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robot_interface.py
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robot_interface.py
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from abc import ABCMeta, abstractmethod
from queue import Queue
from threading import Thread
from typing import List, Sequence
from robot_interface.models.initialize import InitializeParams
from robot_interface.models.inspection.inspection import Inspection
from robot_interface.models.mission.mission import Mission
from robot_interface.models.mission.status import MissionStatus, RobotStatus, StepStatus
from robot_interface.models.mission.step import InspectionStep, Step
class RobotInterface(metaclass=ABCMeta):
"""Interface to communicate with robots."""
@abstractmethod
def initiate_mission(self, mission: Mission) -> None:
"""Send a mission to the robot and initiate execution of the mission
This function should be used in combination with the mission_status function
if the robot is designed to run full missions and not in a stepwise
configuration.
Parameters
----------
mission: Mission
Returns
-------
None
Raises
------
RobotInfeasibleMissionException
If the mission input is infeasible and the mission fails to be scheduled in
a way that means attempting to schedule again is not necessary
RobotException
Will catch all RobotExceptions not previously listed and retry scheduling of
the mission until the number of allowed retries is exceeded
NotImplementedError
If the robot is designed for stepwise mission execution
"""
raise NotImplementedError
def mission_status(self) -> MissionStatus:
"""Gets the status of the currently active mission on the robot
This function should be used in combination with the initiate_mission function
if the robot is designed to run full missions and not in a stepwise
configuration.
Returns
-------
MissionStatus
Status of the executing mission on the robot.
Raises
------
RobotMissionStatusException
If the mission status could not be collected this will lead to the mission
being marked as failed
RobotException
An uncaught RobotException in the robot package while retrieving the status
will cause the mission to be marked as failed
NotImplementedError
If the robot is designed for stepwise mission execution
"""
@abstractmethod
def initiate_step(self, step: Step) -> None:
"""Send a step to the robot and initiate the execution of the step
This function should be used in combination with the step_status function
if the robot is designed to run stepwise missions and not in a full mission
configuration.
Parameters
----------
step : Step
The step that should be initiated on the robot.
Returns
-------
None
Raises
------
RobotInfeasibleStepException
If the step input is infeasible and the step fails to be scheduled in
a way that means attempting to schedule again is not necessary
RobotException
Will catch all RobotExceptions not previously listed and retry scheduling
of the step until the number of allowed retries is exceeded before the step
will be marked as failed and the mission cancelled
NotImplementedError
If the robot is designed for full mission execution.
"""
raise NotImplementedError
@abstractmethod
def step_status(self) -> StepStatus:
"""Gets the status of the currently active step on robot.
This function should be used in combination with the initiate_step function
if the robot is designed to run stepwise missions and not in a full mission
configuration.
Returns
-------
StepStatus
Status of the execution of current step.
Raises
------
RobotException
If the step status could not be retrieved.
NotImplementedError
If the robot is designed for full mission execution.
"""
raise NotImplementedError
@abstractmethod
def stop(self) -> None:
"""Stops the execution of the current step and stops the movement of the robot.
Returns
-------
None
Raises
------
RobotActionException
If the robot fails to perform the requested action to stop mission execution
the action to stop will be attempted again until a certain number of retries
RobotException
Will catch other RobotExceptions and retry to stop the mission
"""
raise NotImplementedError
@abstractmethod
def pause(self) -> None:
"""Pauses the execution of the current step and stops the movement of the robot.
Returns
-------
None
Raises
------
RobotActionException
If the robot fails to perform the requested action to pause mission execution
the action to pause will be attempted again until a certain number of retries
RobotException
Will catch other RobotExceptions and retry to pause the mission
"""
raise NotImplementedError
@abstractmethod
def resume(self) -> None:
"""Resumes the execution of the current step and continues the rest of the mission.
Returns
-------
None
Raises
------
RobotActionException
If the robot fails to perform the requested action to resume mission execution
the action to resume will be attempted again until a certain number of retries
RobotException
Will catch other RobotExceptions and retry to resume the mission
"""
raise NotImplementedError
@abstractmethod
def get_inspections(self, step: InspectionStep) -> Sequence[Inspection]:
"""Return the inspections connected to the given step.
Parameters
----------
step : Step
Returns
-------
Sequence[InspectionResult]
List containing all the inspection results connected to the given step
Raises
------
RobotRetrieveInspectionException
If the robot package is unable to retrieve the inspections for the relevant
mission or step an error message is logged and the state machine continues
RobotException
Catches other RobotExceptions that lead to the same result as a
RobotRetrieveInspectionException
"""
raise NotImplementedError
@abstractmethod
def initialize(self, params: InitializeParams) -> None:
"""Initializes the robot. The initialization needed is robot dependent and the
function can be a simple return statement if no initialization is needed for the
robot.
Parameters
----------
params: InitializeParams
Returns
-------
None
Raises
------
RobotInitializeException
If the robot package is unable to initialize the robot correctly the mission
will be cancelled
RobotException
Catches other RobotExceptions that might have occurred during initialization
where the result is that the mission is cancelled
"""
raise NotImplementedError
@abstractmethod
def get_telemetry_publishers(
self, queue: Queue, isar_id: str, robot_name: str
) -> List[Thread]:
"""
Set up telemetry publisher threads to publish regular updates for pose, battery
level etc. from the robot to the MQTT broker. The publishers on the robot side
will use the queue to pass messages to the MQTT Client on the ISAR side.
The isar_id is passed to the robot to ensure the messages are published to the
correct topics.
Note that this functionality will only be utilized if MQTT is enabled in the
settings.
Returns
-------
List[Thread]
List containing all threads that will be started to publish telemetry.
"""
raise NotImplementedError
@abstractmethod
def robot_status(self) -> RobotStatus:
"""
Method which returns an enum indicating if the robot package is able to reach
the interface which is used to communicate with the robot. This is further used
by ISAR to indicate whether the ISAR instance is fully functional and may be
used by other systems.
Returns
-------
RobotStatus
Enum indicating if the robot may be reached by the isar-robot package.
Raises
-------
RobotCommunicationException
Raised if the robot package is unable to communicate with the robot API
RobotAPIException
Raised if the robot package is able to communicate with the API but an error
occurred while interpreting the response
RobotException
Catches other RobotExceptions that may have occurred while retrieving the
robot status
At this point ISAR will attempt to request the robot status again
"""
raise NotImplementedError