Generate steps based on type of task

.github/workflows/pythonpackage.yml

@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.8", "3.9", "3.10"]
+        python-version: ["3.10", "3.11", "3.12"]
 
     steps:
       - uses: actions/checkout@v3

setup.py

@@ -66,5 +66,5 @@
             "sphinx",
         ]
     },
-    python_requires=">=3.8",
+    python_requires=">=3.10",
 )

src/isar/apis/models/start_mission_definition.py

@@ -10,9 +10,11 @@
 from isar.mission_planner.mission_planner_interface import MissionPlannerError
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.step import (
-    STEPS,
+    DockingProcedure,
     DriveToPose,
+    Localize,
     RecordAudio,
+    STEPS,
     TakeImage,
     TakeThermalImage,
     TakeThermalVideo,
@@ -29,6 +31,13 @@ class InspectionTypes(str, Enum):
     audio: str = "Audio"
 
 
+class TaskType(str, Enum):
+    Inspection: str = "inspection"
+    DriveTo: str = "drive_to"
+    Localization: str = "localization"
+    Dock: str = "dock"
+
+
 class StartMissionInspectionDefinition(BaseModel):
     type: InspectionTypes = Field(default=InspectionTypes.image)
     inspection_target: InputPosition
@@ -38,6 +47,7 @@ class StartMissionInspectionDefinition(BaseModel):
 
 
 class StartMissionTaskDefinition(BaseModel):
+    type: TaskType = Field(default=TaskType.Inspection)
     pose: InputPose
     inspections: List[StartMissionInspectionDefinition]
     tag: Optional[str] = None
@@ -52,53 +62,22 @@ class StartMissionDefinition(BaseModel):
 
 def to_isar_mission(mission_definition: StartMissionDefinition) -> Mission:
     isar_tasks: List[Task] = []
-    all_inspection_steps: List[STEPS] = []
-    duplicate_ids: List[str] = []
+    all_steps_in_mission: List[STEPS] = []
 
     for task in mission_definition.tasks:
-        try:
-            tag_id: Optional[str] = task.tag
-            drive_step: DriveToPose = DriveToPose(pose=task.pose.to_alitra_pose())
-            inspection_steps: List[STEPS] = [
-                create_inspection_step(
-                    inspection_type=inspection.type,
-                    duration=inspection.duration,
-                    target=inspection.inspection_target.to_alitra_position(),
-                    tag_id=tag_id,
-                    metadata=inspection.metadata,
-                    id=inspection.id,
-                )
-                for inspection in task.inspections
-            ]
-        except ValueError as e:
-            raise MissionPlannerError(f"Failed to create task: {str(e)}")
-
-        duplicate_ids = get_duplicate_ids(items=inspection_steps)
-        if len(duplicate_ids) > 0:
-            raise MissionPlannerError(
-                f"Failed to create task: Duplicate step IDs are not allowed ({duplicate_ids})"
-            )
-        all_inspection_steps.extend(inspection_steps)
-
-        isar_task: Task = Task(steps=[drive_step, *inspection_steps], tag_id=tag_id)
+        steps: List[STEPS] = generate_steps(task)
+        all_steps_in_mission.extend(steps)
+
+        isar_task: Task = Task(steps=steps, tag_id=task.tag)
         if task.id:
             isar_task.id = task.id
         isar_tasks.append(isar_task)
 
     if not isar_tasks:
         raise MissionPlannerError("Mission does not contain any valid tasks")
 
-    duplicate_ids = get_duplicate_ids(items=isar_tasks)
-    if len(duplicate_ids) > 0:
-        raise MissionPlannerError(
-            f"Failed to create mission: Duplicate task IDs are not allowed ({duplicate_ids})"
-        )
-
-    duplicate_ids = get_duplicate_ids(items=all_inspection_steps)
-    if len(duplicate_ids) > 0:
-        raise MissionPlannerError(
-            f"Failed to create task: Duplicate step IDs are not allowed ({duplicate_ids})"
-        )
+    check_for_duplicate_ids(isar_tasks)
+    check_for_duplicate_ids(all_steps_in_mission)
 
     isar_mission: Mission = Mission(tasks=isar_tasks)
 
@@ -113,6 +92,63 @@ def to_isar_mission(mission_definition: StartMissionDefinition) -> Mission:
     return isar_mission
 
 
+def check_for_duplicate_ids(items: Union[List[Task], List[STEPS]]):
+    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})"
+        )
+
+
+def generate_steps(task) -> List[STEPS]:
+    steps: List[STEPS] = []
+    try:
+        match task.type:
+            case TaskType.Inspection:
+                steps.extend(generate_steps_for_inspection_task(task=task))
+            case TaskType.DriveTo:
+                steps.append(generate_steps_for_drive_to_task(task=task))
+            case TaskType.Localization:
+                steps.append(generate_steps_for_localization_task(task=task))
+            case TaskType.Dock:
+                steps.append(generate_steps_for_dock_task())
+    except ValueError as e:
+        raise MissionPlannerError(f"Failed to create task: {str(e)}")
+
+    return steps
+
+
+def generate_steps_for_inspection_task(task: StartMissionTaskDefinition) -> List[STEPS]:
+    drive_step: DriveToPose = DriveToPose(pose=task.pose.to_alitra_pose())
+
+    inspection_steps: List[STEPS] = [
+        create_inspection_step(
+            inspection_type=inspection.type,
+            duration=inspection.duration,
+            target=inspection.inspection_target.to_alitra_position(),
+            tag_id=task.tag,
+            metadata=inspection.metadata,
+            id=inspection.id,
+        )
+        for inspection in task.inspections
+    ]
+
+    return [drive_step, *inspection_steps]
+
+
+def generate_steps_for_drive_to_task(task: StartMissionTaskDefinition) -> DriveToPose:
+    return DriveToPose(pose=task.pose.to_alitra_pose())
+
+
+def generate_steps_for_localization_task(task: StartMissionTaskDefinition) -> Localize:
+    return Localize(localization_pose=task.pose.to_alitra_pose())
+
+
+def generate_steps_for_dock_task() -> DockingProcedure:
+    return DockingProcedure(behavior="dock")
+
+
 def create_inspection_step(
     inspection_type: InspectionTypes,
     duration: float,

src/robot_interface/models/mission/step.py

@@ -107,7 +107,7 @@ class DockingProcedure(MotionStep):
     Step which causes the robot to dock or undock
     """
 
-    behavior: Literal["dock, undock"]
+    behavior: Literal["dock", "undock"]
     type: Literal["docking_procedure"] = "docking_procedure"