isar 1.33.8__tar.gz → 1.33.9__tar.gz

{isar-1.33.8 → isar-1.33.9}/.github/workflows/compile_requirements.yml

@@ -38,7 +38,7 @@ jobs:
           pip-compile --output-file=requirements.txt pyproject.toml --upgrade
 
       - name: Create Pull Request
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@271a8d0340265f705b14b6d32b9829c1cb33d45e #v7
         with:
           commit-message: "GHA: Update dependencies"
           title: Update dependencies

{isar-1.33.8 → isar-1.33.9}/.github/workflows/project_automations.yml

@@ -1,4 +1,10 @@
 name: Project automations
+
+permissions:
+  contents: read
+  issues: write
+  pull-requests: write
+
 on:
   issues:
     types:
@@ -19,7 +25,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'opened' || github.event.action == 'reopened'
     steps:
       - name: 'Move issue to "Todo"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -32,7 +38,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'closed'
     steps:
       - name: 'Moved issue to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -45,7 +51,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'opened' || github.event.action == 'reopened' || github.event.action == 'review_requested'
     steps:
       - name: 'Move PR to "In Progress"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -58,7 +64,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'ready_for_review'
     steps:
       - name: 'Move PR to "Review"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -71,7 +77,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'closed'
     steps:
       - name: 'Move PR to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor

{isar-1.33.8 → isar-1.33.9}/.github/workflows/pythonpackage.yml

@@ -1,5 +1,8 @@
 name: Python package
 
+permissions:
+  contents: read
+
 on:
   push:
     branches:

{isar-1.33.8 → isar-1.33.9}/.github/workflows/pythonpublish.yml

@@ -1,5 +1,8 @@
 name: Upload Python Package
 
+permissions:
+  contents: read
+
 on:
   release:
     types: [created]

{isar-1.33.8 → isar-1.33.9}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.33.8
+Version: 1.33.9
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -480,6 +480,7 @@ 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 → isar-1.33.9}/README.md

@@ -336,6 +336,7 @@ 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 → isar-1.33.9}/src/isar/config/settings.py

@@ -168,7 +168,7 @@ class Settings(BaseSettings):
     UPLOAD_INSPECTIONS_ASYNC: bool = Field(default=False)
 
     # URL to storage account for Azure Blob Storage
-    BLOB_STORAGE_ACCOUNT: str = Field(default="eqrobotdevstorage")
+    BLOB_STORAGE_ACCOUNT: str = Field(default="")
 
     # Name of blob container in Azure Blob Storage [slimm test]
     BLOB_CONTAINER: str = Field(default="test")

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/await_next_mission.py

@@ -27,12 +27,13 @@ class AwaitNextMission(EventHandlerBase):
             event: Event[bool],
         ) -> Optional[Callable]:
             should_lockdown: bool = event.consume_event()
-            if should_lockdown:
-                events.api_requests.send_to_lockdown.response.trigger_event(
-                    LockdownResponse(lockdown_started=True)
-                )
-                return state_machine.request_lockdown_mission  # type: ignore
-            return None
+            if not should_lockdown:
+                return None
+
+            events.api_requests.send_to_lockdown.response.trigger_event(
+                LockdownResponse(lockdown_started=True)
+            )
+            return state_machine.request_lockdown_mission  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/going_to_lockdown.py

@@ -32,18 +32,19 @@ class GoingToLockdown(EventHandlerBase):
             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.lockdown_mission_failed  # type: ignore
-            return None
+            if mission_failed is None:
+                return 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.lockdown_mission_failed  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/home.py

@@ -22,12 +22,13 @@ class Home(EventHandlerBase):
 
         def _send_to_lockdown_event_handler(event: Event[bool]):
             should_send_robot_home: bool = event.consume_event()
-            if should_send_robot_home:
-                events.api_requests.send_to_lockdown.response.trigger_event(
-                    LockdownResponse(lockdown_started=True)
-                )
-                return state_machine.reached_lockdown  # type: ignore
-            return None
+            if not should_send_robot_home:
+                return None
+
+            events.api_requests.send_to_lockdown.response.trigger_event(
+                LockdownResponse(lockdown_started=True)
+            )
+            return state_machine.reached_lockdown  # type: ignore
 
         def _robot_status_event_handler(
             state_machine: "StateMachine",

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/intervention_needed.py

@@ -17,12 +17,13 @@ class InterventionNeeded(EventHandlerBase):
         def release_intervention_needed_handler(
             event: Event[bool],
         ) -> Optional[Callable]:
-            if event.consume_event():
-                state_machine.events.api_requests.release_intervention_needed.response.trigger_event(
-                    True
-                )
-                return state_machine.release_intervention_needed  # type: ignore
-            return None
+            if not event.consume_event():
+                return None
+
+            state_machine.events.api_requests.release_intervention_needed.response.trigger_event(
+                True
+            )
+            return state_machine.release_intervention_needed  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/lockdown.py

@@ -14,13 +14,14 @@ class Lockdown(EventHandlerBase):
 
         def _release_from_lockdown_handler(event: Event[bool]):
             should_release_from_lockdown: bool = event.consume_event()
-            if should_release_from_lockdown:
-                events.api_requests.release_from_lockdown.response.trigger_event(True)
-                if state_machine.battery_level_is_above_mission_start_threshold():
-                    return state_machine.release_from_lockdown  # type: ignore
-                else:
-                    return state_machine.starting_recharging  # type: ignore
-            return None
+            if not should_release_from_lockdown:
+                return None
+
+            events.api_requests.release_from_lockdown.response.trigger_event(True)
+            if state_machine.battery_level_is_above_mission_start_threshold():
+                return state_machine.release_from_lockdown  # type: ignore
+            else:
+                return state_machine.starting_recharging  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/monitor.py

@@ -27,9 +27,10 @@ class Monitor(EventHandlerBase):
         shared_state = state_machine.shared_state
 
         def _pause_mission_event_handler(event: Event[bool]) -> Optional[Callable]:
-            if event.consume_event():
-                return state_machine.pause  # type: ignore
-            return None
+            if not event.consume_event():
+                return None
+
+            return state_machine.pause  # type: ignore
 
         def _handle_task_completed(task_status: TaskStatus):
             if state_machine.should_upload_inspections():
@@ -44,35 +45,38 @@ class Monitor(EventHandlerBase):
                 )
 
             state_machine.iterate_current_task()
-            if state_machine.current_task is None:
-                return state_machine.mission_finished  # type: ignore
-            return None
+            if state_machine.current_task is not None:
+                return None
+
+            return state_machine.mission_finished  # type: ignore
 
         def _robot_battery_level_updated_handler(
             event: Event[float],
         ) -> Optional[Callable]:
             battery_level: float = event.check()
-            if battery_level < settings.ROBOT_MISSION_BATTERY_START_THRESHOLD:
-                state_machine.publish_mission_aborted(
-                    "Robot battery too low to continue mission", True
-                )
-                state_machine._finalize()
-                state_machine.logger.warning(
-                    "Cancelling current mission due to low battery"
-                )
-                return state_machine.stop  # type: ignore
-            return None
+            if battery_level >= settings.ROBOT_MISSION_BATTERY_START_THRESHOLD:
+                return None
+
+            state_machine.publish_mission_aborted(
+                "Robot battery too low to continue mission", True
+            )
+            state_machine._finalize()
+            state_machine.logger.warning(
+                "Cancelling current mission due to low battery"
+            )
+            return state_machine.stop  # type: ignore
 
         def _send_to_lockdown_event_handler(
             event: Event[bool],
         ) -> Optional[Callable]:
             should_lockdown: bool = event.consume_event()
-            if should_lockdown:
-                state_machine.logger.warning(
-                    "Cancelling current mission due to robot going to lockdown"
-                )
-                return state_machine.stop_go_to_lockdown  # type: ignore
-            return None
+            if not should_lockdown:
+                return None
+
+            state_machine.logger.warning(
+                "Cancelling current mission due to robot going to lockdown"
+            )
+            return state_machine.stop_go_to_lockdown  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/paused.py

@@ -19,28 +19,30 @@ class Paused(EventHandlerBase):
             event: Event[float],
         ) -> Optional[Callable]:
             battery_level: float = event.check()
-            if battery_level < settings.ROBOT_MISSION_BATTERY_START_THRESHOLD:
-                state_machine.publish_mission_aborted(
-                    "Robot battery too low to continue mission", True
-                )
-                state_machine._finalize()
-                state_machine.logger.warning(
-                    "Cancelling current mission due to low battery"
-                )
-                return state_machine.stop  # type: ignore
-            return None
+            if battery_level >= settings.ROBOT_MISSION_BATTERY_START_THRESHOLD:
+                return None
+
+            state_machine.publish_mission_aborted(
+                "Robot battery too low to continue mission", True
+            )
+            state_machine._finalize()
+            state_machine.logger.warning(
+                "Cancelling current mission due to low battery"
+            )
+            return state_machine.stop  # type: ignore
 
         def _send_to_lockdown_event_handler(
             event: Event[bool],
         ) -> Optional[Callable]:
             should_lockdown: bool = event.consume_event()
-            if should_lockdown:
-                state_machine._finalize()
-                state_machine.logger.warning(
-                    "Cancelling current mission due to robot going to lockdown"
-                )
-                return state_machine.stop_go_to_lockdown  # type: ignore
-            return None
+            if not should_lockdown:
+                return None
+
+            state_machine._finalize()
+            state_machine.logger.warning(
+                "Cancelling current mission due to robot going to lockdown"
+            )
+            return state_machine.stop_go_to_lockdown  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/pausing.py

@@ -31,29 +31,30 @@ class Pausing(EventHandlerBase):
             state_machine.publish_mission_status()
             state_machine.send_task_status()
 
-            if error_message is not None:
-                return state_machine.mission_pausing_failed  # type: ignore
-            return None
+            if error_message is None:
+                return None
+
+            return state_machine.mission_pausing_failed  # type: ignore
 
         def _successful_pause_event_handler(event: Event[bool]) -> Optional[Callable]:
-            if event.consume_event():
+            if not event.consume_event():
+                return None
 
-                state_machine.current_mission.status = MissionStatus.Paused
-                state_machine.current_task.status = TaskStatus.Paused
+            state_machine.current_mission.status = MissionStatus.Paused
+            state_machine.current_task.status = TaskStatus.Paused
 
-                paused_mission_response: ControlMissionResponse = (
-                    state_machine._make_control_mission_response()
-                )
+            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.events.api_requests.pause_mission.response.trigger_event(
+                paused_mission_response
+            )
 
-                state_machine.publish_mission_status()
-                state_machine.send_task_status()
+            state_machine.publish_mission_status()
+            state_machine.send_task_status()
 
-                return state_machine.mission_paused  # type:ignore
-            return None
+            return state_machine.mission_paused  # type:ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/pausing_return_home.py

@@ -31,29 +31,30 @@ class PausingReturnHome(EventHandlerBase):
             state_machine.publish_mission_status()
             state_machine.send_task_status()
 
-            if error_message is not None:
-                return state_machine.return_home_mission_pausing_failed  # type: ignore
-            return None
+            if error_message is None:
+                return None
+
+            return state_machine.return_home_mission_pausing_failed  # type: ignore
 
         def _successful_pause_event_handler(event: Event[bool]) -> Optional[Callable]:
-            if event.consume_event():
+            if not event.consume_event():
+                return None
 
-                state_machine.current_mission.status = MissionStatus.Paused
-                state_machine.current_task.status = TaskStatus.Paused
+            state_machine.current_mission.status = MissionStatus.Paused
+            state_machine.current_task.status = TaskStatus.Paused
 
-                paused_mission_response: ControlMissionResponse = (
-                    state_machine._make_control_mission_response()
-                )
+            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.events.api_requests.pause_mission.response.trigger_event(
+                paused_mission_response
+            )
 
-                state_machine.publish_mission_status()
-                state_machine.send_task_status()
+            state_machine.publish_mission_status()
+            state_machine.send_task_status()
 
-                return state_machine.return_home_mission_paused  # type: ignore
-            return None
+            return state_machine.return_home_mission_paused  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/recharging.py

@@ -1,4 +1,4 @@
-from typing import TYPE_CHECKING, List
+from typing import TYPE_CHECKING, List, Optional
 
 from isar.apis.models.models import LockdownResponse
 from isar.config.settings import settings
@@ -18,23 +18,29 @@ class Recharging(EventHandlerBase):
 
         def robot_battery_level_updated_handler(event: Event[float]):
             battery_level: float = event.check()
-            if battery_level >= settings.ROBOT_BATTERY_RECHARGE_THRESHOLD:
-                return state_machine.robot_recharged  # type: ignore
-            return None
+            if battery_level < settings.ROBOT_BATTERY_RECHARGE_THRESHOLD:
+                return None
+
+            return state_machine.robot_recharged  # type: ignore
 
         def robot_offline_handler(event: Event[RobotStatus]):
-            robot_status: RobotStatus = event.check()
+            robot_status: Optional[RobotStatus] = event.check()
+
+            if robot_status is None:
+                return None
+
             if robot_status == RobotStatus.Offline:
                 return state_machine.robot_went_offline  # type: ignore
 
         def _send_to_lockdown_event_handler(event: Event[bool]):
             should_lockdown: bool = event.consume_event()
-            if should_lockdown:
-                events.api_requests.send_to_lockdown.response.trigger_event(
-                    LockdownResponse(lockdown_started=True)
-                )
-                return state_machine.reached_lockdown  # type: ignore
-            return None
+            if not should_lockdown:
+                return None
+
+            events.api_requests.send_to_lockdown.response.trigger_event(
+                LockdownResponse(lockdown_started=True)
+            )
+            return state_machine.reached_lockdown  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/return_home_paused.py

@@ -20,38 +20,42 @@ class ReturnHomePaused(EventHandlerBase):
             event: Event[float],
         ) -> Optional[Callable]:
             battery_level: float = event.check()
-            if battery_level < settings.ROBOT_MISSION_BATTERY_START_THRESHOLD:
-                return state_machine.resume  # type: ignore
-            return None
+
+            if battery_level >= settings.ROBOT_MISSION_BATTERY_START_THRESHOLD:
+                return None
+
+            return state_machine.resume  # type: ignore
 
         def _start_mission_event_handler(
             event: Event[Mission],
         ) -> Optional[Callable]:
-            if event.has_event():
-                if not state_machine.battery_level_is_above_mission_start_threshold():
-                    state_machine.events.api_requests.start_mission.request.consume_event()
-                    response = MissionStartResponse(
-                        mission_id=None,
-                        mission_started=False,
-                        mission_not_started_reason="Robot battery too low",
-                    )
-                    state_machine.events.api_requests.start_mission.response.trigger_event(
-                        response
-                    )
-                    return None
-                return state_machine.stop_return_home  # type: ignore
-            return None
+            if not event.has_event():
+                return None
+
+            if not state_machine.battery_level_is_above_mission_start_threshold():
+                state_machine.events.api_requests.start_mission.request.consume_event()
+                response = MissionStartResponse(
+                    mission_id=None,
+                    mission_started=False,
+                    mission_not_started_reason="Robot battery too low",
+                )
+                state_machine.events.api_requests.start_mission.response.trigger_event(
+                    response
+                )
+                return None
+            return state_machine.stop_return_home  # type: ignore
 
         def _send_to_lockdown_event_handler(
             event: Event[bool],
         ) -> Optional[Callable]:
             should_lockdown: bool = event.consume_event()
-            if should_lockdown:
-                events.api_requests.send_to_lockdown.response.trigger_event(
-                    LockdownResponse(lockdown_started=True)
-                )
-                return state_machine.resume_lockdown  # type: ignore
-            return None
+            if not should_lockdown:
+                return None
+
+            events.api_requests.send_to_lockdown.response.trigger_event(
+                LockdownResponse(lockdown_started=True)
+            )
+            return state_machine.resume_lockdown  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(

{isar-1.33.8 → isar-1.33.9}/src/isar/state_machine/states/returning_home.py

@@ -24,9 +24,10 @@ class ReturningHome(EventHandlerBase):
         events = state_machine.events
 
         def _pause_mission_event_handler(event: Event[bool]) -> Optional[Callable]:
-            if event.consume_event():
-                return state_machine.pause_return_home  # type: ignore
-            return None
+            if not event.consume_event():
+                return None
+
+            return state_machine.pause_return_home  # type: ignore
 
         def _handle_task_completed(status: TaskStatus):
             if status != TaskStatus.Successful:
@@ -45,31 +46,34 @@ class ReturningHome(EventHandlerBase):
         def _start_mission_event_handler(
             event: Event[Mission],
         ) -> Optional[Callable]:
-            if event.has_event():
-                if not state_machine.battery_level_is_above_mission_start_threshold():
-                    state_machine.events.api_requests.start_mission.request.consume_event()
-                    response = MissionStartResponse(
-                        mission_id=None,
-                        mission_started=False,
-                        mission_not_started_reason="Robot battery too low",
-                    )
-                    state_machine.events.api_requests.start_mission.response.trigger_event(
-                        response
-                    )
-                    return None
-                return state_machine.stop_return_home  # type: ignore
-            return None
+            if not event.has_event():
+                return None
+
+            if not state_machine.battery_level_is_above_mission_start_threshold():
+                state_machine.events.api_requests.start_mission.request.consume_event()
+                response = MissionStartResponse(
+                    mission_id=None,
+                    mission_started=False,
+                    mission_not_started_reason="Robot battery too low",
+                )
+                state_machine.events.api_requests.start_mission.response.trigger_event(
+                    response
+                )
+                return None
+
+            return state_machine.stop_return_home  # type: ignore
 
         def _send_to_lockdown_event_handler(
             event: Event[bool],
         ) -> Optional[Callable]:
             should_lockdown: bool = event.consume_event()
-            if should_lockdown:
-                events.api_requests.send_to_lockdown.response.trigger_event(
-                    LockdownResponse(lockdown_started=True)
-                )
-                return state_machine.go_to_lockdown  # type: ignore
-            return None
+            if not should_lockdown:
+                return None
+
+            events.api_requests.send_to_lockdown.response.trigger_event(
+                LockdownResponse(lockdown_started=True)
+            )
+            return state_machine.go_to_lockdown  # type: ignore
 
         event_handlers: List[EventHandlerMapping] = [
             EventHandlerMapping(