1.33.7 → isar-1.33.8}/src/robot_interface/telemetry/payloads.py

@@ -4,9 +4,10 @@ from typing import List, Optional
 
 from alitra import Pose
 
+from isar.models.status import IsarStatus
 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.status import MissionStatus, TaskStatus
 from robot_interface.models.mission.task import TaskTypes
 from robot_interface.models.robots.battery_state import BatteryState
 
@@ -53,10 +54,10 @@ class DocumentInfo:
 
 
 @dataclass
-class RobotStatusPayload:
+class IsarStatusPayload:
     isar_id: str
     robot_name: str
-    status: RobotStatus
+    status: IsarStatus
     timestamp: datetime
 
 

{isar-1.33.7 → isar-1.33.8}/tests/conftest.py

@@ -8,6 +8,7 @@ from pytest_mock import MockerFixture
 
 from isar.apis.security.authentication import Authenticator
 from isar.eventhandlers.eventhandler import EventHandlerBase
+from isar.models.events import Events
 from isar.modules import ApplicationContainer
 from isar.robot.robot import Robot
 from isar.state_machine.state_machine import StateMachine
@@ -26,6 +27,7 @@ from tests.test_double.robot_interface import StubRobot
 def container():
     """Fixture to provide the dependency-injector container without auth."""
     container = ApplicationContainer()
+    container.events.override(providers.Singleton(Events))
     container.storage_handlers.override(
         providers.List(providers.Singleton(StorageFake))
     )

{isar-1.33.7 → isar-1.33.8}/tests/isar/state_machine/test_state_machine.py

@@ -109,7 +109,7 @@ def test_state_machine_transitions_when_running_full_mission(
     )
     state_machine_thread.start()
     robot_service_thread.start()
-
+    time.sleep(1)
     # Setting the poll interval to a lower value to ensure that the robot status is
     # updated during the mission. This value needs to be set after the robot service
     # thread has been started.
@@ -154,6 +154,7 @@ def test_state_machine_battery_too_low_to_start_mission(
     mocker.patch.object(StubRobot, "robot_status", return_value=RobotStatus.Home)
     mocker.patch.object(StubRobot, "get_battery_level", return_value=10.0)
     robot_service_thread.start()
+    time.sleep(1)
     task_1: Task = TakeImage(
         target=DummyPose.default_pose().position, robot_pose=DummyPose.default_pose()
     )
@@ -338,7 +339,7 @@ def test_state_machine_failed_dependency(
 
     state_machine_thread.start()
     robot_service_thread.start()
-
+    time.sleep(1)
     scheduling_utilities: SchedulingUtilities = container.scheduling_utilities()
     scheduling_utilities.start_mission(mission=mission)
     time.sleep(3)  # Allow the state machine to transition through the mission
@@ -386,7 +387,7 @@ def test_state_machine_with_successful_collection(
     uploader_thread.start()
 
     robot_service_thread.start()
-
+    time.sleep(1)
     scheduling_utilities.start_mission(mission=mission)
     time.sleep(3)  # Allow enough time to run mission and return home
 
@@ -429,7 +430,7 @@ def test_state_machine_with_unsuccessful_collection(
     state_machine_thread.start()
     robot_service_thread.start()
     uploader_thread.start()
-
+    time.sleep(1)
     mission: Mission = Mission(name="Dummy misson", tasks=[StubTask.take_image()])
     scheduling_utilities: SchedulingUtilities = container.scheduling_utilities()
     scheduling_utilities.start_mission(mission=mission)
@@ -478,9 +479,10 @@ def test_state_machine_with_successful_mission_stop(
     state_machine_thread.start()
     robot_service_thread.start()
     uploader_thread.start()
-
+    time.sleep(1)
     scheduling_utilities.start_mission(mission=mission)
-    scheduling_utilities.stop_mission(mission_id="")
+    time.sleep(0.5)
+    scheduling_utilities.stop_mission(mission_id=mission.id)
     time.sleep(1)  # Allow enough time to stop the mission
 
     assert state_machine_thread.state_machine.transitions_list == deque(
@@ -547,7 +549,7 @@ def test_state_machine_with_unsuccessful_mission_stop(
 
     state_machine_thread.start()
     robot_service_thread.start()
-
+    time.sleep(1)
     scheduling_utilities.start_mission(mission=mission)
     time.sleep(0.5)
     with pytest.raises(HTTPException) as exception_details:
@@ -593,11 +595,11 @@ def test_state_machine_with_mission_start_during_return_home_without_queueing_st
 
     state_machine_thread.start()
     robot_service_thread.start()
-
+    time.sleep(1)
     scheduling_utilities.return_home()
     time.sleep(1)
     scheduling_utilities.start_mission(mission=mission)
-
+    time.sleep(1)
     assert state_machine_thread.state_machine.transitions_list == deque(
         [
             States.UnknownStatus,
@@ -988,7 +990,7 @@ def test_state_machine_with_return_home_failure_successful_retries(
         StubRobot, "task_status", side_effect=[TaskStatus.Failed, TaskStatus.Successful]
     )
     robot_service_thread.start()
-
+    time.sleep(1)
     scheduling_utilities.return_home()
     time.sleep(3)  # Allow enough time to run mission and return home