Make ISAR compatible with Python 3.9 again

.github/workflows/pythonpackage.yml

@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.11", "3.12"]
+        python-version: ["3.9", "3.11", "3.12"]
 
     steps:
       - uses: actions/checkout@v4
@@ -24,11 +24,20 @@ jobs:
         with:
           python-version: ${{ matrix.python-version }}
 
-      - name: Install dependencies
+      - name: Upgrade pip
         run: |
           python -m pip install --upgrade pip
+
+      - name: Install dependencies with the compiled requirements (for 3.12)
+        if: ${{matrix.python-version == '3.12'}}
+        run: |
           pip install -r requirements.txt -e .[dev]
 
+      - name: Install dependencies based on the pyproject.toml file (for 3.9 and 3.11)
+        if: ${{matrix.python-version != '3.12'}}
+        run: |
+          pip install -e .[dev]
+
       - name: Test with pytest
         run: |
           pytest

pyproject.toml

@@ -7,14 +7,15 @@ name = "isar"
 authors = [{ name = "Equinor ASA", email = "fg_robots_dev@equinor.com" }]
 description = "Integration and Supervisory control of Autonomous Robots"
 readme = "README.md"
-requires-python = ">=3.11"
+requires-python = ">=3.9"
 license = { file = "LICENSE" }
 classifiers = [
     "Intended Audience :: Developers",
     "Intended Audience :: Science/Research",
     "License :: OSI Approved :: Eclipse Public License 2.0 (EPL-2.0)",
     "Natural Language :: English",
     "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.9",
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
     "Topic :: Scientific/Engineering",

src/isar/apis/models/start_mission_definition.py

@@ -2,7 +2,7 @@
 from enum import Enum
 from typing import Any, Dict, List, Optional, Union
 
-from alitra import Position, Pose, Orientation, Frame
+from alitra import Frame, Orientation, Pose, Position
 from pydantic import BaseModel, Field
 
 from isar.apis.models.models import InputPose, InputPosition
@@ -132,20 +132,21 @@ def check_for_duplicate_ids(items: Union[List[Task], List[STEPS]]):
 
 def generate_steps(task) -> List[STEPS]:
     steps: List[STEPS] = []
-    try:
-        match task.type:
-            case TaskType.Inspection:
-                steps.extend(generate_steps_for_inspection_task(task=task))
-            case TaskType.DriveTo:
-                steps.append(generate_steps_for_drive_to_task(task=task))
-            case TaskType.Localization:
-                steps.append(generate_steps_for_localization_task(task=task))
-            case TaskType.ReturnToHome:
-                steps.append(generate_steps_for_return_to_home_task(task=task))
-            case TaskType.Dock:
-                steps.append(generate_steps_for_dock_task())
-    except ValueError as e:
-        raise MissionPlannerError(f"Failed to create task: {str(e)}")
+
+    if task.type == TaskType.Inspection:
+        steps.extend(generate_steps_for_inspection_task(task=task))
+    elif task.type == TaskType.DriveTo:
+        steps.append(generate_steps_for_drive_to_task(task=task))
+    elif task.type == TaskType.Localization:
+        steps.append(generate_steps_for_localization_task(task=task))
+    elif task.type == TaskType.ReturnToHome:
+        steps.append(generate_steps_for_return_to_home_task(task=task))
+    elif task.type == TaskType.Dock:
+        steps.append(generate_steps_for_dock_task())
+    else:
+        raise MissionPlannerError(
+            f"Failed to create task: '{task.type}' is not a valid"
+        )
 
     return steps
 

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

@@ -1,6 +1,6 @@
 import json
 import time
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from queue import Queue
 
 from isar.config.settings import settings
@@ -18,7 +18,7 @@ def run(self) -> None:
             payload: RobotHeartbeatPayload = RobotHeartbeatPayload(
                 isar_id=settings.ISAR_ID,
                 robot_name=settings.ROBOT_NAME,
-                timestamp=datetime.now(UTC),
+                timestamp=datetime.now(timezone.utc),
             )
 
             self.mqtt_publisher.publish(

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

@@ -1,6 +1,6 @@
 import json
 import time
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from queue import Queue
 
 from isar.config.settings import robot_settings, settings
@@ -25,7 +25,7 @@ def run(self) -> None:
                 host=settings.API_HOST_VIEWED_EXTERNALLY,
                 port=settings.API_PORT,
                 capabilities=robot_settings.CAPABILITIES,
-                timestamp=datetime.now(UTC),
+                timestamp=datetime.now(timezone.utc),
             )
 
             self.mqtt_publisher.publish(

src/isar/state_machine/state_machine.py

@@ -2,7 +2,7 @@
 import logging
 import queue
 from collections import deque
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from typing import Deque, List, Optional
 
 from alitra import Pose
@@ -526,7 +526,7 @@ def publish_mission_status(self) -> None:
                 "error_description": (
                     error_message.error_description if error_message else None
                 ),
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -559,7 +559,7 @@ def publish_task_status(self, task: Task) -> None:
                 "error_description": (
                     error_message.error_description if error_message else None
                 ),
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -594,7 +594,7 @@ def publish_step_status(self, step: Step) -> None:
                 "error_description": (
                     error_message.error_description if error_message else None
                 ),
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -614,7 +614,7 @@ def publish_status(self) -> None:
                 "isar_id": settings.ISAR_ID,
                 "robot_name": settings.ROBOT_NAME,
                 "status": self._current_status(),
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )

src/isar/storage/uploader.py

@@ -1,7 +1,7 @@
 import json
 import logging
 from dataclasses import dataclass
-from datetime import UTC, datetime, timedelta
+from datetime import datetime, timedelta, timezone
 from queue import Empty, Queue
 from typing import List, Union
 
@@ -22,23 +22,25 @@ class UploaderQueueItem:
     mission: Mission
     storage_handler: StorageInterface
     _retry_count: int
-    _next_retry_time: datetime = datetime.now(UTC)
+    _next_retry_time: datetime = datetime.now(timezone.utc)
 
     def increment_retry(self, max_wait_time: int) -> None:
         self._retry_count += 1
         seconds_until_retry: int = min(2**self._retry_count, max_wait_time)
-        self._next_retry_time = datetime.now(UTC) + timedelta(
+        self._next_retry_time = datetime.now(timezone.utc) + timedelta(
             seconds=seconds_until_retry
         )
 
     def get_retry_count(self) -> int:
         return self._retry_count
 
     def is_ready_for_upload(self) -> bool:
-        return datetime.now(UTC) >= self._next_retry_time
+        return datetime.now(timezone.utc) >= self._next_retry_time
 
     def seconds_until_retry(self) -> int:
-        return max(0, int((self._next_retry_time - datetime.now(UTC)).total_seconds()))
+        return max(
+            0, int((self._next_retry_time - datetime.now(timezone.utc)).total_seconds())
+        )
 
 
 class Uploader:
@@ -154,7 +156,7 @@ def _publish_inspection_result(
                 "inspection_id": inspection.id,
                 "inspection_path": inspection_path,
                 "analysis_type": inspection.metadata.analysis_type,
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )

src/isar/storage/utilities.py

@@ -1,6 +1,6 @@
 import json
 import time
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from pathlib import Path
 from typing import Tuple
 
@@ -37,7 +37,7 @@ def construct_metadata_file(
             "mission_id": mission.id,
             "mission_name": mission.name,
             "plant_name": settings.PLANT_NAME,
-            "mission_date": datetime.now(UTC).date(),
+            "mission_date": datetime.now(timezone.utc).date(),
             "isar_id": settings.ISAR_ID,
             "robot_name": settings.ROBOT_NAME,
             "analysis_type": (
@@ -80,4 +80,4 @@ def get_filename(
 
 def get_foldername(mission: Mission) -> str:
     mission_name: str = mission.name.replace(" ", "-")
-    return f"{datetime.now(UTC).date()}__{settings.PLANT_SHORT_NAME}__{mission_name}__{mission.id}"
+    return f"{datetime.now(timezone.utc).date()}__{settings.PLANT_SHORT_NAME}__{mission_name}__{mission.id}"

src/robot_interface/telemetry/mqtt_client.py

@@ -1,7 +1,7 @@
 import json
 import time
 from abc import ABCMeta, abstractmethod
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from queue import Queue
 from typing import Callable, Tuple
 
@@ -73,7 +73,7 @@ def run(self, isar_id: str, robot_name: str) -> None:
                 topic = self.topic
             except RobotTelemetryException:
                 payload = json.dumps(
-                    CloudHealthPayload(isar_id, robot_name, datetime.now(UTC)),
+                    CloudHealthPayload(isar_id, robot_name, datetime.now(timezone.utc)),
                     cls=EnhancedJSONEncoder,
                 )
                 topic = self.cloud_healt_topic

tests/integration/turtlebot/test_successful_mission.py

@@ -1,7 +1,7 @@
 import shutil
 import time
 from copy import deepcopy
-from datetime import UTC, datetime, timedelta
+from datetime import datetime, timedelta, timezone
 from pathlib import Path
 from typing import List
 
@@ -102,9 +102,9 @@ def test_successful_mission(
     mission_id: str = state_machine_thread.state_machine.current_mission.id
     mission: Mission = deepcopy(state_machine_thread.state_machine.current_mission)
 
-    start_time: datetime = datetime.now(UTC)
+    start_time: datetime = datetime.now(timezone.utc)
     while state_machine_thread.state_machine.current_state != States.Idle:
-        if (datetime.now(UTC) - start_time) > integration_test_timeout:
+        if (datetime.now(timezone.utc) - start_time) > integration_test_timeout:
             raise TimeoutError
         time.sleep(5)