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Reintroduce isar task id in mission task definition
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for Flotilla to be able to match its existing task request to the
one that is returned from ISAR
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@tsundvoll @oysand
tsundvoll authored and oysand committed Dec 12, 2024
1 parent c8ff71c commit 07a911b
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Showing 2 changed files with 94 additions and 40 deletions.
130 changes: 92 additions & 38 deletions src/isar/apis/models/start_mission_definition.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ class StartMissionInspectionDefinition(BaseModel):


class StartMissionTaskDefinition(BaseModel):
id: Optional[str] = None
type: TaskType = Field(default=TaskType.Inspection)
pose: InputPose
inspection: Optional[StartMissionInspectionDefinition] = None
Expand Down Expand Up @@ -115,48 +116,101 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
inspection_definition = task_definition.inspection

if inspection_definition.type == InspectionTypes.image:
return TakeImage(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
if task_definition.id:
return TakeImage(
id=task_definition.id,
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
else:
return TakeImage(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
elif inspection_definition.type == InspectionTypes.video:
return TakeVideo(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
duration=inspection_definition.duration,
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
if task_definition.id:
return TakeVideo(
id=task_definition.id,
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
duration=inspection_definition.duration,
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
else:
return TakeVideo(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
duration=inspection_definition.duration,
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
elif inspection_definition.type == InspectionTypes.thermal_image:
return TakeThermalImage(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
if task_definition.id:
return TakeThermalImage(
id=task_definition.id,
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
else:
return TakeThermalImage(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
elif inspection_definition.type == InspectionTypes.thermal_video:
return TakeThermalVideo(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
duration=inspection_definition.duration,
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
if task_definition.id:
return TakeThermalVideo(
id=task_definition.id,
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
duration=inspection_definition.duration,
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
else:
return TakeThermalVideo(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
duration=inspection_definition.duration,
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
elif inspection_definition.type == InspectionTypes.audio:
return RecordAudio(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
duration=inspection_definition.duration,
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
if task_definition.id:
return RecordAudio(
id=task_definition.id,
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
duration=inspection_definition.duration,
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
else:
return RecordAudio(
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
target=task_definition.inspection.inspection_target.to_alitra_position(),
duration=inspection_definition.duration,
metadata=task_definition.inspection.metadata,
zoom=task_definition.zoom,
)
else:
raise ValueError(
f"Inspection type '{inspection_definition.type}' not supported"
Expand Down
4 changes: 2 additions & 2 deletions src/robot_interface/models/mission/task.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ class Task(BaseModel):
status: TaskStatus = Field(default=TaskStatus.NotStarted)
error_message: Optional[ErrorMessage] = Field(default=None)
tag_id: Optional[str] = Field(default=None)
id: str = Field(default_factory=uuid4_string)
id: str = Field(default_factory=uuid4_string, frozen=True)

def is_finished(self) -> bool:
if (
Expand All @@ -59,7 +59,7 @@ class InspectionTask(Task):
Base class for all inspection tasks which produce results to be uploaded.
"""

inspection_id: str = Field(default_factory=uuid4_string)
inspection_id: str = Field(default_factory=uuid4_string, frozen=True)
robot_pose: Pose = Field(default=None, init=True)
metadata: Optional[dict] = Field(default_factory=dict)
zoom: Optional[ZoomDescription] = Field(default=None)
Expand Down

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