Refactor robot status

equinor · May 24, 2024 · 95210fc · 95210fc
1 parent 0c53b5f
commit 95210fc
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Showing 4 changed files with 20 additions and 146 deletions.
diff --git a/main.py b/main.py
@@ -19,9 +19,6 @@
 from isar.services.service_connections.mqtt.robot_info_publisher import (
     RobotInfoPublisher,
 )
-from isar.services.service_connections.mqtt.robot_status_publisher import (
-    RobotStatusPublisher,
-)
 from isar.state_machine.state_machine import StateMachine, main
 from isar.storage.uploader import Uploader
 from robot_interface.robot_interface import RobotInterface
@@ -56,15 +53,6 @@
             target=mqtt_client.run, name="ISAR MQTT Client", daemon=True
         )
         threads.append(mqtt_thread)
-        robot_status_publisher: RobotStatusPublisher = RobotStatusPublisher(
-            mqtt_queue=queues.mqtt_queue, robot=robot, state_machine=state_machine
-        )
-        robot_status_thread: Thread = Thread(
-            target=robot_status_publisher.run,
-            name="ISAR Robot Status Publisher",
-            daemon=True,
-        )
-        threads.append(robot_status_thread)
 
         robot_info_publisher: RobotInfoPublisher = RobotInfoPublisher(
             mqtt_queue=queues.mqtt_queue

diff --git a/src/isar/config/settings.py b/src/isar/config/settings.py
@@ -229,14 +229,13 @@ def __init__(self) -> None:
     DATA_CLASSIFICATION: str = Field(default="internal")
 
     # List of MQTT Topics
-    TOPIC_ISAR_STATE: str = Field(default="state", validate_default=True)
+    TOPIC_ISAR_STATUS: str = Field(default="status", validate_default=True)
     TOPIC_ISAR_MISSION: str = Field(default="mission", validate_default=True)
     TOPIC_ISAR_TASK: str = Field(default="task", validate_default=True)
     TOPIC_ISAR_STEP: str = Field(default="step", validate_default=True)
     TOPIC_ISAR_INSPECTION_RESULT: str = Field(
         default="inspection_result", validate_default=True
     )
-    TOPIC_ISAR_ROBOT_STATUS: str = Field(default="robot_status", validate_default=True)
     TOPIC_ISAR_ROBOT_INFO: str = Field(default="robot_info", validate_default=True)
     TOPIC_ISAR_ROBOT_HEARTBEAT: str = Field(
         default="robot_heartbeat", validate_default=True
@@ -284,11 +283,10 @@ def set_log_levels(cls, v: Any, info: ValidationInfo) -> dict:
         }
 
     @field_validator(
-        "TOPIC_ISAR_STATE",
+        "TOPIC_ISAR_STATUS",
         "TOPIC_ISAR_MISSION",
         "TOPIC_ISAR_TASK",
         "TOPIC_ISAR_STEP",
-        "TOPIC_ISAR_ROBOT_STATUS",
         "TOPIC_ISAR_ROBOT_INFO",
         "TOPIC_ISAR_ROBOT_HEARTBEAT",
         "TOPIC_ISAR_INSPECTION_RESULT",

diff --git a/src/isar/services/service_connections/mqtt/robot_status_publisher.py b/src/isar/services/service_connections/mqtt/robot_status_publisher.py
diff --git a/src/isar/state_machine/state_machine.py b/src/isar/state_machine/state_machine.py
@@ -32,7 +32,12 @@
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.initialize.initialize_params import InitializeParams
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.status import MissionStatus, StepStatus, TaskStatus
+from robot_interface.models.mission.status import (
+    MissionStatus,
+    RobotStatus,
+    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
@@ -438,7 +443,7 @@ def update_state(self):
         self.send_state_status()
         self._log_state_transition(self.current_state)
         self.logger.info(f"State: {self.current_state}")
-        self.publish_state()
+        self.publish_status()
 
     def reset_state_machine(self) -> None:
         self.logger.info("Resetting state machine")
@@ -580,25 +585,33 @@ def publish_step_status(self, step: Step) -> None:
             retain=False,
         )
 
-    def publish_state(self) -> None:
+    def publish_status(self) -> None:
         if not self.mqtt_publisher:
             return
         payload: str = json.dumps(
             {
                 "isar_id": settings.ISAR_ID,
                 "robot_name": settings.ROBOT_NAME,
-                "state": self.current_state,
+                "status": self._current_status(),
                 "timestamp": datetime.utcnow(),
             },
             cls=EnhancedJSONEncoder,
         )
 
         self.mqtt_publisher.publish(
-            topic=settings.TOPIC_ISAR_STATE,
+            topic=settings.TOPIC_ISAR_STATUS,
             payload=payload,
             retain=False,
         )
 
+    def _current_status(self) -> RobotStatus:
+        if self.current_state == States.Idle:
+            return RobotStatus.Available
+        elif self.current_state == States.Offline:
+            return RobotStatus.Offline
+        else:
+            return RobotStatus.Busy
+
     def _log_state_transition(self, next_state):
         """Logs all state transitions that are not self-transitions."""
         self.transitions_list.append(next_state)