Give ISAR responsibility to create ids

for mission, task and inspection.
Therefore the ids are removed from the StartMissionDefinitions
and instead generated when the Mission and Tasks are created

Some refactors are also applied, most notably replacing dataclass
with pydantic BaseModels

Author: tsundvoll

src/isar/apis/models/models.py

@@ -9,6 +9,7 @@
 class TaskResponse(BaseModel):
     id: str
     tag_id: Optional[str] = None
+    inspection_id: Optional[str] = None
     type: TaskTypes
 
 

src/isar/apis/models/start_mission_definition.py

@@ -2,7 +2,6 @@
 from enum import Enum
 from typing import List, Optional
 
-from alitra import Frame, Orientation, Pose, Position
 from pydantic import BaseModel, Field
 
 from isar.apis.models.models import InputPose, InputPosition
@@ -44,188 +43,139 @@ class StartMissionInspectionDefinition(BaseModel):
     analysis_type: Optional[str] = None
     duration: Optional[float] = None
     metadata: Optional[dict] = None
-    id: Optional[str] = None
 
 
 class StartMissionTaskDefinition(BaseModel):
     type: TaskType = Field(default=TaskType.Inspection)
     pose: InputPose
     inspection: Optional[StartMissionInspectionDefinition] = None
     tag: Optional[str] = None
-    id: Optional[str] = None
     zoom: Optional[ZoomDescription] = None
 
 
 class StartMissionDefinition(BaseModel):
     tasks: List[StartMissionTaskDefinition]
-    id: Optional[str] = None
     name: Optional[str] = None
     start_pose: Optional[InputPose] = None
-    dock: Optional[bool] = None
-    undock: Optional[bool] = None
+    dock: Optional[bool] = Field(default=False)
+    undock: Optional[bool] = Field(default=False)
 
 
-def to_isar_mission(start_mission_definition: StartMissionDefinition) -> Mission:
+def to_isar_mission(
+    start_mission_definition: StartMissionDefinition,
+    return_pose: Optional[InputPose] = None,
+) -> Mission:
     isar_tasks: List[TASKS] = []
 
-    for start_mission_task_definition in start_mission_definition.tasks:
-        task: TASKS = create_isar_task(start_mission_task_definition)
-        if start_mission_task_definition.id:
-            task.id = start_mission_task_definition.id
+    for task_definition in start_mission_definition.tasks:
+        task: TASKS = to_isar_task(task_definition)
         isar_tasks.append(task)
 
+    if return_pose:
+        isar_tasks.append(ReturnToHome(pose=return_pose.to_alitra_pose()))
+
     if not isar_tasks:
         raise MissionPlannerError("Mission does not contain any valid tasks")
 
-    check_for_duplicate_ids(isar_tasks)
-
-    isar_mission: Mission = Mission(tasks=isar_tasks)
-
-    isar_mission.dock = start_mission_definition.dock
-    isar_mission.undock = start_mission_definition.undock
-
+    isar_mission_name: str
     if start_mission_definition.name:
-        isar_mission.name = start_mission_definition.name
+        isar_mission_name = start_mission_definition.name
     else:
-        isar_mission.name = _build_mission_name()
-
-    if start_mission_definition.id:
-        isar_mission.id = start_mission_definition.id
+        isar_mission_name = _build_mission_name()
 
+    start_pose = None
     if start_mission_definition.start_pose:
-        input_pose: InputPose = start_mission_definition.start_pose
-        input_frame: Frame = Frame(name=input_pose.frame_name)
-        input_position: Position = Position(
-            input_pose.position.x,
-            input_pose.position.y,
-            input_pose.position.z,
-            input_frame,
-        )
-        input_orientation: Orientation = Orientation(
-            input_pose.orientation.x,
-            input_pose.orientation.y,
-            input_pose.orientation.z,
-            input_pose.orientation.w,
-            input_frame,
-        )
-        isar_mission.start_pose = Pose(
-            position=input_position, orientation=input_orientation, frame=input_frame
-        )
-
-    return isar_mission
-
-
-def check_for_duplicate_ids(items: List[TASKS]):
-    duplicate_ids = get_duplicate_ids(items=items)
-    if len(duplicate_ids) > 0:
-        raise MissionPlannerError(
-            f"Failed to create as there were duplicate IDs which is not allowed "
-            f"({duplicate_ids})"
-        )
-
+        start_pose = start_mission_definition.start_pose.to_alitra_pose()
+
+    return Mission(
+        tasks=isar_tasks,
+        name=isar_mission_name,
+        start_pose=start_pose,
+        dock=start_mission_definition.dock,
+        undock=start_mission_definition.undock,
+    )
 
-def create_isar_task(start_mission_task_definition) -> TASKS:
 
-    if start_mission_task_definition.type == TaskType.Inspection:
-        return create_inspection_task(start_mission_task_definition)
-    elif start_mission_task_definition.type == TaskType.Localization:
-        return create_localization_task(start_mission_task_definition)
-    elif start_mission_task_definition.type == TaskType.ReturnToHome:
-        return create_return_to_home_task(start_mission_task_definition)
-    elif start_mission_task_definition.type == TaskType.Dock:
+def to_isar_task(task_definition: StartMissionTaskDefinition) -> TASKS:
+    if task_definition.type == TaskType.Inspection:
+        return to_inspection_task(task_definition)
+    elif task_definition.type == TaskType.Localization:
+        return to_localization_task(task_definition)
+    elif task_definition.type == TaskType.ReturnToHome:
+        return create_return_to_home_task(task_definition)
+    elif task_definition.type == TaskType.Dock:
         return create_dock_task()
     else:
         raise MissionPlannerError(
-            f"Failed to create task: '{start_mission_task_definition.type}' is not a valid"
+            f"Failed to create task: '{task_definition.type}' is not a valid"
         )
 
 
-def create_inspection_task(
-    start_mission_task_definition: StartMissionTaskDefinition,
-) -> TASKS:
+def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
+    inspection_definition = task_definition.inspection
 
-    if start_mission_task_definition.inspection.type == InspectionTypes.image:
+    if inspection_definition.type == InspectionTypes.image:
         return TakeImage(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            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 start_mission_task_definition.inspection.type == InspectionTypes.video:
+    elif inspection_definition.type == InspectionTypes.video:
         return TakeVideo(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            duration=start_mission_task_definition.inspection.duration,
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            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 start_mission_task_definition.inspection.type == InspectionTypes.thermal_image:
+    elif inspection_definition.type == InspectionTypes.thermal_image:
         return TakeThermalImage(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            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 start_mission_task_definition.inspection.type == InspectionTypes.thermal_video:
+    elif inspection_definition.type == InspectionTypes.thermal_video:
         return TakeThermalVideo(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            duration=start_mission_task_definition.inspection.duration,
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            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 start_mission_task_definition.inspection.type == InspectionTypes.audio:
+    elif inspection_definition.type == InspectionTypes.audio:
         return RecordAudio(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            duration=start_mission_task_definition.inspection.duration,
-            tag_id=start_mission_task_definition.tag,
-            robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
-            metadata=start_mission_task_definition.inspection.metadata,
-            zoom=start_mission_task_definition.zoom,
+            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 '{start_mission_task_definition.inspection.type}' not supported"
+            f"Inspection type '{inspection_definition.type}' not supported"
         )
 
 
-def create_localization_task(
-    start_mission_task_definition: StartMissionTaskDefinition,
-) -> Localize:
-    return Localize(
-        localization_pose=start_mission_task_definition.pose.to_alitra_pose()
-    )
+def to_localization_task(task_definition: StartMissionTaskDefinition) -> Localize:
+    return Localize(localization_pose=task_definition.pose.to_alitra_pose())
 
 
 def create_return_to_home_task(
-    start_mission_task_definition: StartMissionTaskDefinition,
+    task_definition: StartMissionTaskDefinition,
 ) -> ReturnToHome:
-    return ReturnToHome(pose=start_mission_task_definition.pose.to_alitra_pose())
+    return ReturnToHome(pose=task_definition.pose.to_alitra_pose())
 
 
 def create_dock_task() -> DockingProcedure:
     return DockingProcedure(behavior="dock")
 
 
-def get_duplicate_ids(items: List[TASKS]) -> List[str]:
-    unique_ids: List[str] = []
-    duplicate_ids: List[str] = []
-    for item in items:
-        id: str = item.id
-        if id not in unique_ids:
-            unique_ids.append(id)
-        else:
-            duplicate_ids.append(id)
-
-    return duplicate_ids
-
-
 def _build_mission_name() -> str:
     return f"{settings.PLANT_SHORT_NAME}{settings.ROBOT_NAME}{int(time.time())}"

src/isar/apis/schedule/scheduling_controller.py

@@ -21,7 +21,13 @@
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.task import TASKS, Localize, MoveArm, ReturnToHome
+from robot_interface.models.mission.task import (
+    TASKS,
+    InspectionTask,
+    Localize,
+    MoveArm,
+    ReturnToHome,
+)
 
 
 class SchedulingController:
@@ -115,7 +121,9 @@ def start_mission(
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         try:
-            mission: Mission = to_isar_mission(mission_definition)
+            mission: Mission = to_isar_mission(
+                start_mission_definition=mission_definition, return_pose=return_pose
+            )
         except MissionPlannerError as e:
             error_message = f"Bad Request - Cannot create ISAR mission: {e}"
             self.logger.warning(error_message)
@@ -127,9 +135,6 @@ def start_mission(
         self.scheduling_utilities.verify_robot_capable_of_mission(
             mission=mission, robot_capabilities=robot_settings.CAPABILITIES
         )
-        if return_pose:
-            pose: Pose = return_pose.to_alitra_pose()
-            mission.tasks.append(ReturnToHome(pose=pose))
 
         initial_pose_alitra: Optional[Pose] = (
             initial_pose.to_alitra_pose() if initial_pose else None
@@ -213,7 +218,9 @@ def drive_to(
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         pose: Pose = target_pose.to_alitra_pose()
-        mission: Mission = Mission(tasks=[ReturnToHome(pose=pose)])
+        mission: Mission = Mission(
+            name="Drive to pose", tasks=[ReturnToHome(pose=pose)]
+        )
 
         self.logger.info(
             f"Starting drive to mission with ISAR Mission ID: '{mission.id}'"
@@ -237,7 +244,9 @@ def start_localization_mission(
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         pose: Pose = localization_pose.to_alitra_pose()
-        mission: Mission = Mission(tasks=[Localize(localization_pose=pose)])
+        mission: Mission = Mission(
+            name="Localization mission", tasks=[Localize(localization_pose=pose)]
+        )
 
         self.logger.info(
             f"Starting localization mission with ISAR Mission ID: '{mission.id}'"
@@ -284,7 +293,9 @@ def start_move_arm_mission(
 
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
-        mission: Mission = Mission(tasks=[MoveArm(arm_pose=arm_pose_literal)])
+        mission: Mission = Mission(
+            name="Move arm mission", tasks=[MoveArm(arm_pose=arm_pose_literal)]
+        )
 
         self.logger.info(
             f"Starting move arm mission with ISAR Mission ID: '{mission.id}'"
@@ -302,4 +313,11 @@ def _api_response(self, mission: Mission) -> StartMissionResponse:
         )
 
     def _task_api_response(self, task: TASKS) -> TaskResponse:
-        return TaskResponse(id=task.id, tag_id=task.tag_id, type=task.type)
+        if isinstance(task, InspectionTask):
+            inspection_id = task.inspection_id
+        else:
+            inspection_id = None
+
+        return TaskResponse(
+            id=task.id, tag_id=task.tag_id, inspection_id=inspection_id, type=task.type
+        )