isar 1.34.9__py3-none-any.whl → 1.34.13__py3-none-any.whl

isar/state_machine/transitions/mission.py

@@ -76,10 +76,16 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "source": [
                 state_machine.await_next_mission_state,
                 state_machine.monitor_state,
-                state_machine.paused_state,
             ],
             "dest": state_machine.stopping_state,
         },
+        {
+            "trigger": "stop",
+            "source": [
+                state_machine.paused_state,
+            ],
+            "dest": state_machine.stopping_paused_mission_state,
+        },
         {
             "trigger": "stop_go_to_lockdown",
             "source": [
@@ -111,13 +117,22 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "trigger": "stop_return_home",
             "source": [
                 state_machine.returning_home_state,
-                state_machine.return_home_paused_state,
             ],
             "dest": state_machine.stopping_return_home_state,
         },
+        {
+            "trigger": "stop_return_home",
+            "source": [
+                state_machine.return_home_paused_state,
+            ],
+            "dest": state_machine.stopping_paused_return_home_state,
+        },
         {
             "trigger": "mission_stopped",
-            "source": state_machine.stopping_state,
+            "source": [
+                state_machine.stopping_state,
+                state_machine.stopping_paused_mission_state,
+            ],
             "dest": state_machine.await_next_mission_state,
         },
         {
@@ -139,6 +154,11 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             ],
             "dest": state_machine.monitor_state,
         },
+        {
+            "trigger": "mission_stopping_failed",
+            "source": state_machine.stopping_paused_mission_state,
+            "dest": state_machine.paused_state,
+        },
         {
             "trigger": "mission_stopping_failed",
             "source": state_machine.stopping_due_to_maintenance_state,
@@ -149,12 +169,18 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "source": state_machine.stopping_return_home_state,
             "dest": state_machine.returning_home_state,
         },
+        {
+            "trigger": "return_home_mission_stopping_failed",
+            "source": state_machine.stopping_paused_return_home_state,
+            "dest": state_machine.return_home_paused_state,
+        },
         {
             "trigger": "start_mission_monitoring",
             "source": [
                 state_machine.await_next_mission_state,
                 state_machine.home_state,
                 state_machine.stopping_return_home_state,
+                state_machine.stopping_paused_return_home_state,
             ],
             "dest": state_machine.monitor_state,
         },
@@ -182,11 +208,18 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "dest": state_machine.maintenance_state,
         },
         {
-            "trigger": "release_from_maintenance",
+            "trigger": "goto_home",
             "source": [
                 state_machine.maintenance_state,
             ],
             "dest": state_machine.home_state,
         },
+        {
+            "trigger": "goto_intervention_needed",
+            "source": [
+                state_machine.maintenance_state,
+            ],
+            "dest": state_machine.intervention_needed_state,
+        },
     ]
     return mission_transitions

isar/state_machine/transitions/return_home.py

@@ -15,6 +15,8 @@ def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
                 state_machine.monitor_state,
                 state_machine.stopping_state,
                 state_machine.stopping_return_home_state,
+                state_machine.stopping_paused_mission_state,
+                state_machine.stopping_paused_return_home_state,
             ],
             "dest": state_machine.returning_home_state,
         },

isar/state_machine/transitions/robot_status.py

@@ -71,6 +71,13 @@ def get_robot_status_transitions(state_machine: "StateMachine") -> List[dict]:
             ],
             "dest": state_machine.unknown_status_state,
         },
+        {
+            "trigger": "robot_status_busy",
+            "source": [
+                state_machine.unknown_status_state,
+            ],
+            "dest": state_machine.stopping_state,
+        },
         {
             "trigger": "robot_recharged",
             "source": state_machine.recharging_state,

isar/state_machine/utils/common_event_handlers.py

@@ -2,6 +2,7 @@ from typing import TYPE_CHECKING, Callable, Optional
 
 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
 
 if TYPE_CHECKING:
@@ -71,3 +72,67 @@ def mission_started_event_handler(
 
     state_machine.logger.info("Received confirmation that mission has started")
     return None
+
+
+def failed_stop_event_handler(
+    state_machine: "StateMachine",
+    event: Event[ErrorMessage],
+) -> Optional[Callable]:
+    error_message: Optional[ErrorMessage] = event.consume_event()
+    if error_message is None:
+        return None
+
+    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
+    )
+    return state_machine.mission_stopping_failed  # type: ignore
+
+
+def successful_stop_event_handler(
+    state_machine: "StateMachine", event: Event[bool]
+) -> Optional[Callable]:
+    if not event.consume_event():
+        return None
+
+    state_machine.events.api_requests.stop_mission.response.trigger_event(
+        ControlMissionResponse(success=True)
+    )
+    state_machine.print_transitions()
+    if not state_machine.battery_level_is_above_mission_start_threshold():
+        state_machine.start_return_home_mission()
+        return state_machine.start_return_home_monitoring  # type: ignore
+    return state_machine.mission_stopped  # type: ignore
+
+
+def failed_stop_return_home_event_handler(
+    state_machine: "StateMachine", event: Event[ErrorMessage]
+) -> Optional[Callable]:
+    error_message: Optional[ErrorMessage] = event.consume_event()
+    if error_message is None:
+        return None
+
+    state_machine.logger.warning(
+        f"Failed to stop return home mission {error_message.error_description}"
+    )
+    return state_machine.return_home_mission_stopping_failed  # type: ignore
+
+
+def successful_stop_return_home_event_handler(
+    state_machine: "StateMachine", event: Event[bool], mission: Optional[Mission]
+) -> Optional[Callable]:
+    if not event.consume_event():
+        return None
+
+    if mission:
+        state_machine.start_mission(mission=mission)
+        state_machine.events.api_requests.start_mission.response.trigger_event(
+            MissionStartResponse(mission_started=True)
+        )
+        return state_machine.start_mission_monitoring  # type: ignore
+
+    state_machine.logger.error("Stopped return home without a new mission to start")
+    state_machine.start_return_home_mission()
+    return state_machine.start_return_home_monitoring  # type: ignore

{isar-1.34.9.dist-info → isar-1.34.13.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.34.9
+Version: 1.34.13
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -124,12 +124,12 @@ Requires-Dist: requests
 Requires-Dist: starlette>=0.49.1
 Requires-Dist: transitions
 Requires-Dist: uvicorn
-Requires-Dist: opentelemetry-api
+Requires-Dist: opentelemetry-api==1.38.0
 Requires-Dist: opentelemetry-sdk
 Requires-Dist: opentelemetry-exporter-otlp
 Requires-Dist: opentelemetry-instrumentation-fastapi
 Requires-Dist: azure-monitor-opentelemetry
-Requires-Dist: azure-monitor-opentelemetry-exporter>=1.0.0b38
+Requires-Dist: azure-monitor-opentelemetry-exporter
 Requires-Dist: pymysql
 Requires-Dist: sqlalchemy
 Requires-Dist: psycopg2-binary
@@ -267,17 +267,56 @@ Once the application has been started the swagger site may be accessed at
 http://localhost:3000/docs
 ```
 
-Execute the `/schedule/start-mission` endpoint with `mission_id=1` to run a mission.
-
-In [this](./src/isar/config/predefined_missions) folder there are predefined default missions, for example the mission
-corresponding to `mission_id=1`. A new mission may be added by adding a new json-file with a mission description. Note,
-the mission IDs must be unique.
+Execute the `/schedule/start-mission` endpoint with the 'mission_definition' value in the body containing a JSON representing a mission definition (see `StartMissionDefinition` in [start_mission_definition.py](./src/isar/apis/models/start_mission_definition.py)). 
+
+Here is an example body:
+{
+   'mission_definition': {
+      'id': 'example ID',
+      'tasks': [
+         {
+            'id': 'example ID',
+            'type': 'inspection',
+            'pose': {
+               'position': {
+                  'x': 1.0,
+                  'y': 1.0,
+                  'z': 1.0,
+                  'frame_name': 'robot'
+               },
+               'orientation': {
+                  'x': 0.0,
+                  'y': 0.0,
+                  'z': 0.0,
+                  'w': 0.0,
+                  'frame_name': 'robot'
+               },
+               'frame_name': 'robot'
+            },
+            'inspection': {
+               'type': 'Image',
+               'inspection_target': {
+                  'x': 5.0,
+                  'y': 5.0,
+                  'z': 5.0,
+                  'frame_name': 'robot'
+               },
+               'inspection_description': 'Example description,
+               'duration': None
+            },
+            'tag': 'example_tag',
+            'zoom': None
+         }
+      ],
+      'name': 'Example name',
+      'start_pose': None
+   }
+}
 
 ### Configuration
 
 The system consists of many configuration variables which may alter the functionality. As an example, it is possible to
-change mission planners or add multiple storage handlers as described in the [mission planner](#mission-planner)
-and [storage](#storage) sections.
+add multiple storage handlers as described in the [storage](#storage) section.
 
 There are two methods of specifying configuration.
 
@@ -393,12 +432,6 @@ The FastAPI establishes an interface to the state machine for the user. As the A
 threads, they communicate through python queues. FastAPI runs on an ASGI-server, specifically uvicorn. The
 FastAPI-framework is split into routers where the endpoint operations are defined.
 
-## Mission planner
-
-The mission planner that is currently in use is a local mission planner, where missions are specified in a json file. You can create your own mission planner by implementing
-the [mission planner interface](./src/isar/mission_planner/mission_planner_interface.py) and adding your planner to the
-selection [here](./src/isar/modules.py). Note that you must add your module as an option in the dictionary.
-
 ## Storage
 
 The storage modules that are used is defined by the `ISAR_STORAGE` configuration variable. This can be changed by

{isar-1.34.9.dist-info → isar-1.34.13.dist-info}/RECORD

@@ -1,26 +1,24 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
-isar/modules.py,sha256=2bo4Z4H2n4vl9BVwV5V5twOUevsLIuXsPiRPICjCB3k,4404
-isar/script.py,sha256=mkwdRMEYW2HI9eFLyFy23Ks1_vvrsp17b8VlvkhrNao,5913
+isar/modules.py,sha256=lGeMS_E6r7rqK-jV_ERrYPlb5oQp8r6VqowYOt5jgtE,4285
+isar/script.py,sha256=7qMYHCn4SR8OwUhfgfl_hWQgvKJcL7zD-nvnRKRhEKM,5897
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/api.py,sha256=0s0C1l5qGhko8rzm4D3y27mwibk_S2s2o95eAl7bH3k,16126
+isar/apis/api.py,sha256=M88pyEcn8RO-8_nAyCOvB-MGN2klap609M5XlzPPms0,15095
 isar/apis/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/models/models.py,sha256=UqIzHiqrvI-ICi6H_xlBFH2HHgYHnMWAKlnqrdqM380,2099
-isar/apis/models/start_mission_definition.py,sha256=v-wt1XDd53Sw7DCdFAkxBBut-xd_uGJa7qMJnE3VI9k,6364
+isar/apis/models/start_mission_definition.py,sha256=fcKvxXegYUd0kxye8bb4rm1LaccvtS4auaetOxhAX7Y,6331
 isar/apis/robot_control/robot_controller.py,sha256=RSVlxbw9D668tHWItVLtyjvAnsJkCs2yUSkU3iqeAcY,1393
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/schedule/scheduling_controller.py,sha256=oyUSo0MdKB24cB796GcfdSzw6-pendz9Thtrh9yAlvc,10890
+isar/apis/schedule/scheduling_controller.py,sha256=Ptvm0iop0IupYGwcS4Thbi0UeXXJ9N0xWmU1NVpfL_k,9875
 isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/security/authentication.py,sha256=Se2puhe2TUBmfio2RLma52-VSLRhqvWgu0Cd1bhdwMo,2000
 isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5ATfKc,46
 isar/config/log.py,sha256=16qEMVKWrAc5I9xgE0xZQBpuYpy7wMz9NT19JVBZlf4,2218
 isar/config/logging.conf,sha256=skjTp6AsXQGW6L6DeMxGszD-XvWu1BAVWjDipQ4QHvU,854
 isar/config/open_telemetry.py,sha256=Lgu0lbRQA-zz6ZDoBKKk0whQex5w18jl1wjqWzHUGdg,3634
-isar/config/settings.py,sha256=BmcLwk4_MODG1NVuFsbu2W__t68rlmMozzJFWbI4zkQ,12289
+isar/config/settings.py,sha256=DP36AI_ujmQMFLYnIOXuaYbwp25bFCl-FGBfRoAnDc8,11916
 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
-isar/config/keyvault/keyvault_service.py,sha256=TEAJv5RlWnYvy-n9keivdATDafdTQDj4QY8Aw3SEKoU,3124
+isar/config/keyvault/keyvault_service.py,sha256=ZOdkjBaKpNXcNsHONPhKOHtCxq201e2TQy2qz1RoY_o,3104
 isar/config/maps/JSP1_intermediate_deck.json,sha256=fdotzN6MVotyLbqpIjRSrbBYM84vogLkdS585NjBnL8,826
 isar/config/maps/JSP1_weather_deck.json,sha256=_dG3cSBI8q4_uHqHMOO5kSYqMXn85JL3_9PaH4uk1yQ,832
 isar/config/maps/default_map.json,sha256=3CdGMr0Qn3PrL4TfUK8I5a-hotMrS_n5DKfaEORJPT4,776
@@ -28,21 +26,11 @@ isar/config/maps/klab_b.json,sha256=qXgWVUYPaTdVuomf6lQL-uRbV3Tsa6CftnzcbT3dY78,
 isar/config/maps/klab_compressor.json,sha256=1Vrk5u_l4WXjrTtG4YfXlrCPbOoRs4TtYHOm0430u2A,803
 isar/config/maps/klab_turtlebot.json,sha256=HcB79XFEdY0Wm96EssIFO4TMyAWzc2KENoqN7TbTT0k,823
 isar/config/maps/turtleworld.json,sha256=EKLMpSK9Gu2lAN-E9l41XOaO3f9Su5n_I97mA6z7sWY,764
-isar/config/predefined_mission_definition/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/config/predefined_mission_definition/default_exr.json,sha256=diSi4KMnGQY01ZumYUBZDvrekgl4bgiTk-9YPXVeBCY,1550
-isar/config/predefined_mission_definition/default_mission.json,sha256=NAspX-kTaHh9VygJGrytJGNjebEIPbiTnWHhj7qt9rk,2722
-isar/config/predefined_mission_definition/default_turtlebot.json,sha256=20ee7q1EIx7bIIojMucSwdBafuCG5sewbMQn9gJuPEo,3704
-isar/config/predefined_missions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/config/predefined_missions/default.json,sha256=eBVuHXRoXELpzN0IbSOHdTVjZnhxFqJQf6h67Ez4Iqk,1243
-isar/config/predefined_missions/default_extra_capabilities.json,sha256=ddYx54xvz1w5hSS5i6YrHOj8-4YMmtuolLXVha4kLvE,2157
 isar/eventhandlers/eventhandler.py,sha256=xM5wmrYO3nQtxxsGt-s98ajKhfl3bCMajqtJ29CoGyo,3816
-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/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/models/events.py,sha256=zE2YQoWzfuVTDLX99YdXb4wu6lmc_KZlwWYQAxiNfvA,6262
-isar/models/status.py,sha256=ed_CZH08IFwIKwX0t1U6MQpq5tax2LwWrTe_TjII5mg,506
-isar/robot/robot.py,sha256=gw8MI_mLLY1uEFn7xMEFGcz1uBJO6MWH4JXGxbELm2k,15138
+isar/models/status.py,sha256=k-z5-a3JjR9ygXw7RMNEDhExd0lwc6Q39I5BW55abP8,646
+isar/robot/robot.py,sha256=uwy7SgF6fx63WaMczch6k54od7LF7_T465DcVp3YZBU,15485
 isar/robot/robot_battery.py,sha256=goLdgmn61QCgE2Ja3YuiwE_sqJzIhCkS3u90sz1kdug,2089
 isar/robot/robot_monitor_mission.py,sha256=Pb0dhnVncNt6VuiidlJDyniEXiqoO1ZArSCdWCqX6IY,13831
 isar/robot/robot_pause_mission.py,sha256=2zVQLh1Qoo-PIgpYUd6IBA39EJ1azIGh_lV1b9BeXqk,2631
@@ -52,11 +40,8 @@ isar/robot/robot_status.py,sha256=dfAls3s8_Vha7ZMLSYngELqsdpaEpcweAWRHanQj8u8,23
 isar/robot/robot_stop_mission.py,sha256=CaXLsZjjazHmydU9iR7uOWUHtJ2zvKh4ItUbkWY5sIk,2321
 isar/robot/robot_upload_inspection.py,sha256=uCc9nuH1Am5uxD2Tgnm4ZTOm0tQnud0F6eHs0rSUfvY,2539
 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
 isar/services/service_connections/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/service_connections/persistent_memory.py,sha256=duNj5vX4VtL5XCu6oiZ0VPmNMlFbNJMzcLcQL8nNfN8,2188
-isar/services/service_connections/request_handler.py,sha256=0LxC0lu_HXeEf_xmJWjfEsh14oAUI97cpG1IWtBlcs4,4278
 isar/services/service_connections/mqtt/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/service_connections/mqtt/mqtt_client.py,sha256=8Dr65JNwPx5-kRY8UsRtZ_nrQ2gXXSUH6LWFOYlnluo,4482
 isar/services/service_connections/mqtt/robot_heartbeat_publisher.py,sha256=SKPvY2QwBxqnhL9aGuZQDGQ8F_NDqPtQI5bzRBIUxkQ,1203
@@ -64,11 +49,10 @@ isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=AxokGk51hR
 isar/services/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/mqtt_utilities.py,sha256=_e-UzWcoXvsBUrvb89rNXQaDN4G3rTsYlZRIhmC9fQc,3101
 isar/services/utilities/robot_utilities.py,sha256=4zCigsLXfqDC8POHchktSq81zr1_pTaRve_LQsVr6Mk,514
-isar/services/utilities/scheduling_utilities.py,sha256=wxLBc7l6Pc6y0aLRP-gOzBMfKUs-xg8BA9QiNdBG7bU,23814
-isar/services/utilities/threaded_request.py,sha256=py4G-_RjnIdHljmKFAcQ6ddqMmp-ZYV39Ece-dqRqjs,1874
+isar/services/utilities/scheduling_utilities.py,sha256=Q3wrwxbKVptwOTvFShN0meqCmhroJFRKpO56WHq9UzY,22229
 isar/state_machine/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/state_machine.py,sha256=Kmys0yIpsBuBxPrcqHo3FYDfAfx34haHfczihHYLmEU,13669
-isar/state_machine/states_enum.py,sha256=1jiON-PJCDWIA0VHtI0AUFlWeVtbWbGijShVJyViqwI,1012
+isar/state_machine/state_machine.py,sha256=EiYd1g1PzOPBmYXBwBnN0M5T4vRphPUKjgRXmzW8X38,14737
+isar/state_machine/states_enum.py,sha256=JrLLju4KMs2ddJZ0Rou2T1LPzF1SnRzDyr0uA_gUvh0,1127
 isar/state_machine/states/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/state_machine/states/await_next_mission.py,sha256=IJ79RuPveK6xBnHHkMldZ8LJybLfhMcS812t7-I6-iU,4381
 isar/state_machine/states/blocked_protective_stop.py,sha256=Ya5GIZS81olGoTXqKVjDaUXfl3zR6FxdsUXktPJIU80,2578
@@ -77,7 +61,7 @@ isar/state_machine/states/going_to_recharging.py,sha256=CMtA9hmiW8XmH7Skj3B0_IAt
 isar/state_machine/states/home.py,sha256=IfAFi9bDvoqNaJRahAw8tQwRQ2Wg84kI-nAmtzXp75U,4856
 isar/state_machine/states/intervention_needed.py,sha256=DmRm5bQYxUzTRCwYiFN9L4bRXWSdGgDKCBwh-hV6ySo,3156
 isar/state_machine/states/lockdown.py,sha256=ZFw9XMDENECuH3lh89RKeU_3CTzW0ZBvqCKptFJG5xo,1364
-isar/state_machine/states/maintenance.py,sha256=PIlPLtS7zn5uTJZ9kTrpOQGUuJww4j5vD-qaNcoj7aI,1267
+isar/state_machine/states/maintenance.py,sha256=94lzo7yJbyiphjk_onTETq_ZjMk6PIHRSh4LWEJeC74,1556
 isar/state_machine/states/monitor.py,sha256=WYhCkZAfsGoqO092jvnuSJEspY5gBje__-pf4nuGEDY,6267
 isar/state_machine/states/offline.py,sha256=FbchMo1q2d0aZUiDj9VWuD1IAha7sD1d8e5MqyR_JBc,2564
 isar/state_machine/states/paused.py,sha256=-XRjjMpzKgKQZ7oYmI1bAZXNbtti1KHlH0tt59Cv0eg,4149
@@ -88,30 +72,31 @@ isar/state_machine/states/resuming.py,sha256=Evh9gxxntKwY8MKM4gn0Sq-H9DpMx6RRJrI
 isar/state_machine/states/resuming_return_home.py,sha256=YZhHno_WdtR5DkoeKmsN4jALmTXcOdWgOGZ0d8Tz2HQ,2414
 isar/state_machine/states/return_home_paused.py,sha256=598K-hKMxjZZf3iVWDaOOauAETSwJxxDbU1wlHnt9UM,4485
 isar/state_machine/states/returning_home.py,sha256=oXc7Ou7lhzLSm4oZocoiB_4I2vUyxzt2CvJP6wAJhRs,9196
-isar/state_machine/states/stopping.py,sha256=B2tcd4jaSOXEkTrd5BnNfMVrzM9wRkJm5hnmM7gxUc0,2484
+isar/state_machine/states/stopping.py,sha256=CFdR5vTndXD0T1ZeBO31lSYTxG3ltkNCjjg8biDtpDM,2831
 isar/state_machine/states/stopping_due_to_maintenance.py,sha256=Mjbwf6bQIB0ihBKrsTxnCCUzkIe0LNybVHiLGzcXSNA,2561
 isar/state_machine/states/stopping_go_to_lockdown.py,sha256=_w9yL8Uq2E6W97-ccp9NJvbfjV2hv87LEK_skS5Jhqg,2327
 isar/state_machine/states/stopping_go_to_recharge.py,sha256=02i37QI_551o-i_Ejc3Z9_xuI9o0g8e6WKCXcwkW2ac,1923
-isar/state_machine/states/stopping_return_home.py,sha256=sKA0tZASme_XVHEj0mwotfiKjFtCZ-FB-y1IoPaj9q4,3089
-isar/state_machine/states/unknown_status.py,sha256=oL92_66TDBwsIELdfqWvFvZ8NkY4oOLaGYKdZHsxAB4,3171
-isar/state_machine/transitions/mission.py,sha256=coHW4Mo3HdEzjolNg6FIppTcU_g_GCvAkr3gU0ERwXc,7317
-isar/state_machine/transitions/return_home.py,sha256=G9mxFpM7IR5NNq7JC-Cbign7XAMC_d7vOkVxCBFVNGE,3701
-isar/state_machine/transitions/robot_status.py,sha256=60EAb1LwuOfk1TPDCgh8S5FBgcZAPHdC2KtCGDrsQrM,2763
-isar/state_machine/utils/common_event_handlers.py,sha256=lBoreI1EuXrqmMkkPIZiy3yCLBDTShW_EFUxMGrCQVE,2492
+isar/state_machine/states/stopping_paused_mission.py,sha256=IK0qEee_WKnFVs-zLmQc_2xEw3Wge3DKybmFA7zwq8U,1272
+isar/state_machine/states/stopping_paused_return_home.py,sha256=TMVTvBP2ol5rGmuR-fJwmWTUWJWyI5PXnACbclGYvxI,2278
+isar/state_machine/states/stopping_return_home.py,sha256=DA7kluiVA6nWCfX_hEnvuzc8J-TR7V-FGh4wyoyMB8k,2258
+isar/state_machine/states/unknown_status.py,sha256=q5g7ve7R_BdyZYYvVidjIFX2zyPXgKVRdGaJvKiYrH4,3293
+isar/state_machine/transitions/mission.py,sha256=V6ZJaswVCdC7zBlNcD4U4vSb3mjVbZIItl8fcAo7ZKs,8410
+isar/state_machine/transitions/return_home.py,sha256=D_tnpoWNdRTVvwLI2wFeec86l60XU5PTkL2zNe6kghE,3827
+isar/state_machine/transitions/robot_status.py,sha256=EJhzbY-11M_UJA0_1oC95Qy7ByhKR_cOm58ppEBhwqI,2969
+isar/state_machine/utils/common_event_handlers.py,sha256=wL5xdcN0GBlNLqjDJrCpyBiz2YaeBsZRkE51kFIsyw8,4876
 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-1.34.9.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.34.13.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/robot_interface.py,sha256=s04zOYDpnUu3GxUyDo3DlX1cFf94DmSt-GrwsFPgnYw,9357
 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
 robot_interface/models/exceptions/robot_exceptions.py,sha256=7extsX9NuJsJ00xeTQ0aI7yeVGW-dzjbH-LH8Mc-uEQ,10821
-robot_interface/models/initialize/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/inspection/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/inspection/inspection.py,sha256=cjAvekL8r82s7bgukWeXpYylHvJG_oRSCJNISPVCvZg,2238
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -124,12 +109,12 @@ robot_interface/models/robots/media.py,sha256=8A-CuuubfngzPprs6zWB9hSaqe3jzgsE8r
 robot_interface/models/robots/robot_model.py,sha256=-0jNKWPcEgtF_2klb1It3u0SCoAR0hSW9nce58Zq0Co,417
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/telemetry/mqtt_client.py,sha256=0P1S9mWdJcByGoSOwwn2NPQr9I-OX4b1VPbrIYOU-Zo,4334
-robot_interface/telemetry/payloads.py,sha256=A0SWiG609k6o6-Y3vhDWE6an2-_m7D_ND85ohfW4qWs,3236
+robot_interface/telemetry/payloads.py,sha256=4EaJ45A90j8kCRBGs-2pZvYjYUCkxFNn4NpYJhZCdR4,3246
 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-1.34.9.dist-info/METADATA,sha256=LmXJhW-UywCqnF6C2sLVOJ_Lr6JVJfa9yq7ESgZL7L4,29271
-isar-1.34.9.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-isar-1.34.9.dist-info/entry_points.txt,sha256=RdnGYFhaBdMGEsOVJAAZxHCflEptjSisHqZ-Rgc4t7Q,98
-isar-1.34.9.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.34.9.dist-info/RECORD,,
+isar-1.34.13.dist-info/METADATA,sha256=XFe7UB1O2-NH6RUGUQfrALGCEWWKjK9CjdhV_7bqMF8,29800
+isar-1.34.13.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.34.13.dist-info/entry_points.txt,sha256=RdnGYFhaBdMGEsOVJAAZxHCflEptjSisHqZ-Rgc4t7Q,98
+isar-1.34.13.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.34.13.dist-info/RECORD,,

robot_interface/telemetry/payloads.py

@@ -97,7 +97,7 @@ class MissionPayload:
 class MissionAbortedPayload:
     isar_id: str
     robot_name: str
-    mission_id: str
+    mission_id: Optional[str]
     can_be_continued: bool
     timestamp: datetime
     reason: Optional[str]

isar/config/configuration_error.py

@@ -1,2 +0,0 @@
-class ConfigurationError(Exception):
-    pass

isar/config/keyvault/keyvault_error.py

@@ -1,2 +0,0 @@
-class KeyvaultError(Exception):
-    pass

isar/config/predefined_mission_definition/default_exr.json

@@ -1,49 +0,0 @@
-{
-    "mission_definition": {
-        "tasks": [
-            {
-                "pose": {
-                    "position": {
-                        "x": -3.2629,
-                        "y": 3.0795,
-                        "z": 0.0055,
-                        "frame_name": "robot"
-                    },
-                    "orientation": {
-                        "x": 0,
-                        "y": 0,
-                        "z": 0,
-                        "w": 1,
-                        "frame_name": "robot"
-                    },
-                    "frame_name": "robot"
-                },
-                "tag": "equinor_exR_tag_simulator",
-                "inspections": [
-                    {
-                        "type": "Image",
-                        "inspection_target": {
-                            "x": 6.6550,
-                            "y": 3.7987,
-                            "z": 0.6145,
-                            "frame_name": "robot"
-                        },
-                        "metadata": {
-                            "zoom": "2x"
-                        }
-                    },
-                    {
-                        "type": "ThermalVideo",
-                        "inspection_target": {
-                            "x": 6.6550,
-                            "y": 3.7987,
-                            "z": 0.6145,
-                            "frame_name": "robot"
-                        },
-                        "duration": 10
-                    }
-                ]
-            }
-        ]
-    }
-}

isar/config/predefined_mission_definition/default_mission.json

@@ -1,87 +0,0 @@
-{
-    "mission_definition": {
-        "tasks": [
-            {
-                "pose": {
-                    "position": {
-                        "x": 0,
-                        "y": 0,
-                        "z": 0,
-                        "frame_name": "robot"
-                    },
-                    "orientation": {
-                        "x": 0,
-                        "y": 0,
-                        "z": 0,
-                        "w": 1,
-                        "frame_name": "robot"
-                    },
-                    "frame_name": "robot"
-                },
-                "tag": "1-A",
-                "inspections": [
-                    {
-                        "type": "Image",
-                        "inspection_target": {
-                            "x": 0,
-                            "y": 0,
-                            "z": 0,
-                            "frame_name": "robot"
-                        },
-                        "metadata": {
-                            "zoom": "2x"
-                        }
-                    },
-                    {
-                        "type": "ThermalVideo",
-                        "inspection_target": {
-                            "x": 0,
-                            "y": 0,
-                            "z": 0,
-                            "frame_name": "robot"
-                        },
-                        "duration": 10
-                    }
-                ]
-            },
-            {
-                "pose": {
-                    "position": {
-                        "x": 1,
-                        "y": 1,
-                        "z": 1,
-                        "frame_name": "robot"
-                    },
-                    "orientation": {
-                        "x": 0,
-                        "y": 0,
-                        "z": 0,
-                        "w": 1,
-                        "frame_name": "robot"
-                    },
-                    "frame_name": "robot"
-                },
-                "inspections": [
-                    {
-                        "type": "ThermalImage",
-                        "inspection_target": {
-                            "x": 0,
-                            "y": 0,
-                            "z": 0,
-                            "frame_name": "robot"
-                        }
-                    },
-                    {
-                        "type": "Video",
-                        "inspection_target": {
-                            "x": 0,
-                            "y": 0,
-                            "z": 0,
-                            "frame_name": "robot"
-                        }
-                    }
-                ]
-            }
-        ]
-    }
-}