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

isar/state_machine/utils/common_event_handlers.py

@@ -4,7 +4,7 @@ from isar.apis.models.models import ControlMissionResponse, MissionStartResponse
 from isar.models.events import Event
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.status import RobotStatus, TaskStatus
+from robot_interface.models.mission.status import RobotStatus
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
@@ -16,28 +16,30 @@ def start_mission_event_handler(
     response: Event[MissionStartResponse],
 ) -> Optional[Callable]:
     mission: Optional[Mission] = event.consume_event()
-    if mission:
-        if not state_machine.battery_level_is_above_mission_start_threshold():
-            response.trigger_event(
-                MissionStartResponse(
-                    mission_id=mission.id,
-                    mission_started=False,
-                    mission_not_started_reason="Robot battery too low",
-                )
+    if not mission:
+        return None
+
+    if not state_machine.battery_level_is_above_mission_start_threshold():
+        response.trigger_event(
+            MissionStartResponse(
+                mission_id=mission.id,
+                mission_started=False,
+                mission_not_started_reason="Robot battery too low",
             )
-            return None
-        state_machine.start_mission(mission=mission)
-        return state_machine.request_mission_start  # type: ignore
-    return None
+        )
+        return None
+    state_machine.start_mission(mission=mission)
+    return state_machine.request_mission_start  # type: ignore
 
 
 def return_home_event_handler(
     state_machine: "StateMachine", event: Event[bool]
 ) -> Optional[Callable]:
-    if event.consume_event():
-        state_machine.events.api_requests.return_home.response.trigger_event(True)
-        return state_machine.request_return_home  # type: ignore
-    return None
+    if not event.consume_event():
+        return None
+
+    state_machine.events.api_requests.return_home.response.trigger_event(True)
+    return state_machine.request_return_home  # type: ignore
 
 
 def robot_status_event_handler(
@@ -48,6 +50,7 @@ def robot_status_event_handler(
 ) -> Optional[Callable]:
     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
@@ -58,29 +61,26 @@ def stop_mission_event_handler(
     state_machine: "StateMachine", event: Event[str]
 ) -> Optional[Callable]:
     mission_id: str = event.consume_event()
-    if mission_id is not None:
-        if state_machine.current_mission.id == mission_id or mission_id == "":
-            return state_machine.stop  # type: ignore
-        else:
-            state_machine.events.api_requests.stop_mission.response.trigger_event(
-                ControlMissionResponse(
-                    mission_id=mission_id,
-                    mission_status=state_machine.current_mission.status,
-                    mission_not_found=True,
-                    task_id=state_machine.current_task.id,
-                    task_status=state_machine.current_task.status,
-                )
-            )
-    return None
+    if mission_id is None:
+        return None
+
+    if state_machine.shared_state.mission_id.check() == mission_id or mission_id == "":
+        return state_machine.stop  # type: ignore
+    else:
+        state_machine.events.api_requests.stop_mission.response.trigger_event(
+            ControlMissionResponse(success=False, failure_reason="Mission not found")
+        )
+        return None
 
 
 def mission_started_event_handler(
     state_machine: "StateMachine",
     event: Event[bool],
 ) -> Optional[Callable]:
-    if event.consume_event():
-        state_machine.logger.info("Received confirmation that mission has started")
-        state_machine.mission_ongoing = True
+    if not event.consume_event():
+        return None
+
+    state_machine.logger.info("Received confirmation that mission has started")
     return None
 
 
@@ -89,93 +89,10 @@ def mission_failed_event_handler(
     event: Event[Optional[ErrorMessage]],
 ) -> Optional[Callable]:
     mission_failed: Optional[ErrorMessage] = event.consume_event()
-    if mission_failed is not None:
-        state_machine.logger.warning(
-            f"Failed to initiate mission "
-            f"{str(state_machine.current_mission.id)[:8]} because: "
-            f"{mission_failed.error_description}"
-        )
-        state_machine.current_mission.error_message = ErrorMessage(
-            error_reason=mission_failed.error_reason,
-            error_description=mission_failed.error_description,
-        )
-        return state_machine.mission_failed_to_start  # type: ignore
-    return None
-
-
-def task_status_failed_event_handler(
-    state_machine: "StateMachine",
-    handle_task_completed: Callable[[TaskStatus], Callable],
-    event: Event[Optional[ErrorMessage]],
-) -> Optional[Callable]:
-    if not state_machine.mission_ongoing:
+    if mission_failed is None:
         return None
 
-    task_failure: Optional[ErrorMessage] = event.consume_event()
-    if task_failure is not None:
-        if state_machine.current_task is None:
-            state_machine.logger.warning(
-                "Received task status failed event when no task was running"
-            )
-            return None
-        state_machine.awaiting_task_status = False
-        state_machine.current_task.error_message = task_failure
-        state_machine.logger.error(
-            f"Monitoring task {state_machine.current_task.id[:8]} failed "
-            f"because: {task_failure.error_description}"
-        )
-        return _handle_new_task_status(
-            state_machine, handle_task_completed, TaskStatus.Failed
-        )
-
-    elif (
-        not state_machine.awaiting_task_status
-        and state_machine.current_task is not None
-    ):
-        state_machine.events.state_machine_events.task_status_request.trigger_event(
-            state_machine.current_task.id,
-        )
-        state_machine.awaiting_task_status = True
-    return None
-
-
-def task_status_event_handler(
-    state_machine: "StateMachine",
-    handle_task_completed: Callable[[TaskStatus], Callable],
-    event: Event[Optional[TaskStatus]],
-) -> Optional[Callable]:
-    if not state_machine.mission_ongoing:
-        return None
-
-    status: Optional[TaskStatus] = event.consume_event()
-    if status is not None:
-        state_machine.awaiting_task_status = False
-        return _handle_new_task_status(state_machine, handle_task_completed, status)
-
-    elif (
-        not state_machine.awaiting_task_status
-        and state_machine.current_task is not None
-    ):
-        state_machine.events.state_machine_events.task_status_request.trigger_event(
-            state_machine.current_task.id,
-        )
-        state_machine.awaiting_task_status = True
-    return None
-
-
-def _handle_new_task_status(
-    state_machine: "StateMachine",
-    handle_task_completed: Callable[[TaskStatus], Callable],
-    status: TaskStatus,
-) -> Optional[Callable]:
-    if state_machine.current_task is None:
-        state_machine.iterate_current_task()
-
-    state_machine.current_task.status = status
-
-    if state_machine.current_task.is_finished():
-        state_machine.report_task_status(state_machine.current_task)
-        state_machine.publish_task_status(task=state_machine.current_task)
-
-        return handle_task_completed(status)
-    return None
+    state_machine.logger.warning(
+        f"Failed to initiate mission because: " f"{mission_failed.error_description}"
+    )
+    return state_machine.mission_failed_to_start  # type: ignore

{isar-1.33.8.dist-info → isar-1.34.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.8
+Version: 1.34.0
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -402,68 +402,6 @@ You can create your own storage module by implementing the [storage interface](.
 and adding your storage module to the selection [here](./src/isar/modules.py). Note that you must add your module as an
 option in the dictionary.
 
-## Task selection
-
-The tasks of a mission are selected based on a task selector module, defined by the `TASK_SELECTOR` configuration variable. The default task selector is `sequential`. When using the default module, tasks are executed in sequential order defined by the current input mission.
-
-### Implement you own task selector module
-
-Custom task selector modules may be added by implementing additional versions of the [task selector interface](./src/isar/mission_planner/task_selector_interface.py).
-
-For every custom module, the interface function `next_task()` must be implemented. All interface implementations by default have access to the list of tasks in the current mission through the member `self.tasks`, however additional variables may be supplied by adding arguments to `next_task()`. To comply with the interface definition, the function should return the next task upon every call, and raise the `TaskSelectorStop` exception when all tasks in the current mission have been completed:
-
-```python
-class CustomTaskSelector(TaskSelectorInterface):
-    ...
-    def next_task(...) -> Task:
-
-        # Add code here
-        ...
-
-        # Raise `TaskSelectorStop` when all tasks have been completed
-        ...
-```
-
-Optionally, the `initialize()` function may be extended by supplementing the parameter list or function body:
-
-```python
-class CustomTaskSelector(TaskSelectorInterface):
-    ...
-    def initialize(self, tasks: List[Task], ...) -> None:
-        super.initialize(tasks=tasks)
-
-        # Add supplementary code here
-        ...
-```
-
-A custom task selector may be made available during [module selection](./src/isar/modules.py) by adding it to the series of options in the dictionary of injector modules. It can then be activated by overriding the task selector configuration variable:
-
-```python
-# Add custom task selector module to `modules.py`
-
-class CustomTaskSelectorModule(Module):
-    @provider
-    @singleton
-    def provide_task_selector(self) -> TaskSelectorInterface:
-        return CustomTaskSelector()
-
-...
-
-# Make it available to select during injector instantiation
-
-modules: dict[str, tuple[Module, Union[str, bool]]] = {
-    ...
-    "task_selector": (
-        {
-            "sequential": SequentialTaskSelectorModule,
-            "custom": CustomTaskSelectorModule
-        }
-        ...
-    )
-    ...
-}
-```
-
 ## API authentication
 
 The API has an option to include user authentication. This can be enabled by setting the environment variable
@@ -480,6 +418,7 @@ Enabling API authentication also requires the same environment variables. The re
 AZURE_CLIENT_ID
 AZURE_TENANT_ID
 AZURE_CLIENT_SECRET
+ISAR_BLOB_STORAGE_ACCOUNT
 ```
 
 ## MQTT communication

{isar-1.33.8.dist-info → isar-1.34.0.dist-info}/RECORD

@@ -1,10 +1,10 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
-isar/modules.py,sha256=1QdULg-9gV5Ds4pMV4IQTlImSgsVwqs-g15ifllF2kg,4757
+isar/modules.py,sha256=2bo4Z4H2n4vl9BVwV5V5twOUevsLIuXsPiRPICjCB3k,4404
 isar/script.py,sha256=LCb7CHvNyZhQz1OaQ-BUX8w7RDmu975zA0kL6FPwfzk,5912
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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=4w8oJIvhnarikCZe6d32GG80RtsyaSWLpOpUiEAMr0Q,2097
+isar/apis/models/models.py,sha256=c5n2sazvE7atwFhSqQJQSZd-M58l9Kqh0jC4_MAte00,1988
 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
@@ -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=XMPU4d1V6FspjvMmto5TFmC8Slt8Nrpmn9n_tsyPTYk,14423
+isar/config/settings.py,sha256=QzdYe8tanBOBJJkJGz7p21loXGwRlbXhQY9PnKNAOdw,14146
 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
@@ -39,18 +39,17 @@ isar/eventhandlers/eventhandler.py,sha256=Wu4IsJA-k0I1F41q7qDT_QJl_OaUHNeGgzPufv
 isar/mission_planner/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/mission_planner/local_planner.py,sha256=Mkg3vvUBF1jImfQnaFvXLNpKVadR21X4mwDd_wHqJ2w,2520
 isar/mission_planner/mission_planner_interface.py,sha256=UgpPIM4FbrWOD7fGY3Ul64k3uYb8wo0FwSWGewYoVbc,485
-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=t3INc7FuoZMzQq65kkJOEVltrQ2Wf4uXXQw8XgcYVrk,5792
+isar/models/events.py,sha256=lwjq745VWJLRLdqNke58sWMRt8zz75hUt7t0QkbLsFU,5602
 isar/models/status.py,sha256=RCsf0p6FEsOFr4FGA6wekRdJIPrCOHMYuteXs2Mwwhk,430
-isar/robot/robot.py,sha256=sn-JfJE6lC6Auo13fdS556Uwq_xZE6VSrR4DhNcgOno,7560
+isar/robot/robot.py,sha256=gppNNm_4yjjU3fqWrgBP1VaMcQqHXw8eJk2H41mhLco,10703
 isar/robot/robot_battery.py,sha256=goLdgmn61QCgE2Ja3YuiwE_sqJzIhCkS3u90sz1kdug,2089
+isar/robot/robot_monitor_mission.py,sha256=M-_ryHrLSThtHcit6EBVxGgNQI5u3wLlGMC5cXLE5Js,15312
 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=8201XW9SmYFLVjys9zk972a8ge9aEgCsdm-V1S2VTjM,2924
-isar/robot/robot_stop_mission.py,sha256=lKWY9LsBeeMsBZHJEN-Mfm2h3DYoBQT71TgEKlxw9ng,2269
-isar/robot/robot_task_status.py,sha256=jefIDfrbly7vWZztWA2zLmK5Yz1NSEytw2YUmprccNA,3161
+isar/robot/robot_status.py,sha256=dfAls3s8_Vha7ZMLSYngELqsdpaEpcweAWRHanQj8u8,2361
+isar/robot/robot_stop_mission.py,sha256=noLqg7zdd0TMOOIqj-60tOQ_1wLOKOuUSkPIxZ3j1Ks,2211
+isar/robot/robot_upload_inspection.py,sha256=CFPz6JNinLO5M2MQG6AzYK0jl1hhwi8zaqITeB5A9EU,2659
 isar/services/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/azure_credentials.py,sha256=9PlwGe5FrPRbW2dp0go7LMp8_l_FRvL8xOXotXwzRDo,364
@@ -62,52 +61,52 @@ 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=DOI4K2IRDWiYjAXL891VTDLXWoJnw3Z9FYQF4uKVooM,19782
+isar/services/utilities/scheduling_utilities.py,sha256=AcoMWpNfNJ-IRu5ulLNtriLTKIVgog47im0yQ_ECanQ,20442
 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=lF25XC6vpNO8Mj3DWnmfPBKjS1atl7GdtGbBs2TkaUs,19887
+isar/state_machine/state_machine.py,sha256=lUT-lvtH2r0_ZKLs9AaXx80RWRDJv209w443LpF0G8o,11527
 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=3_KrK7nWu1Dm-VA3Rt1gwVsUbn9WuB7MoqLCfobGJSM,2749
+isar/state_machine/states/await_next_mission.py,sha256=H1QN62S6iUYzLgyzK8UVG-0PEWGiCDdsIOjWC7BWD_Q,2742
 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/lockdown.py,sha256=mWjhjtky5GbW6BLjsi2TsS0LXI-yq7l29FaqZ2TbTek,1375
-isar/state_machine/states/monitor.py,sha256=wmiJrbKntnNw9ExS6-VdJJuW2Q3Jzl9DozmZmEXJ0Cw,5285
+isar/state_machine/states/going_to_lockdown.py,sha256=qOmJt5V51_fhJobIzzFyFW-sxfoktG8_Vt9a4N-EmWs,2725
+isar/state_machine/states/home.py,sha256=nIuHVDEYkMuoGTdf0nTUlOaNblYVDoZdl_njeE2sFNQ,3161
+isar/state_machine/states/intervention_needed.py,sha256=nv7054e9gBJQ4-Mshs8cczqnD0IN-N-_5qvUR-cNcUM,1633
+isar/state_machine/states/lockdown.py,sha256=ZFw9XMDENECuH3lh89RKeU_3CTzW0ZBvqCKptFJG5xo,1364
+isar/state_machine/states/monitor.py,sha256=UIvqU2uNashm-ZCYuGr3GkpuwWbmuGC7ipG_XSHgO34,4514
 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=lwXdC5Jn19gO-wrSaZp3_77mLnvj-CaBYZk61U-qgoo,8211
-isar/state_machine/transitions/return_home.py,sha256=ho4Nae-C5BaxVFciFL546EuoMSDIWLqT58E8bNraW4o,6749
+isar/state_machine/states/paused.py,sha256=F5XIzIcnR7_BvIDyMu8CWEdsmXRukUFTYy0-H1ldWeo,2849
+isar/state_machine/states/pausing.py,sha256=CJf_wqpajizv-UY3gL8ctHbPbVP-jXkLsaQiCgfCod4,2138
+isar/state_machine/states/pausing_return_home.py,sha256=bQjNp8cC90x7yoTLccrx3oIdaj9at-34p9ez1OqKrmE,2184
+isar/state_machine/states/recharging.py,sha256=TSCZuWhDKBW47peeP73k7aBD4_SEMOOdD1GgOdAq6lk,2447
+isar/state_machine/states/return_home_paused.py,sha256=rr5iy8u6zaTMZAGtlf1HlroVShjytxKjE6t-wGym8nU,3355
+isar/state_machine/states/returning_home.py,sha256=7bWLE2HU0rObPzM2evY8Wzl9hmerJMS0xaRt4vs3tFQ,5318
+isar/state_machine/states/stopping.py,sha256=MhIU1kZCjOQpZBZ5EQ299zdvBWNaDNVdksh7Zw4Hk68,2208
+isar/state_machine/states/stopping_go_to_lockdown.py,sha256=yl0HFxIBKFCWGQixTULuYb_Z-dwrPeI8TioZ9AQf1Lk,2264
+isar/state_machine/states/stopping_return_home.py,sha256=HtoZfSXWLGCRChITZCKjOufowwZzQaJLCZGaYsjP1mE,2854
+isar/state_machine/states/unknown_status.py,sha256=Vu07Sk90zFVInf3XdzFl5IaYrdrYaGO7Na7qAOGwjIk,1871
+isar/state_machine/transitions/mission.py,sha256=o3UG9klPqZnWTYVjTFOXYiMFxfbrWIxRvcaTfcqYW_0,7396
+isar/state_machine/transitions/return_home.py,sha256=aLOK7t7Us_TrDhtxhwW4XaIGxB_gU3Drg2uJFuOjS54,5558
 isar/state_machine/transitions/robot_status.py,sha256=qJMurCpuficOiXs9us4lZJ5p_kOFSwKxJigiXfB1OS8,2430
-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=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=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/fail_mission.py,sha256=NFPGIPE0EtefUETbf8Z8plBWghcRQBrbup5xaxF3h6Y,604
+isar/state_machine/transitions/functions/finish_mission.py,sha256=K9paNVz0wbWSkCWvVBaKTM54vdHBH-TNuqG1EstEI8w,229
+isar/state_machine/transitions/functions/pause.py,sha256=8cQIvXDb1hKS-K6-a0fmcqJHde0FRzS-n4N8_EBSA3w,1089
+isar/state_machine/transitions/functions/resume.py,sha256=HWmM1T4jvMPq3by4rns9G0lKUtWMegkFkGtbILvzfKE,1600
+isar/state_machine/transitions/functions/return_home.py,sha256=UBXOfYKlvsmpnmUeKFkc2483fdY9pX70F4pmndjCs8Y,1148
+isar/state_machine/transitions/functions/robot_status.py,sha256=LG_FmRPaiEMrAeR7JMmOPTXjo9cB7xlsf_jiJxz8KpU,930
+isar/state_machine/transitions/functions/start_mission.py,sha256=1Op-Dutfmbc6kH1bHHu7obQ5I1G5jnYoH4wx5qSXoI0,1254
+isar/state_machine/transitions/functions/stop.py,sha256=Oukmv0ZAjIP6xVThnCinacXU5U2fzyOVoZULkrS8OIU,1152
 isar/state_machine/transitions/functions/utils.py,sha256=Wa72Ocq4QT1E6qkpEJZQ3h5o33pGvx7Tlkt2JZ2Grbk,314
-isar/state_machine/utils/common_event_handlers.py,sha256=LqXPB4qojzz0LqKF14g4pUd0HYBqZiCV83I4UMgy9DY,6450
+isar/state_machine/utils/common_event_handlers.py,sha256=u0e9sWWjuNC5uCGUGD-oe2fRKdAnslVZJcyz7SuxHhs,3188
 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=0BBrxyZGGRkNxGeZeoREucegs4yKUow2523oLEie07o,10841
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.33.8.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.34.0.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/robot_interface.py,sha256=3JAVCzg4WV4gYgDxGfdmXPPlVETmwyoqLh7QZJMerKU,9886
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
 robot_interface/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/exceptions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -118,7 +117,7 @@ robot_interface/models/inspection/inspection.py,sha256=cjAvekL8r82s7bgukWeXpYylH
 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=3KHA02Jer-HSOwFmUhRkE6cr81H1zPgbwB3p4IjchEY,702
-robot_interface/models/mission/task.py,sha256=YzaqJ_KIIm-3S2Y2-BG4Pdkc8sjFMzMx5jj8FtXSmFg,4744
+robot_interface/models/mission/task.py,sha256=3GSrq4TQu7Ztz6GfWaT-ONwF8HE23SRztOSH3cj7qJ0,4430
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/robots/battery_state.py,sha256=ktOtJ8ltdK0k_i7BoqYfhc5dbOzIG6Oo-uWC67fCWio,98
 robot_interface/models/robots/media.py,sha256=8A-CuuubfngzPprs6zWB9hSaqe3jzgsE8rcCzRX2Uto,227
@@ -129,8 +128,8 @@ robot_interface/telemetry/payloads.py,sha256=A0SWiG609k6o6-Y3vhDWE6an2-_m7D_ND85
 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-1.33.8.dist-info/METADATA,sha256=0a9aP_euTxYn_zJaBBvt1LXK8w92gQU2GOLmDr0PJ-Y,31190
-isar-1.33.8.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-isar-1.33.8.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.33.8.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.33.8.dist-info/RECORD,,
+isar-1.34.0.dist-info/METADATA,sha256=vPZbiLLgvF0_tZUPtMEyRRM8eezFEyuLiI5wNToNTY0,28866
+isar-1.34.0.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.34.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.34.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.34.0.dist-info/RECORD,,

robot_interface/models/mission/task.py

@@ -40,16 +40,6 @@ class Task(BaseModel):
     tag_id: Optional[str] = Field(default=None)
     id: str = Field(default_factory=uuid4_string, frozen=True)
 
-    def is_finished(self) -> bool:
-        if (
-            self.status == TaskStatus.Successful
-            or self.status == TaskStatus.PartiallySuccessful
-            or self.status == TaskStatus.Cancelled
-            or self.status == TaskStatus.Failed
-        ):
-            return True
-        return False
-
 
 class InspectionTask(Task):
     """

robot_interface/robot_interface.py

@@ -5,7 +5,7 @@ from typing import Callable, List, Optional
 
 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 MissionStatus, RobotStatus, TaskStatus
 from robot_interface.models.mission.task import InspectionTask
 from robot_interface.models.robots.media import MediaConfig
 
@@ -51,12 +51,36 @@ class RobotInterface(metaclass=ABCMeta):
         RobotCommunicationTimeoutException or RobotCommunicationException
             If the robot package is unable to communicate with the robot API the fetching
             of task status will be attempted again until a certain number of retries
+        RobotTaskStatusException
+            If there was an error when retrieving the task status
         RobotException
             If the task status could not be retrieved.
 
         """
         raise NotImplementedError
 
+    @abstractmethod
+    def mission_status(self, mission_id: str) -> MissionStatus:
+        """Gets the status of the mission with ID mission_id on robot.
+
+        Returns
+        -------
+        MissionStatus
+            Status of the execution of mission.
+
+        Raises
+        ------
+        RobotCommunicationTimeoutException or RobotCommunicationException
+            If the robot package is unable to communicate with the robot API the fetching
+            of mission status will be attempted again until a certain number of retries
+        RobotMissionStatusException
+            If there was an error when retrieving the mission status
+        RobotException
+            If the mission status could not be retrieved.
+
+        """
+        raise NotImplementedError
+
     @abstractmethod
     def stop(self) -> None:
         """Stops the execution of the current task and corresponding mission.

isar/mission_planner/sequential_task_selector.py

@@ -1,23 +0,0 @@
-from typing import Iterator, List
-
-from isar.mission_planner.task_selector_interface import (
-    TaskSelectorInterface,
-    TaskSelectorStop,
-)
-from robot_interface.models.mission.task import TASKS
-
-
-class SequentialTaskSelector(TaskSelectorInterface):
-    def __init__(self) -> None:
-        super().__init__()
-        self._iterator: Iterator = None
-
-    def initialize(self, tasks: List[TASKS]) -> None:
-        super().initialize(tasks=tasks)
-        self._iterator = iter(self.tasks)
-
-    def next_task(self) -> TASKS:
-        try:
-            return next(self._iterator)
-        except StopIteration:
-            raise TaskSelectorStop

isar/mission_planner/task_selector_interface.py

@@ -1,31 +0,0 @@
-from abc import ABCMeta, abstractmethod
-from typing import List
-
-from robot_interface.models.mission.task import TASKS
-
-
-class TaskSelectorInterface(metaclass=ABCMeta):
-    def __init__(self) -> None:
-        self.tasks: List[TASKS] = None
-
-    def initialize(self, tasks: List[TASKS]) -> None:
-        self.tasks = tasks
-
-    @abstractmethod
-    def next_task(self) -> TASKS:
-        """
-        Returns
-        -------
-        Task
-            Returns the next task from the list of tasks
-
-        Raises
-        ------
-        TaskSelectorStop
-            If all tasks have been selected, and the task selection process is complete.
-        """
-        pass
-
-
-class TaskSelectorStop(Exception):
-    pass

isar/robot/robot_task_status.py

@@ -1,87 +0,0 @@
-import logging
-import time
-from threading import Event, Thread
-from typing import Optional
-
-from isar.config.settings import settings
-from isar.models.events import RobotServiceEvents
-from isar.services.utilities.threaded_request import ThreadedRequest
-from robot_interface.models.exceptions.robot_exceptions import (
-    ErrorMessage,
-    RobotCommunicationException,
-    RobotCommunicationTimeoutException,
-    RobotException,
-    RobotTaskStatusException,
-)
-from robot_interface.models.mission.status import TaskStatus
-from robot_interface.robot_interface import RobotInterface
-
-
-class RobotTaskStatusThread(Thread):
-    def __init__(
-        self,
-        robot_service_events: RobotServiceEvents,
-        robot: RobotInterface,
-        signal_thread_quitting: Event,
-        task_id: str,
-    ):
-        self.logger = logging.getLogger("robot")
-        self.robot_service_events: RobotServiceEvents = robot_service_events
-        self.robot: RobotInterface = robot
-        self.start_mission_thread: Optional[ThreadedRequest] = None
-        self.signal_thread_quitting: Event = signal_thread_quitting
-        self.task_id: str = task_id
-        Thread.__init__(self, name="Robot task status thread")
-
-    def run(self) -> None:
-        task_status: TaskStatus = TaskStatus.NotStarted
-        failed_task_error: Optional[ErrorMessage] = None
-        request_status_failure_counter: int = 0
-
-        while (
-            request_status_failure_counter
-            < settings.REQUEST_STATUS_FAILURE_COUNTER_LIMIT
-        ):
-            if self.signal_thread_quitting.wait(0):
-                return
-            if request_status_failure_counter > 0:
-                time.sleep(settings.REQUEST_STATUS_COMMUNICATION_RECONNECT_DELAY)
-
-            try:
-                task_status = self.robot.task_status(self.task_id)
-                request_status_failure_counter = 0
-            except (
-                RobotCommunicationTimeoutException,
-                RobotCommunicationException,
-            ) as e:
-                request_status_failure_counter += 1
-                self.logger.error(
-                    f"Failed to get task status "
-                    f"{request_status_failure_counter} times because: "
-                    f"{e.error_description}"
-                )
-
-                failed_task_error = ErrorMessage(
-                    error_reason=e.error_reason,
-                    error_description=e.error_description,
-                )
-                continue
-
-            except RobotTaskStatusException as e:
-                failed_task_error = ErrorMessage(
-                    error_reason=e.error_reason,
-                    error_description=e.error_description,
-                )
-                break
-
-            except RobotException as e:
-                failed_task_error = ErrorMessage(
-                    error_reason=e.error_reason,
-                    error_description=e.error_description,
-                )
-                break
-
-            self.robot_service_events.task_status_updated.trigger_event(task_status)
-            return
-
-        self.robot_service_events.task_status_failed.trigger_event(failed_task_error)