Integration and Supervisory control of Autonomous Robots
Project description
ISAR
ISAR - Integration and Supervisory control of Autonomous Robots - is a tool for integrating robot applications into Equinor systems. Through the ISAR API you can send command to a robot to do missions and collect results from the missions.
Components
The system consists of two threads running in parallel.
- State machine
- FastAPI
State machine
The state machine handles interaction with the robots API and monitors the execution of missions. It also enables interacting with the robot before, during and after missions.
The state machine is based on the transitions package for Python. The main states are:
- Idle: The robot is in an idle state and ready to perform new missions.
- Send: The state machine has received a mission and is sending the mission to the robot.
- Monitor: The robot has received a mission from the state machine, and the state machine is monitoring the current mission.
- Collect: The state collects data during a mission.
- Cancel: The state machine has received a request to abort, or an event has occurred which requires the mission to be canceled. The cancel state also functions as a wrap-up state when a mission is finished, prior to the state machine returning to idle.
FastAPI
The FastAPI establishes an interface to the state machine for the user. As the API and state machine are separate threads, they communicate through python queues. FastAPI runs on an ASGI-server, specifically uvicorn. The FastAPI-framework is split into routers where the endpoint operations are defined.
Installation
$ pip install git+https://github.com/equinor/isar.git@main
Note, installation might require wheel.
To run ISAR:
$ python main.py
Note, running the full system requires that an implementation of a robot has been installed. See this section for installing a mocked robot.
Running a robot mission
Once the application has been started the swagger site may be accessed at
http://localhost:3000/docs
Execute the /schedule/start-mission with mission_id=1 to run a mission.
In this folder there are predefined default missions, for example the mission
corresponding to mission_id=1. A new mission may be added by adding a new json-file with a mission description. Note,
the mission IDs must be unique.
Development
For local development, please fork the repository. Then, clone and install in the repository root folder:
$ git clone https://github.com/equinor/isar
$ cd isar
$ pip install -e ".[dev]"
Verify that you can run the tests:
$ pytest -n 10 .
Robot integration
To connect the state machine to a robot in a separate repository, it is required that the separate repository implements the robot interface. Install the repo, i.e:
$ pip install git+https://@github.com/equinor/isar-robot.git@main
Then, set an environment variable to the name of the package you installed:
$ export ROBOT_DIRECTORY=isar_robot
If you have the robot repository locally, you can simply install through
$ pip install -e /path/to/robot/repo/
Mission planner
The mission planner that is currently in use is defined by the mission_planner configuration variable. This can be set
in the default configuration. The available options are
mission_planner = local
mission_planner = echo
By default, the local planner is used.
Implement your own planner
You can create your own mission planner by implementing the mission planner interface and adding your planner to the selection here. Note that you must add your module as an option in the dictionary.
Storage
The storage module that is currently in use is defined by the storage configuration variable. This can be set in
the default configuration. The available options are
storage = local
storage = blob
By default, the local storage module is used. If using Azure Blob Storage the following environment variables must be
available which gives access to an app registration that may use the storage account.
AZURE_CLIENT_ID
AZURE_TENANT_ID
AZURE_CLIENT_SECRET
Implement your own storage module
You can create your own storage module by implementing the storage interface and adding your storage module to the selection in the here. Note that you must add your module as an option in the dictionary.
Running tests
After following the steps in Development, you can run the tests:
$ pytest -n 10 .
To create an interface test in your robot repository, use the function interface_test from robot_interface. The argument should be an interface object from your robot specific implementation. See isar-robot for example.
Documentation
To build the project documentation, run the following commands:
$ cd docs
$ make docs
The documentation can now be viewed at docs/build/html/index.html.
Contributing
We welcome all kinds of contributions, including code, bug reports, issues, feature requests, and documentation. The preferred way of submitting a contribution is to either make an issue on github or by forking the project on github and making a pull requests.
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