Change name robot_id to isar_id and robot_name

Add isar_id and robot_name

main.py

@@ -82,7 +82,9 @@
         threads.append(robot_info_thread)
 
         publishers: List[Thread] = robot.get_telemetry_publishers(
-            queue=queues.mqtt_queue, robot_id=settings.ROBOT_ID
+            queue=queues.mqtt_queue,
+            robot_name=settings.ROBOT_NAME,
+            isar_id=settings.ISAR_ID,
         )
         if publishers:
             threads.extend(publishers)

src/isar/apis/models/models.py

@@ -31,7 +31,8 @@ class ControlMissionResponse(BaseModel):
 
 class RobotInfoResponse(BaseModel):
     robot_package: str
-    robot_id: str
+    isar_id: str
+    robot_name: str
     robot_capabilities: List[str]
     robot_map_name: str
     plant_short_name: str

src/isar/apis/schedule/scheduling_controller.py

@@ -222,7 +222,8 @@ def drive_to(
     def get_info(self):
         return RobotInfoResponse(
             robot_package=settings.ROBOT_PACKAGE,
-            robot_id=settings.ROBOT_ID,
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
             robot_map_name=settings.DEFAULT_MAP,
             robot_capabilities=robot_settings.CAPABILITIES,
             plant_short_name=settings.STID_PLANT_NAME,

src/isar/config/settings.env

@@ -14,7 +14,6 @@ ISAR_MQTT_SSL_ENABLED = true
 
 ISAR_AUTHENTICATION_ENABLED = false
 
-ISAR_ROBOT_ID = R2-D2
 ISAR_PLANT_SHORT_NAME = KAA
 ISAR_STID_PLANT_NAME = KAA
 

src/isar/config/settings.py

@@ -188,8 +188,11 @@ class Settings(BaseSettings):
     # Type of robot ISAR is monitoring
     ROBOT_TYPE: str = Field(default="robot")
 
-    # Name or unique ID of robot
-    ROBOT_ID: str = Field(default="R2-D2")
+    # Name of robot
+    ROBOT_NAME: str = Field(default="Placebot")
+
+    # Unique identifier for this ISAR instance. Note that this should be a generated UUID.
+    ISAR_ID: str = Field(default="00000000-0000-0000-0000-000000000000")
 
     # Serial number of the robot ISAR is connected to
     SERIAL_NUMBER: str = Field(default="0001")
@@ -292,7 +295,7 @@ def set_log_levels(cls, v, values) -> dict:
         always=True,
     )
     def prefix_isar_topics(cls, v, values):
-        return f"isar/{values['ROBOT_ID']}/{v}"
+        return f"isar/{values['ISAR_ID']}/{v}"
 
     class Config:
         with pkg_resources.path("isar.config", "settings.env") as path:

src/isar/models/mission/mission.py

@@ -124,10 +124,10 @@ def set_unique_id_and_metadata(self) -> None:
 
     def _set_unique_id(self) -> None:
         plant_short_name: str = settings.PLANT_SHORT_NAME
-        robot_id: str = settings.ROBOT_ID
+        robot_name: str = settings.ROBOT_NAME
         now: datetime = datetime.utcnow()
         self.id = (
-            f"{plant_short_name.upper()}{robot_id.upper()}"
+            f"{plant_short_name.upper()}{robot_name.upper()}"
             f"{now.strftime('%d%m%Y%H%M%S%f')[:-3]}"
         )
 

src/isar/models/mission_metadata/mission_metadata.py

@@ -20,6 +20,7 @@ class MissionMetadata:
     media_orientation_reference_system: str = (
         settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM
     )
-    robot_id: str = settings.ROBOT_ID
+    isar_id: str = settings.ISAR_ID
+    robot_name: str = settings.ROBOT_NAME
     robot_model: str = settings.ROBOT_TYPE
     mission_date: date = datetime.utcnow().date()

src/isar/modules.py

@@ -184,7 +184,8 @@ def provide_task_selector(self) -> TaskSelectorInterface:
     "queues": (QueuesModule, "required"),
     "request_handler": (RequestHandlerModule, "required"),
     "robot_package": (RobotModule, settings.ROBOT_PACKAGE),
-    "robot_id": (RobotModule, settings.ROBOT_ID),
+    "isar_id": (RobotModule, settings.ISAR_ID),
+    "robot_name": (RobotModule, settings.ROBOT_NAME),
     "mission_planner": (
         {
             "default": LocalPlannerModule,

src/isar/services/service_connections/mqtt/robot_info_publisher.py

@@ -16,7 +16,8 @@ def __init__(self, mqtt_queue: Queue):
     def run(self) -> None:
         while True:
             payload: RobotInfoPayload = RobotInfoPayload(
-                robot_name=settings.ROBOT_ID,
+                isar_id=settings.ISAR_ID,
+                robot_name=settings.ROBOT_NAME,
                 robot_model=robot_settings.ROBOT_MODEL,  # type: ignore
                 robot_serial_number=settings.SERIAL_NUMBER,
                 video_streams=settings.VIDEO_STREAMS,

src/isar/services/service_connections/mqtt/robot_status_publisher.py

@@ -52,7 +52,8 @@ def run(self) -> None:
             )
 
             payload: RobotStatusPayload = RobotStatusPayload(
-                robot_name=settings.ROBOT_ID,
+                isar_id=settings.ISAR_ID,
+                robot_name=settings.ROBOT_NAME,
                 robot_status=combined_status,
                 current_isar_state=self.state_machine.current_state,
                 current_mission_id=self.state_machine.current_mission.id

src/isar/state_machine/state_machine.py

@@ -436,7 +436,8 @@ def publish_mission_status(self) -> None:
             return
         payload: str = json.dumps(
             {
-                "robot_id": settings.ROBOT_ID,
+                "isar_id": settings.ISAR_ID,
+                "robot_name": settings.ROBOT_NAME,
                 "mission_id": self.current_mission.id if self.current_mission else None,
                 "status": self.current_mission.status if self.current_mission else None,
                 "timestamp": datetime.utcnow(),
@@ -456,7 +457,8 @@ def publish_task_status(self) -> None:
             return
         payload: str = json.dumps(
             {
-                "robot_id": settings.ROBOT_ID,
+                "isar_id": settings.ISAR_ID,
+                "robot_name": settings.ROBOT_NAME,
                 "mission_id": self.current_mission.id if self.current_mission else None,
                 "task_id": self.current_task.id if self.current_task else None,
                 "status": self.current_task.status if self.current_task else None,
@@ -477,7 +479,8 @@ def publish_step_status(self) -> None:
             return
         payload: str = json.dumps(
             {
-                "robot_id": settings.ROBOT_ID,
+                "isar_id": settings.ISAR_ID,
+                "robot_name": settings.ROBOT_NAME,
                 "mission_id": self.current_mission.id if self.current_mission else None,
                 "task_id": self.current_task.id if self.current_task else None,
                 "step_id": self.current_step.id if self.current_step else None,
@@ -501,7 +504,8 @@ def publish_state(self) -> None:
             return
         payload: str = json.dumps(
             {
-                "robot_id": settings.ROBOT_ID,
+                "isar_id": settings.ISAR_ID,
+                "robot_name": settings.ROBOT_NAME,
                 "state": self.current_state,
                 "timestamp": datetime.utcnow(),
             },

src/isar/storage/slimm_storage.py

@@ -109,7 +109,7 @@ def _construct_multiform_request_image(
                 "Geodetic.CoordinateReferenceSystemCode": metadata.coordinate_reference_system,  # noqa: E501
                 "Geodetic.VerticalCoordinateReferenceSystemCode": metadata.vertical_reference_system,  # noqa: E501
                 "Geodetic.OrientationReferenceSystem": metadata.media_orientation_reference_system,  # noqa: E501
-                "SensorCarrier.SensorCarrierId": metadata.robot_id,
+                "SensorCarrier.SensorCarrierId": metadata.isar_id,
                 "SensorCarrier.ModelName": metadata.robot_model,
                 "Mission.MissionId": metadata.mission_id,
                 "Mission.Client": "Equinor",
@@ -150,7 +150,7 @@ def _construct_multiform_request_video(
                 "Geodetic.CoordinateReferenceSystemCode": metadata.coordinate_reference_system,  # noqa: E501
                 "Geodetic.VerticalCoordinateReferenceSystemCode": metadata.vertical_reference_system,  # noqa: E501
                 "Geodetic.OrientationReferenceSystem": metadata.media_orientation_reference_system,  # noqa: E501
-                "SensorCarrier.SensorCarrierId": metadata.robot_id,
+                "SensorCarrier.SensorCarrierId": metadata.isar_id,
                 "SensorCarrier.ModelName": metadata.robot_model,
                 "Mission.MissionId": metadata.mission_id,
                 "Mission.Client": "Equinor",

src/isar/storage/utilities.py

@@ -43,7 +43,8 @@ def construct_metadata_file(
             "mission_id": metadata.mission_id,
             "plant_name": metadata.plant_name,
             "mission_date": metadata.mission_date,
-            "robot_id": metadata.robot_id,
+            "isar_id": metadata.isar_id,
+            "robot_name": metadata.robot_name,
         },
         "data": [
             {

src/robot_interface/robot_interface.py

@@ -118,13 +118,15 @@ def initialize(self, params: InitializeParams) -> None:
         raise NotImplementedError
 
     @abstractmethod
-    def get_telemetry_publishers(self, queue: Queue, robot_id: str) -> List[Thread]:
+    def get_telemetry_publishers(
+        self, queue: Queue, isar_id: str, robot_name: str
+    ) -> List[Thread]:
         """
         Set up telemetry publisher threads to publish regular updates for pose, battery
         level etc. from the robot to the MQTT broker. The publishers on the robot side
         will use the queue to pass messages to the MQTT Client on the ISAR side.
 
-        The robot_id is passed to the robot to ensure the messages are published to the
+        The isar_id is passed to the robot to ensure the messages are published to the
         correct topics.
 
         Note that this functionality will only be utilized if MQTT is enabled in the

src/robot_interface/telemetry/mqtt_client.py

@@ -60,10 +60,12 @@ def __init__(
         self.qos: int = qos
         self.retain: bool = retain
 
-    def run(self, robot_id: str) -> None:
+    def run(self, isar_id: str, robot_name: str) -> None:
         while True:
             try:
-                payload: str = self.telemetry_method(robot_id)
+                payload: str = self.telemetry_method(
+                    isar_id=isar_id, robot_name=robot_name
+                )
             except RobotInvalidTelemetryException:
                 continue
 

src/robot_interface/telemetry/payloads.py

@@ -11,14 +11,16 @@
 @dataclass
 class TelemetryPosePayload:
     pose: Pose
-    robot_id: str
+    isar_id: str
+    robot_name: str
     timestamp: datetime
 
 
 @dataclass
 class TelemetryBatteryPayload:
     battery_level: float
-    robot_id: str
+    isar_id: str
+    robot_name: str
     timestamp: datetime
 
 
@@ -31,6 +33,7 @@ class VideoStream:
 
 @dataclass
 class RobotStatusPayload:
+    isar_id: str
     robot_name: str
     robot_status: RobotStatus
     current_isar_state: State
@@ -42,6 +45,7 @@ class RobotStatusPayload:
 
 @dataclass
 class RobotInfoPayload:
+    isar_id: str
     robot_name: str
     robot_model: str
     robot_serial_number: str

tests/mocks/robot_interface.py

@@ -52,7 +52,9 @@ def get_inspections(self, step: InspectionStep) -> Sequence[Inspection]:
     def initialize(self, params: InitializeParams) -> None:
         return
 
-    def get_telemetry_publishers(self, queue: Queue, robot_id: str) -> List[Thread]:
+    def get_telemetry_publishers(
+        self, queue: Queue, isar_id: str, robot_name: str
+    ) -> List[Thread]:
         return []
 
     def robot_status(self) -> RobotStatus: