Move definition of mission to robot interface

src/isar/apis/models/start_mission_definition.py

@@ -6,16 +6,17 @@
 
 from isar.apis.models.models import InputPose, InputPosition
 from isar.mission_planner.mission_planner_interface import MissionPlannerError
-from isar.models.mission.mission import Mission, Task
+from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.step import (
-    STEPS,
     DriveToPose,
     RecordAudio,
+    STEPS,
     TakeImage,
     TakeThermalImage,
     TakeThermalVideo,
     TakeVideo,
 )
+from robot_interface.models.mission.task import Task
 
 
 class InspectionTypes(str, Enum):

src/isar/apis/schedule/scheduling_controller.py

@@ -1,23 +1,29 @@
 import logging
 from http import HTTPStatus
-from typing import Optional
+from typing import List, Optional
 
 from alitra import Pose
 from fastapi import Body, HTTPException, Path
 from injector import inject
 
 from isar.apis.models import InputPose, StartMissionResponse
-from isar.apis.models.models import ControlMissionResponse, RobotInfoResponse
+from isar.apis.models.models import (
+    ControlMissionResponse,
+    RobotInfoResponse,
+    TaskResponse,
+)
 from isar.apis.models.start_mission_definition import (
     StartMissionDefinition,
     to_isar_mission,
 )
 from isar.config.settings import robot_settings, settings
 from isar.mission_planner.mission_planner_interface import MissionPlannerError
-from isar.models.mission import Mission, Task
+from isar.models.mission_metadata.mission_metadata import MissionMetadata
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
-from robot_interface.models.mission import DriveToPose
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.step import DriveToPose
+from robot_interface.models.mission.task import Task
 
 
 class SchedulingController:
@@ -70,10 +76,11 @@ def start_mission_by_id(
         )
 
         self.logger.info(f"Starting mission with ISAR Mission ID: '{mission.id}'")
+        metadata: MissionMetadata = MissionMetadata(mission.id)
         self.scheduling_utilities.start_mission(
-            mission=mission, initial_pose=initial_pose_alitra
+            mission=mission, initial_pose=initial_pose_alitra, mission_metadata=metadata
         )
-        return mission.api_response()
+        return self._api_response(mission)
 
     def start_mission(
         self,
@@ -132,11 +139,12 @@ def start_mission(
             initial_pose.to_alitra_pose() if initial_pose else None
         )
 
+        metadata: MissionMetadata = MissionMetadata(mission.id)
         self.logger.info(f"Starting mission: {mission.id}")
         self.scheduling_utilities.start_mission(
-            mission=mission, initial_pose=initial_pose_alitra
+            mission=mission, mission_metadata=metadata, initial_pose=initial_pose_alitra
         )
-        return mission.api_response()
+        return self._api_response(mission)
 
     def pause_mission(self) -> ControlMissionResponse:
         self.logger.info("Received request to pause current mission")
@@ -212,12 +220,14 @@ def drive_to(
         pose: Pose = target_pose.to_alitra_pose()
         step: DriveToPose = DriveToPose(pose=pose)
         mission: Mission = Mission(tasks=[Task(steps=[step])])
-
+        metadata: MissionMetadata = MissionMetadata(mission.id)
         self.logger.info(
             f"Starting drive to mission with ISAR Mission ID: '{mission.id}'"
         )
-        self.scheduling_utilities.start_mission(mission=mission, initial_pose=None)
-        return mission.api_response()
+        self.scheduling_utilities.start_mission(
+            mission=mission, initial_pose=None, mission_metadata=metadata
+        )
+        return self._api_response(mission)
 
     def get_info(self):
         return RobotInfoResponse(
@@ -228,3 +238,16 @@ def get_info(self):
             robot_capabilities=robot_settings.CAPABILITIES,
             plant_short_name=settings.STID_PLANT_NAME,
         )
+
+    def _api_response(self, mission: Mission) -> StartMissionResponse:
+        return StartMissionResponse(
+            id=mission.id,
+            tasks=[self._task_api_response(task) for task in mission.tasks],
+        )
+
+    def _task_api_response(self, task: Task) -> TaskResponse:
+        steps: List[dict] = []
+        for step in task.steps:
+            steps.append({"id": step.id, "type": step.__class__.__name__})
+
+        return TaskResponse(id=task.id, tag_id=task.tag_id, steps=steps)

src/isar/mission_planner/echo_planner.py

@@ -13,12 +13,18 @@
     MissionPlannerError,
     MissionPlannerInterface,
 )
-from isar.models.mission import Mission, Task
 from isar.services.auth.azure_credentials import AzureCredentials
 from isar.services.service_connections.request_handler import RequestHandler
 from isar.services.service_connections.stid.stid_service import StidService
-from robot_interface.models.mission import DriveToPose, TakeImage, TakeThermalImage
-from robot_interface.models.mission.step import TakeThermalVideo, TakeVideo
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.step import (
+    DriveToPose,
+    TakeImage,
+    TakeThermalImage,
+    TakeThermalVideo,
+    TakeVideo,
+)
+from robot_interface.models.mission.task import Task
 
 
 class EchoPlanner(MissionPlannerInterface):

src/isar/mission_planner/local_planner.py

@@ -10,8 +10,8 @@
     MissionPlannerError,
     MissionPlannerInterface,
 )
-from isar.models.mission import Mission
 from isar.services.readers.base_reader import BaseReader, BaseReaderError
+from robot_interface.models.mission.mission import Mission
 
 logger = logging.getLogger("api")
 
@@ -27,7 +27,6 @@ def get_mission(self, mission_id) -> Mission:
             raise MissionPlannerError("There were no predefined missions")
         try:
             mission: Mission = missions[mission_id]["mission"]
-            mission.set_unique_id_and_metadata()
             return mission
         except KeyError as e:
             raise MissionNotFoundError(

src/isar/mission_planner/mission_planner_interface.py

@@ -1,6 +1,6 @@
 from abc import ABCMeta, abstractmethod
 
-from isar.models.mission import Mission
+from robot_interface.models.mission.mission import Mission
 
 
 class MissionPlannerInterface(metaclass=ABCMeta):

src/isar/mission_planner/sequential_task_selector.py

@@ -4,7 +4,7 @@
     TaskSelectorInterface,
     TaskSelectorStop,
 )
-from isar.models.mission import Task
+from robot_interface.models.mission.task import Task
 
 
 class SequentialTaskSelector(TaskSelectorInterface):

src/isar/mission_planner/task_selector_interface.py

@@ -1,7 +1,7 @@
 from abc import ABCMeta, abstractmethod
 from typing import List
 
-from isar.models.mission import Task
+from robot_interface.models.mission.task import Task
 
 
 class TaskSelectorInterface(metaclass=ABCMeta):

src/isar/models/communication/message.py

@@ -3,10 +3,12 @@
 
 from alitra import Pose
 
-from isar.models.mission import Mission
+from isar.models.mission_metadata.mission_metadata import MissionMetadata
+from robot_interface.models.mission.mission import Mission
 
 
 @dataclass
 class StartMissionMessage:
     mission: Mission
+    mission_metadata: MissionMetadata
     initial_pose: Optional[Pose]

src/isar/models/mission_metadata/mission_metadata.py

@@ -1,6 +1,6 @@
 from dataclasses import dataclass
 from datetime import date, datetime
-from typing import Optional, Union
+from typing import Optional
 
 from isar.config.settings import settings
 

src/isar/services/service_connections/mqtt/robot_status_publisher.py

@@ -90,4 +90,4 @@ def run(self) -> None:
                 self.logger.warning(
                     "Failed to get robot status due to a communication exception"
                 )
-                time.sleep(settings.ROBOT_API_STATUS_POLL_INTERVAL)
+            time.sleep(settings.ROBOT_API_STATUS_POLL_INTERVAL)

src/isar/services/utilities/scheduling_utilities.py

@@ -17,10 +17,11 @@
     MissionPlannerInterface,
 )
 from isar.models.communication.message import StartMissionMessage
-from isar.models.communication.queues import QueueIO, Queues, QueueTimeoutError
-from isar.models.mission.mission import Mission
+from isar.models.communication.queues import QueueIO, QueueTimeoutError, Queues
+from isar.models.mission_metadata.mission_metadata import MissionMetadata
 from isar.services.utilities.queue_utilities import QueueUtilities
 from isar.state_machine.states_enum import States
+from robot_interface.models.mission.mission import Mission
 
 
 class SchedulingUtilities:
@@ -135,7 +136,12 @@ def verify_state_machine_ready_to_receive_mission(self, state: States) -> bool:
 
         return is_state_machine_ready_to_receive_mission
 
-    def start_mission(self, mission: Mission, initial_pose: Optional[Pose]) -> None:
+    def start_mission(
+        self,
+        mission: Mission,
+        mission_metadata: MissionMetadata,
+        initial_pose: Optional[Pose],
+    ) -> None:
         """Start mission
 
         Raises
@@ -146,7 +152,9 @@ def start_mission(self, mission: Mission, initial_pose: Optional[Pose]) -> None:
         try:
             self._send_command(
                 StartMissionMessage(
-                    mission=deepcopy(mission), initial_pose=initial_pose
+                    mission=deepcopy(mission),
+                    mission_metadata=deepcopy(mission_metadata),
+                    initial_pose=initial_pose,
                 ),
                 self.queues.start_mission,
             )

src/isar/state_machine/state_machine.py

@@ -19,8 +19,7 @@
 )
 from isar.models.communication.message import StartMissionMessage
 from isar.models.communication.queues.queues import Queues
-from isar.models.mission import Mission, Task
-from isar.models.mission.status import MissionStatus, TaskStatus
+from isar.models.mission_metadata.mission_metadata import MissionMetadata
 from isar.state_machine.states import (
     Idle,
     Initialize,
@@ -32,8 +31,10 @@
 )
 from isar.state_machine.states_enum import States
 from robot_interface.models.initialize.initialize_params import InitializeParams
-from robot_interface.models.mission import StepStatus
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.status import MissionStatus, StepStatus, TaskStatus
 from robot_interface.models.mission.step import Step
+from robot_interface.models.mission.task import Task
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
@@ -194,6 +195,7 @@ def __init__(
 
         self.stopped: bool = False
         self.current_mission: Optional[Mission] = None
+        self.current_mission_metadata: Optional[MissionMetadata] = None
         self.current_task: Optional[Task] = None
         self.current_step: Optional[Step] = None
         self.initial_pose: Optional[Pose] = None
@@ -394,9 +396,12 @@ def reset_state_machine(self) -> None:
         self.current_mission = None
         self.initial_pose = None
 
-    def start_mission(self, mission: Mission, initial_pose: Pose):
+    def start_mission(
+        self, mission: Mission, mission_metadata: MissionMetadata, initial_pose: Pose
+    ):
         """Starts a scheduled mission."""
         self.current_mission = mission
+        self.current_mission_metadata = mission_metadata
         self.initial_pose = initial_pose
 
         self.task_selector.initialize(tasks=self.current_mission.tasks)

src/isar/state_machine/states/idle.py

@@ -31,6 +31,7 @@ def _run(self) -> None:
             if start_mission:
                 self.state_machine.start_mission(
                     mission=start_mission.mission,
+                    mission_metadata=start_mission.mission_metadata,
                     initial_pose=start_mission.initial_pose,
                 )
                 transition = self.state_machine.mission_started  # type: ignore

src/isar/state_machine/states/monitor.py

@@ -13,7 +13,7 @@
 )
 from robot_interface.models.exceptions import RobotException
 from robot_interface.models.inspection.inspection import Inspection
-from robot_interface.models.mission import InspectionStep, Step, StepStatus
+from robot_interface.models.mission.step import InspectionStep, Step, StepStatus
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
@@ -99,7 +99,7 @@ def _queue_inspections_for_upload(self, current_step: InspectionStep) -> None:
         # A deepcopy is made to freeze the metadata before passing it to another thread
         # through the queue
         mission_metadata: MissionMetadata = deepcopy(
-            self.state_machine.current_mission.metadata
+            self.state_machine.current_mission_metadata
         )
 
         for inspection in inspections:

src/isar/storage/slimm_storage.py

@@ -116,7 +116,7 @@ def _construct_multiform_request_image(
                 "ImageMetadata.Timestamp": inspection.metadata.start_time.isoformat(),  # noqa: E501
                 "ImageMetadata.X": str(inspection.metadata.pose.position.x),
                 "ImageMetadata.Y": str(inspection.metadata.pose.position.y),
-                "ImageMetadata.Y": str(inspection.metadata.pose.position.z),
+                "ImageMetadata.Z": str(inspection.metadata.pose.position.z),
                 "ImageMetadata.CameraOrientation1": str(array_of_orientation[0]),
                 "ImageMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "ImageMetadata.CameraOrientation3": str(array_of_orientation[2]),
@@ -158,7 +158,7 @@ def _construct_multiform_request_video(
                 "VideoMetadata.Duration": str(inspection.metadata.duration),  # type: ignore
                 "VideoMetadata.X": str(inspection.metadata.pose.position.x),
                 "VideoMetadata.Y": str(inspection.metadata.pose.position.y),
-                "VideoMetadata.Y": str(inspection.metadata.pose.position.z),
+                "VideoMetadata.Z": str(inspection.metadata.pose.position.z),
                 "VideoMetadata.CameraOrientation1": str(array_of_orientation[0]),
                 "VideoMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "VideoMetadata.CameraOrientation3": str(array_of_orientation[2]),

src/isar/storage/utilities.py

@@ -1,12 +1,9 @@
 import json
-import logging
 from pathlib import Path
-from typing import Any, Tuple
+from typing import Tuple
 
 from isar.models.mission_metadata.mission_metadata import MissionMetadata
-from isar.storage.storage_interface import StorageException
-from robot_interface.models.inspection import ThermalVideo, Video
-from robot_interface.models.inspection.inspection import Image, Inspection, ThermalImage
+from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
 

src/robot_interface/models/inspection/inspection.py

@@ -5,7 +5,7 @@
 
 from alitra import Pose
 
-from isar.services.utilities.uuid_string_factory import uuid4_string
+from robot_interface.utilities.uuid_string_factory import uuid4_string
 
 
 @dataclass