isar 1.33.8__py3-none-any.whl → 1.34.0__py3-none-any.whl

isar/state_machine/states/unknown_status.py

@@ -18,15 +18,18 @@ class UnknownStatus(EventHandlerBase):
         def _robot_status_event_handler(
             event: Event[RobotStatus],
         ) -> Optional[Callable]:
-            robot_status: RobotStatus = event.check()
-            if (
+            robot_status: Optional[RobotStatus] = event.check()
+            if robot_status is None:
+                return None
+            if not (
                 robot_status == RobotStatus.Home
                 or robot_status == RobotStatus.Offline
                 or robot_status == RobotStatus.BlockedProtectiveStop
                 or robot_status == RobotStatus.Available
             ):
-                return state_machine.robot_status_changed  # type: ignore
-            return None
+                return None
+
+            return state_machine.robot_status_changed  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

isar/state_machine/transitions/functions/fail_mission.py

@@ -3,21 +3,13 @@ from typing import TYPE_CHECKING
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
-from robot_interface.models.mission.status import MissionStatus, TaskStatus
-
-
-def report_failed_mission_and_finalize(state_machine: "StateMachine") -> None:
-    state_machine.current_task.status = TaskStatus.Failed
-    state_machine.current_mission.status = MissionStatus.Failed
-    state_machine.publish_task_status(task=state_machine.current_task)
-    state_machine._finalize()
-
 
 def report_failed_return_home_and_intervention_needed(
     state_machine: "StateMachine",
 ) -> None:
     error_message: str = "Return home failed."
     state_machine.publish_intervention_needed(error_message=error_message)
+    state_machine.print_transitions()
 
 
 def report_failed_lockdown_and_intervention_needed(

isar/state_machine/transitions/functions/finish_mission.py

@@ -1,39 +1,9 @@
-from typing import TYPE_CHECKING, List
+from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
-from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
-from robot_interface.models.mission.status import MissionStatus, TaskStatus
-
 
 def finish_mission(state_machine: "StateMachine") -> bool:
-    fail_statuses: List[TaskStatus] = [
-        TaskStatus.Cancelled,
-        TaskStatus.Failed,
-    ]
-    partially_fail_statuses = fail_statuses + [TaskStatus.PartiallySuccessful]
-
-    if len(state_machine.current_mission.tasks) == 0:
-        state_machine.current_mission.status = MissionStatus.Successful
-    elif all(
-        task.status in fail_statuses for task in state_machine.current_mission.tasks
-    ):
-        state_machine.current_mission.error_message = ErrorMessage(
-            error_reason=None,
-            error_description="The mission failed because all tasks in the mission "
-            "failed",
-        )
-        state_machine.current_mission.status = MissionStatus.Failed
-    elif any(
-        task.status in partially_fail_statuses
-        for task in state_machine.current_mission.tasks
-    ):
-        state_machine.current_mission.status = MissionStatus.PartiallySuccessful
-    else:
-        state_machine.current_mission.status = MissionStatus.Successful
-    state_machine._finalize()
-
-    state_machine.current_task = None
-    state_machine.send_task_status()
+    state_machine.print_transitions()
     return True

isar/state_machine/transitions/functions/pause.py

@@ -12,18 +12,19 @@ def trigger_pause_mission_event(state_machine: "StateMachine") -> bool:
 
 
 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
+        ControlMissionResponse(
+            success=False, failure_reason="Failed to pause mission in ISAR"
+        )
     )
     return True
 
 
-def stop_return_home_mission_failed(state_machine: "StateMachine") -> bool:
-    paused_mission_response: ControlMissionResponse = (
-        state_machine._make_control_mission_response()
+def pause_return_home_mission_failed(state_machine: "StateMachine") -> bool:
+    if state_machine.events.api_requests.start_mission.request.has_event():
+        return True
+    paused_mission_response: ControlMissionResponse = ControlMissionResponse(
+        success=False, failure_reason="ISAR failed to pause return home"
     )
     state_machine.events.api_requests.pause_mission.response.trigger_event(
         paused_mission_response

isar/state_machine/transitions/functions/resume.py

@@ -11,11 +11,10 @@ from robot_interface.models.exceptions.robot_exceptions import (
     RobotActionException,
     RobotException,
 )
-from robot_interface.models.mission.status import MissionStatus, TaskStatus
 
 
 def resume_mission(state_machine: "StateMachine") -> bool:
-    state_machine.logger.info("Resuming mission: %s", state_machine.current_mission.id)
+    state_machine.logger.info("Resuming mission")
 
     max_retries = settings.STATE_TRANSITION_NUM_RETIRES
     retry_interval = settings.STATE_TRANSITION_RETRY_INTERVAL_SEC
@@ -23,17 +22,9 @@ def resume_mission(state_machine: "StateMachine") -> bool:
     for attempt in range(max_retries):
         try:
             state_machine.robot.resume()
-            state_machine.current_mission.status = MissionStatus.InProgress
-            state_machine.current_mission.error_message = None
-            state_machine.current_task.status = TaskStatus.InProgress
 
-            state_machine.mission_ongoing = True
-
-            state_machine.publish_mission_status()
-            state_machine.publish_task_status(task=state_machine.current_task)
-
-            resume_mission_response: ControlMissionResponse = (
-                state_machine._make_control_mission_response()
+            resume_mission_response: ControlMissionResponse = ControlMissionResponse(
+                success=True
             )
             state_machine.events.api_requests.resume_mission.response.trigger_event(
                 resume_mission_response

isar/state_machine/transitions/functions/return_home.py

@@ -7,7 +7,7 @@ from typing import TYPE_CHECKING
 
 from isar.config.settings import settings
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
+from robot_interface.models.mission.status import RobotStatus
 from robot_interface.models.mission.task import ReturnToHome
 
 if TYPE_CHECKING:
@@ -37,18 +37,3 @@ def should_retry_return_home(state_machine: "StateMachine") -> bool:
 def reset_return_home_failure_counter(state_machine: "StateMachine") -> bool:
     state_machine.returning_home_state.failed_return_home_attemps = 0
     return True
-
-
-def set_return_home_status(state_machine: "StateMachine") -> bool:
-    state_machine.log_mission_overview(mission=state_machine.current_mission)
-    state_machine.current_mission.status = MissionStatus.InProgress
-
-    state_machine.current_task = state_machine.task_selector.next_task()
-    state_machine.current_task.status = TaskStatus.InProgress
-
-    return True
-
-
-def return_home_finished(state_machine: "StateMachine") -> bool:
-    state_machine.reset_state_machine()
-    return True

isar/state_machine/transitions/functions/robot_status.py

@@ -1,7 +1,5 @@
-import time
 from typing import TYPE_CHECKING
 
-from isar.config.settings import settings
 from robot_interface.models.mission.status import RobotStatus
 
 if TYPE_CHECKING:
@@ -24,13 +22,5 @@ def is_blocked_protective_stop(state_machine: "StateMachine") -> bool:
 
 
 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
+    state_machine.events.robot_service_events.robot_status_changed.clear_event()
+    return True

isar/state_machine/transitions/functions/start_mission.py

@@ -5,11 +5,9 @@ if TYPE_CHECKING:
 
 from isar.apis.models.models import MissionStartResponse
 from robot_interface.models.exceptions.robot_exceptions import (
-    ErrorMessage,
     RobotException,
     RobotInitializeException,
 )
-from robot_interface.models.mission.status import MissionStatus, TaskStatus
 
 
 def acknowledge_mission(state_machine: "StateMachine") -> bool:
@@ -19,59 +17,19 @@ def acknowledge_mission(state_machine: "StateMachine") -> bool:
     return True
 
 
-def prepare_state_machine_before_mission(state_machine: "StateMachine") -> bool:
-    state_machine.logger.info(
-        "Initiating mission:\n"
-        f"  Mission ID: {state_machine.current_mission.id}\n"
-        f"  Mission Name: {state_machine.current_mission.name}\n"
-        f"  Number of Tasks: {len(state_machine.current_mission.tasks)}"
-    )
-
-    state_machine.current_mission.status = MissionStatus.InProgress
-    state_machine.publish_mission_status()
-    state_machine.current_task = state_machine.task_selector.next_task()
-    state_machine.send_task_status()
-    if state_machine.current_task is None:
-        return False
-
-    state_machine.current_task.status = TaskStatus.InProgress
-    state_machine.publish_task_status(task=state_machine.current_task)
-    return True
-
-
 def initialize_robot(state_machine: "StateMachine") -> bool:
     try:
         state_machine.robot.initialize()
     except (RobotInitializeException, RobotException) as e:
-        state_machine.current_task.error_message = ErrorMessage(
-            error_reason=e.error_reason, error_description=e.error_description
-        )
         state_machine.logger.error(
             f"Failed to initialize robot because: {e.error_description}"
         )
         _initialization_failed(state_machine)
+        state_machine.print_transitions()
         return False
     return True
 
 
-def set_mission_to_in_progress(state_machine: "StateMachine") -> bool:
-    state_machine.current_mission.status = MissionStatus.InProgress
-    state_machine.publish_task_status(task=state_machine.current_task)
-    state_machine.logger.info(
-        f"Successfully initiated "
-        f"{type(state_machine.current_task).__name__} "
-        f"task: {str(state_machine.current_task.id)[:8]}"
-    )
-    return True
-
-
-def trigger_start_mission_event(state_machine: "StateMachine") -> bool:
-    state_machine.events.state_machine_events.start_mission.trigger_event(
-        state_machine.current_mission
-    )
-    return True
-
-
 def _initialization_failed(state_machine: "StateMachine") -> None:
     state_machine.events.api_requests.start_mission.response.trigger_event(
         MissionStartResponse(
@@ -79,4 +37,4 @@ def _initialization_failed(state_machine: "StateMachine") -> None:
             mission_not_started_reason="Failed to initialize robot",
         )
     )
-    state_machine._finalize()
+    state_machine.print_transitions()

isar/state_machine/transitions/functions/stop.py

@@ -4,7 +4,6 @@ if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
 from isar.apis.models.models import ControlMissionResponse
-from robot_interface.models.mission.status import MissionStatus, TaskStatus
 
 
 def trigger_stop_mission_event(state_machine: "StateMachine") -> bool:
@@ -13,8 +12,8 @@ def trigger_stop_mission_event(state_machine: "StateMachine") -> bool:
 
 
 def stop_mission_failed(state_machine: "StateMachine") -> bool:
-    stopped_mission_response: ControlMissionResponse = (
-        state_machine._make_control_mission_response()
+    stopped_mission_response: ControlMissionResponse = ControlMissionResponse(
+        success=False, failure_reason="ISAR failed to stop mission"
     )
     state_machine.events.api_requests.stop_mission.response.trigger_event(
         stopped_mission_response
@@ -22,39 +21,11 @@ def stop_mission_failed(state_machine: "StateMachine") -> bool:
     return True
 
 
-def stop_return_home_mission_cleanup(state_machine: "StateMachine") -> bool:
-    if state_machine.current_mission is None:
-        state_machine._queue_empty_response()
-        state_machine.reset_state_machine()
-        return True
-
-    if not state_machine.events.api_requests.start_mission.request.has_event():
-        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
-
-        stopped_mission_response: ControlMissionResponse = (
-            state_machine._make_control_mission_response()
-        )
-        state_machine.events.api_requests.stop_mission.response.trigger_event(
-            stopped_mission_response
-        )
-
-    state_machine._finalize()
-    return True
-
-
 def stop_return_home_mission_failed(state_machine: "StateMachine") -> bool:
     if state_machine.events.api_requests.start_mission.request.has_event():
         return True
-    stopped_mission_response: ControlMissionResponse = (
-        state_machine._make_control_mission_response()
+    stopped_mission_response: ControlMissionResponse = ControlMissionResponse(
+        success=False, failure_reason="ISAR failed to stop return home"
     )
     state_machine.events.api_requests.stop_mission.response.trigger_event(
         stopped_mission_response

isar/state_machine/transitions/mission.py

@@ -1,24 +1,18 @@
 from typing import TYPE_CHECKING, List
 
-from isar.state_machine.transitions.functions.fail_mission import (
-    report_failed_mission_and_finalize,
-)
 from isar.state_machine.transitions.functions.finish_mission import finish_mission
 from isar.state_machine.transitions.functions.pause import (
     pause_mission_failed,
+    pause_return_home_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 (
     reset_return_home_failure_counter,
-    return_home_finished,
 )
 from isar.state_machine.transitions.functions.start_mission import (
     acknowledge_mission,
     initialize_robot,
-    prepare_state_machine_before_mission,
-    set_mission_to_in_progress,
-    trigger_start_mission_event,
 )
 from isar.state_machine.transitions.functions.stop import (
     stop_mission_failed,
@@ -63,7 +57,7 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "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),
+            "before": def_transition(state_machine, pause_return_home_mission_failed),
         },
         {
             "trigger": "return_home_mission_paused",
@@ -126,7 +120,6 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "before": [
                 def_transition(state_machine, trigger_stop_mission_event),
                 def_transition(state_machine, reset_return_home_failure_counter),
-                def_transition(state_machine, return_home_finished),
             ],
         },
         {
@@ -166,31 +159,23 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "dest": state_machine.monitor_state,
             "prepare": def_transition(state_machine, acknowledge_mission),
             "conditions": [
-                def_transition(state_machine, prepare_state_machine_before_mission),
                 def_transition(state_machine, initialize_robot),
             ],
-            "before": [
-                def_transition(state_machine, set_mission_to_in_progress),
-                def_transition(state_machine, trigger_start_mission_event),
-            ],
         },
         {
             "trigger": "request_mission_start",
             "source": state_machine.await_next_mission_state,
             "dest": state_machine.await_next_mission_state,
-            "before": def_transition(state_machine, report_failed_mission_and_finalize),
         },
         {
             "trigger": "request_mission_start",
             "source": state_machine.home_state,
             "dest": state_machine.home_state,
-            "before": def_transition(state_machine, report_failed_mission_and_finalize),
         },
         {
             "trigger": "mission_failed_to_start",
             "source": [state_machine.monitor_state, state_machine.returning_home_state],
             "dest": state_machine.await_next_mission_state,
-            "before": def_transition(state_machine, report_failed_mission_and_finalize),
         },
         {
             "trigger": "mission_finished",

isar/state_machine/transitions/return_home.py

@@ -2,21 +2,15 @@ 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,
 )
 from isar.state_machine.transitions.functions.return_home import (
     reset_return_home_failure_counter,
-    return_home_finished,
-    set_return_home_status,
     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,
-)
+from isar.state_machine.transitions.functions.start_mission import initialize_robot
 from isar.state_machine.transitions.functions.utils import def_transition
 
 if TYPE_CHECKING:
@@ -36,35 +30,28 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 state_machine.stopping_return_home_state,
             ],
             "dest": state_machine.returning_home_state,
+            "before": def_transition(state_machine, start_return_home_mission),
             "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": "request_return_home",
             "source": state_machine.await_next_mission_state,
             "dest": state_machine.await_next_mission_state,
-            "before": def_transition(state_machine, report_failed_mission_and_finalize),
         },
         {
             "trigger": "request_return_home",
             "source": state_machine.home_state,
             "dest": state_machine.home_state,
-            "before": def_transition(state_machine, report_failed_mission_and_finalize),
         },
         {
             "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, clear_robot_status),
                 def_transition(state_machine, reset_return_home_failure_counter),
-                def_transition(state_machine, return_home_finished),
             ],
         },
         {
@@ -78,7 +65,6 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
             "dest": state_machine.recharging_state,
             "before": [
                 def_transition(state_machine, reset_return_home_failure_counter),
-                def_transition(state_machine, return_home_finished),
             ],
         },
         {
@@ -94,11 +80,8 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 def_transition(state_machine, should_retry_return_home),
             ],
             "before": [
-                def_transition(state_machine, report_failed_mission_and_finalize),
                 def_transition(state_machine, start_return_home_mission),
-                def_transition(state_machine, set_return_home_status),
                 def_transition(state_machine, initialize_robot),
-                def_transition(state_machine, trigger_start_mission_event),
             ],
         },
         {
@@ -110,7 +93,6 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                     state_machine, report_failed_return_home_and_intervention_needed
                 ),
                 def_transition(state_machine, reset_return_home_failure_counter),
-                def_transition(state_machine, report_failed_mission_and_finalize),
             ],
         },
         {
@@ -127,10 +109,8 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
             "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",
@@ -157,7 +137,6 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 def_transition(
                     state_machine, report_failed_lockdown_and_intervention_needed
                 ),
-                def_transition(state_machine, report_failed_mission_and_finalize),
             ],
         },
         {