Create gas measurement task

src/isar/apis/models/start_mission_definition.py

@@ -18,6 +18,7 @@
     TakeThermalImage,
     TakeThermalVideo,
     TakeVideo,
+    TakeGasMeasurement,
     ZoomDescription,
 )
 
@@ -28,6 +29,7 @@ class InspectionTypes(str, Enum):
     video = "Video"
     thermal_video = "ThermalVideo"
     audio = "Audio"
+    gas_measurement = "GasMeasurement"
 
 
 class TaskType(str, Enum):
@@ -200,7 +202,6 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
                 target=task_definition.inspection.inspection_target.to_alitra_position(),
                 duration=inspection_definition.duration,
                 metadata=task_definition.inspection.metadata,
-                zoom=task_definition.zoom,
             )
         else:
             return RecordAudio(
@@ -209,7 +210,20 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
                 target=task_definition.inspection.inspection_target.to_alitra_position(),
                 duration=inspection_definition.duration,
                 metadata=task_definition.inspection.metadata,
-                zoom=task_definition.zoom,
+            )
+    elif inspection_definition.type == InspectionTypes.gas_measurement:
+        if task_definition.id:
+            return TakeGasMeasurement(
+                id=task_definition.id,
+                robot_pose=task_definition.pose.to_alitra_pose(),
+                tag_id=task_definition.tag,
+                metadata=task_definition.inspection.metadata,
+            )
+        else:
+            return TakeGasMeasurement(
+                robot_pose=task_definition.pose.to_alitra_pose(),
+                tag_id=task_definition.tag,
+                metadata=task_definition.inspection.metadata,
             )
     else:
         raise ValueError(

src/isar/config/settings.py

@@ -292,6 +292,7 @@ def prefix_isar_topics(cls, v: Any, info: ValidationInfo):
 
 
 load_dotenv()
+print(os.getenv("env"))
 settings = Settings()
 
 

src/isar/state_machine/states/monitor.py

@@ -165,7 +165,7 @@ def _queue_inspections_for_upload(
             inspection: Inspection = self.state_machine.robot.get_inspection(
                 task=current_task
             )
-            if current_task.inspection_id == inspection.id:
+            if current_task.inspection_id != inspection.id:
                 self.logger.warning(
                     f"The inspection_id of task ({current_task.inspection_id}) "
                     f"and result ({inspection.id}) is not matching. "

src/robot_interface/models/inspection/inspection.py

@@ -42,6 +42,11 @@ class AudioMetadata(InspectionMetadata):
     duration: Optional[float] = field(default=None)
 
 
+@dataclass
+class GasMeasurementMetadata(InspectionMetadata):
+    pass
+
+
 class Inspection(BaseModel):
     metadata: InspectionMetadata
     id: str = Field(frozen=True)
@@ -90,3 +95,11 @@ class Audio(Inspection):
     @staticmethod
     def get_metadata_type() -> Type[InspectionMetadata]:
         return AudioMetadata
+
+
+class GasMeasurement(Inspection):
+    metadata: GasMeasurementMetadata
+
+    @staticmethod
+    def get_metadata_type() -> Type[InspectionMetadata]:
+        return GasMeasurementMetadata

src/robot_interface/models/mission/task.py

@@ -11,6 +11,7 @@
     Inspection,
     ThermalImage,
     ThermalVideo,
+    GasMeasurement,
     Video,
 )
 from robot_interface.models.mission.status import TaskStatus
@@ -25,6 +26,7 @@ class TaskTypes(str, Enum):
     TakeThermalImage = "take_thermal_image"
     TakeVideo = "take_video"
     TakeThermalVideo = "take_thermal_video"
+    TakeGasMeasurement = "take_gas_measurement"
     RecordAudio = "record_audio"
     DockingProcedure = "docking_procedure"
 
@@ -179,6 +181,20 @@ def get_inspection_type() -> Type[Inspection]:
         return Audio
 
 
+class TakeGasMeasurement(InspectionTask):
+    """
+    Task which causes the robot to take a CO2 measurement at its position.
+
+    Duration of audio is given in seconds.
+    """
+
+    type: Literal[TaskTypes.TakeGasMeasurement] = TaskTypes.TakeGasMeasurement
+
+    @staticmethod
+    def get_inspection_type() -> Type[Inspection]:
+        return GasMeasurement
+
+
 TASKS = Union[
     ReturnToHome,
     Localize,
@@ -187,6 +203,7 @@ def get_inspection_type() -> Type[Inspection]:
     TakeThermalImage,
     TakeVideo,
     TakeThermalVideo,
+    TakeGasMeasurement,
     RecordAudio,
     DockingProcedure,
 ]