Add gas measurement capability

pyproject.toml

@@ -23,7 +23,7 @@ classifiers = [
     "Topic :: Scientific/Engineering :: Physics",
     "Topic :: Software Development :: Libraries",
 ]
-dependencies = ["alitra", "isar>=1.24.4"]
+dependencies = ["alitra", "isar>=1.25.6"]
 dynamic = ["version"]
 
 [project.urls]

requirements.txt

@@ -83,7 +83,7 @@ idna==3.10
     #   requests
 injector==0.22.0
     # via isar
-isar==1.25.3
+isar==1.25.6
     # via isar-robot (pyproject.toml)
 isodate==0.7.2
     # via

src/isar_robot/config/settings.env

@@ -1,2 +1,2 @@
-CAPABILITIES = '["take_thermal_image", "take_image", "take_video", "take_thermal_video", "record_audio", "localize", "return_to_home", "docking_procedure"]'
+CAPABILITIES = '["take_thermal_image", "take_image", "take_video", "take_thermal_video", "record_audio", "localize", "return_to_home", "docking_procedure", "take_gas_measurement"]'
 ROBOT_MODEL = Robot

src/isar_robot/inspections.py

@@ -16,13 +16,16 @@
     ThermalVideoMetadata,
     Video,
     VideoMetadata,
+    GasMeasurement,
+    GasMeasurementMetadata,
 )
 from robot_interface.models.mission.task import (
     RecordAudio,
     TakeImage,
     TakeThermalImage,
     TakeThermalVideo,
     TakeVideo,
+    TakeGasMeasurement,
 )
 
 from isar_robot import telemetry
@@ -115,6 +118,25 @@ def create_audio(task_actions: RecordAudio):
     return Audio(metadata=audio_metadata, id=task_actions.inspection_id, data=data)
 
 
+def create_gas_measurement(task_actions: TakeGasMeasurement):
+    now: datetime = datetime.now(timezone.utc)
+    gas_measurement_metadata: GasMeasurementMetadata = GasMeasurementMetadata(
+        start_time=now,
+        pose=telemetry.get_pose(),
+        file_type="wav",
+    )
+    gas_measurement_metadata.tag_id = task_actions.tag_id
+    gas_measurement_metadata.analysis_type = ["test1", "test2"]
+    gas_measurement_metadata.additional = task_actions.metadata
+
+    filepath: Path = random.choice(list(example_thermal_videos.iterdir()))
+    data = _read_data_from_file(filepath)
+
+    return GasMeasurement(
+        metadata=gas_measurement_metadata, id=task_actions.inspection_id, data=data
+    )
+
+
 def _read_data_from_file(filename: Path) -> bytes:
     try:
         with open(filename, "rb") as f:

src/isar_robot/robotinterface.py

@@ -17,6 +17,7 @@
     TakeThermalVideo,
     TakeVideo,
     Task,
+    TakeGasMeasurement,
 )
 from robot_interface.models.robots.media import MediaConfig
 from robot_interface.robot_interface import RobotInterface
@@ -85,6 +86,8 @@ def get_inspection(self, task: InspectionTask) -> Inspection:
             return inspections.create_video(task)
         elif type(task) is TakeThermalVideo:
             return inspections.create_thermal_video(task)
+        elif type(task) is TakeGasMeasurement:
+            return inspections.create_gas_measurement(task)
         elif type(task) is RecordAudio:
             return inspections.create_audio(task)
         else: