diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 0000000..6ab173d --- /dev/null +++ b/.dockerignore @@ -0,0 +1,7 @@ +* +!src/isar_robot +!setup.py +!setup.cfg +!pyproject.toml +!README.md +!LICENSE diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..87b41ac --- /dev/null +++ b/.gitignore @@ -0,0 +1,139 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +pip-wheel-metadata/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +.python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +.idea/ +.idea/eq_robot_public_api.iml +*.iml + +.vscode +**/node_modules + +# Mac +.DS_Store diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..526557a --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,21 @@ +repos: + - repo: https://github.com/psf/black + rev: 22.3.0 + hooks: + - id: black + language_version: python3 + args: [] + exclude: gen/ + - repo: https://github.com/pre-commit/mirrors-mypy + rev: v0.971 + hooks: + - id: mypy +#This can potentially be a slow pre-commit hook. + - repo: local + hooks: + - id: pytest-check + name: pytest-check + entry: pytest + language: system + pass_filenames: false + always_run: true diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..ebcdb23 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,11 @@ +FROM python:3.10-slim as builder + +RUN python -m venv --copies /opt/venv +ENV PATH="/opt/venv/bin:$PATH" + +COPY . . +RUN pip install . + +FROM ghcr.io/equinor/isar:latest +COPY --from=builder /opt/venv /opt/venv +ENV PATH="/opt/venv/bin:$PATH" diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..e48e096 --- /dev/null +++ b/LICENSE @@ -0,0 +1,277 @@ +Eclipse Public License - v 2.0 + + THE ACCOMPANYING PROGRAM IS PROVIDED UNDER THE TERMS OF THIS ECLIPSE + PUBLIC LICENSE ("AGREEMENT"). 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The Program (including Contributions) may always be +Distributed subject to the version of the Agreement under which it was +received. In addition, after a new version of the Agreement is published, +Contributor may elect to Distribute the Program (including its +Contributions) under the new version. + +Except as expressly stated in Sections 2(a) and 2(b) above, Recipient +receives no rights or licenses to the intellectual property of any +Contributor under this Agreement, whether expressly, by implication, +estoppel or otherwise. All rights in the Program not expressly granted +under this Agreement are reserved. Nothing in this Agreement is intended +to be enforceable by any entity that is not a Contributor or Recipient. +No third-party beneficiary rights are created under this Agreement. + +Exhibit A - Form of Secondary Licenses Notice + +"This Source Code may also be made available under the following +Secondary Licenses when the conditions for such availability set forth +in the Eclipse Public License, v. 2.0 are satisfied: {name license(s), +version(s), and exceptions or additional permissions here}." + + Simply including a copy of this Agreement, including this Exhibit A + is not sufficient to license the Source Code under Secondary Licenses. + + If it is not possible or desirable to put the notice in a particular + file, then You may include the notice in a location (such as a LICENSE + file in a relevant directory) where a recipient would be likely to + look for such a notice. + + You may add additional accurate notices of copyright ownership. diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..638dd9c --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,3 @@ +[build-system] +requires = ["setuptools>=61.0"] +build-backend = "setuptools.build_meta" diff --git a/setup.cfg b/setup.cfg new file mode 100644 index 0000000..2266b11 --- /dev/null +++ b/setup.cfg @@ -0,0 +1,14 @@ +[mypy] +follow_imports = normal +no_strict_optional = True +no_site_packages = True +ignore_missing_imports = True +exclude = build + +[tool:pytest] +python_files = test_*.py +python_classes = Test +python_functions = test* test_* +testpaths = tests +log_cli = true +norecursedirs = integration diff --git a/setup.py b/setup.py new file mode 100644 index 0000000..6f4e357 --- /dev/null +++ b/setup.py @@ -0,0 +1,42 @@ +from setuptools import find_packages, setup + +setup( + name="isar_exr", + description="Integration and Supervisory control of Autonomous Robots - Open source robot implementation", + long_description=open("README.md").read(), + long_description_content_type="text/markdown", + author="Equinor ASA", + author_email="fg_robots_dev@equinor.com", + url="https://github.com/equinor/isar-exr", + license="EPL-2.0", + classifiers=[ + "Environment :: Other Environment", + "Intended Audience :: Developers", + "Intended Audience :: Science/Research", + "Programming Language :: Python", + "Topic :: Scientific/Engineering", + "Topic :: Scientific/Engineering :: Physics", + "Topic :: Software Development :: Libraries", + ], + packages=find_packages(where="src"), + package_dir={"": "src"}, + package_data={ + "isar_exr": [ + ] + }, + include_package_data=True, + install_requires=["alitra", "isar"], + setup_requires=[ + "wheel", + ], + extras_require={ + "dev": [ + "black", + "mypy", + "pytest", + "pre-commit", + ] + }, + python_requires=">=3.8", + tests_require=["pytest"], +) diff --git a/src/__init__.py b/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/isar_robot/__init__.py b/src/isar_robot/__init__.py new file mode 100644 index 0000000..ecca21d --- /dev/null +++ b/src/isar_robot/__init__.py @@ -0,0 +1,8 @@ +from pkg_resources import DistributionNotFound, get_distribution + +from .robotinterface import Robot + +try: + __version__ = get_distribution(__name__).version +except DistributionNotFound: + pass # package is not installed diff --git a/src/isar_robot/config/__init__.py b/src/isar_robot/config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/isar_robot/config/settings.env b/src/isar_robot/config/settings.env new file mode 100644 index 0000000..693867e --- /dev/null +++ b/src/isar_robot/config/settings.env @@ -0,0 +1,2 @@ +CAPABILITIES = '["take_thermal_image", "take_image", "take_video", "take_thermal_video", "drive_to_pose"]' +ROBOT_MODEL = Robot diff --git a/src/isar_robot/robotinterface.py b/src/isar_robot/robotinterface.py new file mode 100644 index 0000000..b202268 --- /dev/null +++ b/src/isar_robot/robotinterface.py @@ -0,0 +1,188 @@ +import json +import logging +import os +import random +import time +from datetime import datetime +from logging import Logger +from pathlib import Path +from queue import Queue +from random import randrange +from threading import Thread +from typing import List, Sequence, Union + +from alitra import Frame, Orientation, Pose, Position +from robot_interface.models.initialize import InitializeParams +from robot_interface.models.inspection.inspection import ( + Image, + ImageMetadata, + Inspection, + TimeIndexedPose, + Video, + VideoMetadata, +) +from robot_interface.models.mission import ( + InspectionStep, + Step, + StepStatus, + TakeImage, + TakeThermalImage, + TakeThermalVideo, + TakeVideo, +) +from robot_interface.models.mission.status import RobotStatus +from robot_interface.robot_interface import RobotInterface +from robot_interface.telemetry.mqtt_client import MqttTelemetryPublisher +from robot_interface.telemetry.payloads import ( + TelemetryBatteryPayload, + TelemetryPosePayload, +) +from robot_interface.utilities.json_service import EnhancedJSONEncoder + +STEP_DURATION_IN_SECONDS = 5 + + +class Robot(RobotInterface): + def __init__(self): + self.logger: Logger = logging.getLogger("robot") + + self.position: Position = Position(x=1, y=1, z=1, frame=Frame("asset")) + self.orientation: Orientation = Orientation( + x=0, y=0, z=0, w=1, frame=Frame("asset") + ) + self.pose: Pose = Pose( + position=self.position, orientation=self.orientation, frame=Frame("asset") + ) + + self.example_images: Path = Path( + os.path.dirname(os.path.realpath(__file__)), "example_images" + ) + + def initiate_step(self, step: Step) -> bool: + time.sleep(STEP_DURATION_IN_SECONDS) + return True + + def step_status(self) -> StepStatus: + return StepStatus.Successful + + def stop(self) -> bool: + return True + + def get_inspections(self, step: InspectionStep) -> Sequence[Inspection]: + if type(step) in [TakeImage, TakeThermalImage]: + return self._create_image(step) + elif type(step) in [TakeVideo, TakeThermalVideo]: + return self._create_video(step) + else: + return None + + def initialize(self, params: InitializeParams) -> None: + return + + def get_telemetry_publishers(self, queue: Queue, robot_id: str) -> List[Thread]: + publisher_threads: List[Thread] = [] + + pose_publisher: MqttTelemetryPublisher = MqttTelemetryPublisher( + mqtt_queue=queue, + telemetry_method=self._get_pose_telemetry, + topic=f"isar/{robot_id}/pose", + interval=1, + retain=False, + ) + pose_thread: Thread = Thread( + target=pose_publisher.run, + args=[robot_id], + name="ISAR Robot Pose Publisher", + daemon=True, + ) + publisher_threads.append(pose_thread) + + battery_publisher: MqttTelemetryPublisher = MqttTelemetryPublisher( + mqtt_queue=queue, + telemetry_method=self._get_battery_telemetry, + topic=f"isar/{robot_id}/battery", + interval=5, + retain=False, + ) + battery_thread: Thread = Thread( + target=battery_publisher.run, + args=[robot_id], + name="ISAR Robot Battery Publisher", + daemon=True, + ) + publisher_threads.append(battery_thread) + + return publisher_threads + + def _get_pose_telemetry(self, robot_id: str) -> str: + random_position: Position = Position( + x=random.uniform(0.1, 10), + y=random.uniform(0.1, 10), + z=random.uniform(0.1, 10), + frame=Frame("asset"), + ) + random_pose: Pose = Pose( + position=random_position, + orientation=self.pose.orientation, + frame=Frame("asset"), + ) + pose_payload: TelemetryPosePayload = TelemetryPosePayload( + pose=random_pose, robot_id=robot_id, timestamp=datetime.utcnow() + ) + return json.dumps(pose_payload, cls=EnhancedJSONEncoder) + + def _get_battery_telemetry(self, robot_id: str) -> str: + battery_payload: TelemetryBatteryPayload = TelemetryBatteryPayload( + battery_level=randrange(0, 1000) * 0.1, + robot_id=robot_id, + timestamp=datetime.utcnow(), + ) + return json.dumps(battery_payload, cls=EnhancedJSONEncoder) + + def robot_status(self) -> RobotStatus: + return RobotStatus.Available + + def _create_image(self, step: Union[TakeImage, TakeThermalImage]): + now: datetime = datetime.utcnow() + image_metadata: ImageMetadata = ImageMetadata( + start_time=now, + time_indexed_pose=TimeIndexedPose(pose=self.pose, time=now), + file_type="jpg", + ) + image_metadata.tag_id = step.tag_id + image_metadata.analysis = ["test1", "test2"] + image_metadata.additional = step.metadata + + image: Image = Image(metadata=image_metadata) + + file: Path = random.choice(list(self.example_images.iterdir())) + + with open(file, "rb") as f: + data: bytes = f.read() + + image.data = data + + return [image] + + def _create_video(self, step: Union[TakeVideo, TakeThermalVideo]): + now: datetime = datetime.utcnow() + video_metadata: VideoMetadata = VideoMetadata( + start_time=now, + time_indexed_pose=TimeIndexedPose(pose=self.pose, time=now), + file_type="mp4", + duration=11, + ) + video_metadata.tag_id = step.tag_id + video_metadata.analysis = ["test1", "test2"] + video_metadata.additional = step.metadata + + video: Video = Video(metadata=video_metadata) + + file: Path = random.choice(list(self.example_images.iterdir())) + + with open(file, "rb") as f: + data: bytes = f.read() + + video.data = data + + return [video] diff --git a/tests/__init__.py b/tests/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/tests/interfaces/__init__.py b/tests/interfaces/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/tests/interfaces/test_robotinterface.py b/tests/interfaces/test_robotinterface.py new file mode 100644 index 0000000..c6902aa --- /dev/null +++ b/tests/interfaces/test_robotinterface.py @@ -0,0 +1,6 @@ +from isar_robot.robotinterface import Robot +from robot_interface.test_robot_interface import interface_test + + +def test_robotinterface(): + interface_test(Robot())