From 3c5b07e63472367cb513d5bf7b89d967573f51a5 Mon Sep 17 00:00:00 2001
From: Torstein Lundervold Nesheim <TLNE@equinor.com>
Date: Fri, 17 Mar 2023 14:37:08 +0100
Subject: [PATCH] Add RecordAudio inspection step

---
 .../apis/models/start_mission_definition.py   |  4 +++
 .../models/inspection/__init__.py             |  1 +
 .../models/inspection/inspection.py           | 14 ++++++++++
 src/robot_interface/models/mission/step.py    | 28 +++++++++++++++++--
 4 files changed, 45 insertions(+), 2 deletions(-)

diff --git a/src/isar/apis/models/start_mission_definition.py b/src/isar/apis/models/start_mission_definition.py
index de5e9c5d..3959c5b3 100644
--- a/src/isar/apis/models/start_mission_definition.py
+++ b/src/isar/apis/models/start_mission_definition.py
@@ -10,6 +10,7 @@
 from robot_interface.models.mission.step import (
     STEPS,
     DriveToPose,
+    RecordAudio,
     TakeImage,
     TakeThermalImage,
     TakeThermalVideo,
@@ -22,6 +23,7 @@ class InspectionTypes(str, Enum):
     thermal_image = "ThermalImage"
     video = "Video"
     thermal_video = "ThermalVideo"
+    audio = "Audio"
 
 
 class StartMissionInspectionDefinition(BaseModel):
@@ -119,6 +121,8 @@ def create_inspection_step(
         inspection_step = TakeThermalImage(target=target)
     elif inspection_type == InspectionTypes.thermal_video.value:
         inspection_step = TakeThermalVideo(target=target, duration=duration)
+    elif inspection_type == InspectionTypes.audio.value:
+        inspection_step = RecordAudio(target=target, duration=duration)
     else:
         raise ValueError(f"Inspection type '{inspection_type}' not supported")
 
diff --git a/src/robot_interface/models/inspection/__init__.py b/src/robot_interface/models/inspection/__init__.py
index 67b8c45f..3bcb7748 100644
--- a/src/robot_interface/models/inspection/__init__.py
+++ b/src/robot_interface/models/inspection/__init__.py
@@ -1,4 +1,5 @@
 from .inspection import (
+    Audio,
     Image,
     ImageMetadata,
     Inspection,
diff --git a/src/robot_interface/models/inspection/inspection.py b/src/robot_interface/models/inspection/inspection.py
index 59053e4f..46f9908f 100644
--- a/src/robot_interface/models/inspection/inspection.py
+++ b/src/robot_interface/models/inspection/inspection.py
@@ -38,6 +38,11 @@ class ThermalVideoMetadata(InspectionMetadata):
     duration: Optional[float] = field(default=None)
 
 
+@dataclass
+class AudioMetadata(InspectionMetadata):
+    duration: Optional[float] = field(default=None)
+
+
 @dataclass
 class Inspection:
     id: str = field(default_factory=uuid4_string, init=False)
@@ -83,3 +88,12 @@ class ThermalVideo(Inspection):
     @staticmethod
     def get_metadata_type() -> Type[InspectionMetadata]:
         return ThermalVideoMetadata
+
+
+@dataclass
+class Audio(Inspection):
+    metadata: AudioMetadata
+
+    @staticmethod
+    def get_metadata_type() -> Type[InspectionMetadata]:
+        return AudioMetadata
diff --git a/src/robot_interface/models/mission/step.py b/src/robot_interface/models/mission/step.py
index 1dda9647..36a3b2af 100644
--- a/src/robot_interface/models/mission/step.py
+++ b/src/robot_interface/models/mission/step.py
@@ -4,8 +4,14 @@
 from alitra import Pose, Position
 
 from isar.services.utilities.uuid_string_factory import uuid4_string
-from robot_interface.models.inspection import Image, ThermalImage, ThermalVideo, Video
-from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.inspection import (
+    Audio,
+    Image,
+    Inspection,
+    ThermalImage,
+    ThermalVideo,
+    Video,
+)
 from robot_interface.models.mission.status import StepStatus
 
 
@@ -166,6 +172,23 @@ def get_inspection_type() -> Type[Inspection]:
         return ThermalVideo
 
 
+@dataclass
+class RecordAudio(InspectionStep):
+    """
+    Step which causes the robot to record a video at its position, facing the target.
+
+    Duration of audio is given in seconds.
+    """
+
+    target: Position
+    duration: float
+    type: Literal["record_audio"] = "record_audio"
+
+    @staticmethod
+    def get_inspection_type() -> Type[Inspection]:
+        return Audio
+
+
 STEPS = Union[
     DriveToPose,
     DockingProcedure,
@@ -173,4 +196,5 @@ def get_inspection_type() -> Type[Inspection]:
     TakeThermalImage,
     TakeVideo,
     TakeThermalVideo,
+    RecordAudio,
 ]