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Merged
andchiind merged 2 commits into from
Jan 26, 2026
Merged

Remove excess util folder #1072

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5058219
Remove tiny uuid util file
andchiind Jan 22, 2026
a23c309
Remove custom JSON encoder
andchiind Jan 22, 2026
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4 changes: 1 addition & 3 deletions src/isar/apis/api.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
import json
import logging
import time
from datetime import datetime, timezone
Expand All @@ -20,7 +19,6 @@
from isar.config.settings import settings
from robot_interface.telemetry.mqtt_client import MqttClientInterface
from robot_interface.telemetry.payloads import StartUpMessagePayload
from robot_interface.utilities.json_service import EnhancedJSONEncoder


class API:
Expand Down Expand Up @@ -374,7 +372,7 @@ def _publish_startup_message(self) -> None:

self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_STARTUP,
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
qos=1,
retain=True,
)
16 changes: 8 additions & 8 deletions src/isar/apis/models/start_mission_definition.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
import time
from enum import Enum
from typing import List, Optional
from uuid import uuid4

from pydantic import BaseModel, Field

Expand All @@ -18,7 +19,6 @@
TakeVideo,
ZoomDescription,
)
from robot_interface.utilities.uuid_string_factory import uuid4_string


class InspectionTypes(str, Enum):
Expand Down Expand Up @@ -88,7 +88,7 @@ def to_isar_mission(
if start_mission_definition.start_pose:
start_pose = start_mission_definition.start_pose.to_alitra_pose()

id = start_mission_definition.id if start_mission_definition.id else uuid4_string()
id = start_mission_definition.id if start_mission_definition.id else str(uuid4())

return Mission(
id=id,
Expand All @@ -114,7 +114,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:

if inspection_definition.type == InspectionTypes.image:
return TakeImage(
id=task_definition.id if task_definition.id else uuid4_string(),
id=task_definition.id if task_definition.id else str(uuid4()),
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
inspection_description=task_definition.inspection.inspection_description,
Expand All @@ -123,7 +123,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
)
elif inspection_definition.type == InspectionTypes.video:
return TakeVideo(
id=task_definition.id if task_definition.id else uuid4_string(),
id=task_definition.id if task_definition.id else str(uuid4()),
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
inspection_description=task_definition.inspection.inspection_description,
Expand All @@ -133,7 +133,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
)
elif inspection_definition.type == InspectionTypes.thermal_image:
return TakeThermalImage(
id=task_definition.id if task_definition.id else uuid4_string(),
id=task_definition.id if task_definition.id else str(uuid4()),
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
inspection_description=task_definition.inspection.inspection_description,
Expand All @@ -142,7 +142,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
)
elif inspection_definition.type == InspectionTypes.thermal_video:
return TakeThermalVideo(
id=task_definition.id if task_definition.id else uuid4_string(),
id=task_definition.id if task_definition.id else str(uuid4()),
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
inspection_description=task_definition.inspection.inspection_description,
Expand All @@ -152,7 +152,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
)
elif inspection_definition.type == InspectionTypes.audio:
return RecordAudio(
id=task_definition.id if task_definition.id else uuid4_string(),
id=task_definition.id if task_definition.id else str(uuid4()),
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
inspection_description=task_definition.inspection.inspection_description,
Expand All @@ -161,7 +161,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
)
elif inspection_definition.type == InspectionTypes.co2_measurement:
return TakeCO2Measurement(
id=task_definition.id if task_definition.id else uuid4_string(),
id=task_definition.id if task_definition.id else str(uuid4()),
robot_pose=task_definition.pose.to_alitra_pose(),
tag_id=task_definition.tag,
inspection_description=task_definition.inspection.inspection_description,
Expand Down
4 changes: 1 addition & 3 deletions src/isar/services/service_connections/mqtt/robot_heartbeat_publisher.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
import json
import time
from datetime import datetime, timezone
from queue import Queue
Expand All @@ -7,7 +6,6 @@
from isar.services.service_connections.mqtt.mqtt_client import props_expiry
from robot_interface.telemetry.mqtt_client import MqttPublisher
from robot_interface.telemetry.payloads import RobotHeartbeatPayload
from robot_interface.utilities.json_service import EnhancedJSONEncoder


class RobotHeartbeatPublisher:
Expand All @@ -24,7 +22,7 @@ def run(self) -> None:

self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_ROBOT_HEARTBEAT,
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
retain=True,
properties=props_expiry(settings.MQTT_ROBOT_HEARTBEAT_EXPIRY),
)
Expand Down
4 changes: 1 addition & 3 deletions src/isar/services/service_connections/mqtt/robot_info_publisher.py
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Original file line number Diff line number Diff line change
@@ -1,12 +1,10 @@
import json
import time
from datetime import datetime, timezone
from queue import Queue

from isar.config.settings import robot_settings, settings
from robot_interface.telemetry.mqtt_client import MqttPublisher
from robot_interface.telemetry.payloads import RobotInfoPayload
from robot_interface.utilities.json_service import EnhancedJSONEncoder


class RobotInfoPublisher:
Expand All @@ -30,7 +28,7 @@ def run(self) -> None:

self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_ROBOT_INFO,
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
)

time.sleep(settings.ROBOT_INFO_PUBLISH_INTERVAL)
8 changes: 3 additions & 5 deletions src/isar/services/utilities/mqtt_utilities.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
import json
from datetime import datetime, timezone
from typing import Optional

Expand All @@ -14,7 +13,6 @@
MissionPayload,
TaskPayload,
)
from robot_interface.utilities.json_service import EnhancedJSONEncoder


def publish_task_status(
Expand All @@ -41,7 +39,7 @@ def publish_task_status(

mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_TASK + f"/{task.id}",
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
qos=1,
retain=True,
properties=props_expiry(settings.MQTT_MISSION_AND_TASK_EXPIRY),
Expand Down Expand Up @@ -69,7 +67,7 @@ def publish_mission_status(

mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_MISSION + f"/{mission_id}",
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
qos=1,
retain=True,
properties=props_expiry(settings.MQTT_MISSION_AND_TASK_EXPIRY),
Expand All @@ -88,7 +86,7 @@ def publish_isar_status(

mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_STATUS,
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
qos=1,
retain=True,
)
6 changes: 2 additions & 4 deletions src/isar/state_machine/state_machine.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
import json
import logging
from collections import deque
from datetime import datetime, timezone
Expand Down Expand Up @@ -26,7 +25,6 @@
InterventionNeededPayload,
MissionAbortedPayload,
)
from robot_interface.utilities.json_service import EnhancedJSONEncoder


class StateMachine(object):
Expand Down Expand Up @@ -157,7 +155,7 @@ def publish_mission_aborted(

self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_MISSION_ABORTED,
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
qos=1,
retain=True,
)
Expand All @@ -176,7 +174,7 @@ def publish_intervention_needed(self, error_message: str) -> None:

self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_INTERVENTION_NEEDED,
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
qos=1,
retain=True,
)
Expand Down
6 changes: 2 additions & 4 deletions src/isar/storage/uploader.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
import json
import logging
from dataclasses import dataclass
from datetime import datetime, timedelta, timezone
Expand Down Expand Up @@ -26,7 +25,6 @@
InspectionResultPayload,
InspectionValuePayload,
)
from robot_interface.utilities.json_service import EnhancedJSONEncoder


def has_empty_blob_storage_path(storage_paths: StoragePaths) -> bool:
Expand Down Expand Up @@ -249,7 +247,7 @@ def _publish_inspection_value(self, inspection: InspectionValue) -> None:
)
self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_INSPECTION_VALUE,
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
qos=1,
retain=True,
)
Expand Down Expand Up @@ -279,7 +277,7 @@ def _publish_inspection_result(
)
self.mqtt_publisher.publish(
topic=settings.TOPIC_ISAR_INSPECTION_RESULT,
payload=json.dumps(payload, cls=EnhancedJSONEncoder),
payload=payload.model_dump_json(),
qos=1,
retain=True,
)
3 changes: 1 addition & 2 deletions src/isar/storage/utilities.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,6 @@
from isar.config.settings import settings
from robot_interface.models.inspection.inspection import Inspection
from robot_interface.models.mission.mission import Mission
from robot_interface.utilities.json_service import EnhancedJSONEncoder


def construct_paths(inspection: Inspection, mission: Mission) -> Tuple[Path, Path]:
Expand Down Expand Up @@ -65,7 +64,7 @@ def construct_metadata_file(
],
}

return json.dumps(data, cls=EnhancedJSONEncoder, indent=4).encode()
return json.dumps(data, indent=4).encode()


def get_filename(inspection: Inspection) -> str:
Expand Down
4 changes: 2 additions & 2 deletions src/robot_interface/models/mission/mission.py
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Original file line number Diff line number Diff line change
@@ -1,16 +1,16 @@
from typing import List, Optional
from uuid import uuid4

from alitra import Pose
from pydantic import BaseModel, Field

from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
from robot_interface.models.mission.status import MissionStatus
from robot_interface.models.mission.task import TASKS, TaskTypes
from robot_interface.utilities.uuid_string_factory import uuid4_string


class Mission(BaseModel):
id: str = Field(default_factory=uuid4_string, frozen=True)
id: str = Field(default_factory=lambda: str(uuid4()), frozen=True)
tasks: List[TASKS] = Field(default_factory=list, frozen=True)
name: str = Field(frozen=True)
start_pose: Optional[Pose] = Field(default=None, frozen=True)
Expand Down
6 changes: 3 additions & 3 deletions src/robot_interface/models/mission/task.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
from enum import Enum
from typing import Literal, Optional, Type, Union
from uuid import uuid4

from alitra import Pose, Position
from pydantic import BaseModel, Field
Expand All @@ -15,7 +16,6 @@
Video,
)
from robot_interface.models.mission.status import TaskStatus
from robot_interface.utilities.uuid_string_factory import uuid4_string


class TaskTypes(str, Enum):
Expand All @@ -37,15 +37,15 @@ 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, frozen=True)
id: str = Field(default_factory=lambda: str(uuid4()), frozen=True)


class InspectionTask(Task):
"""
Base class for all inspection tasks which produce results to be uploaded.
"""

inspection_id: str = Field(default_factory=uuid4_string, frozen=True)
inspection_id: str = Field(default_factory=lambda: str(uuid4()), frozen=True)
robot_pose: Pose = Field(default=None, init=True)
inspection_description: Optional[str] = Field(default=None)
zoom: Optional[ZoomDescription] = Field(default=None)
Expand Down
4 changes: 1 addition & 3 deletions src/robot_interface/telemetry/mqtt_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
RobotTelemetryPoseException,
)
from robot_interface.telemetry.payloads import CloudHealthPayload
from robot_interface.utilities.json_service import EnhancedJSONEncoder


def props_expiry(seconds: int) -> Properties:
Expand Down Expand Up @@ -110,8 +109,7 @@ def run(self, isar_id: str, robot_name: str) -> None:
continue
except RobotTelemetryException:
payload = json.dumps(
CloudHealthPayload(isar_id, robot_name, datetime.now(timezone.utc)),
cls=EnhancedJSONEncoder,
CloudHealthPayload(isar_id, robot_name, datetime.now(timezone.utc))
)
topic = self.cloud_health_topic

Expand Down
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