Add support for move arm step

src/isar/apis/api.py

@@ -243,6 +243,28 @@ def _create_scheduler_router(self) -> APIRouter:
                 },
             },
         )
+        router.add_api_route(
+            path="/schedule/move_arm/{arm_pose_literal}",
+            endpoint=self.scheduling_controller.start_move_arm_mission,
+            methods=["POST"],
+            dependencies=[authentication_dependency],
+            summary="Move arm to the given arm pose literal",
+            responses={
+                HTTPStatus.OK.value: {
+                    "description": "Move arm mission successfully started",
+                },
+                HTTPStatus.BAD_REQUEST.value: {
+                    "description": "A move arm mission was scheduled on a robot that "
+                    "does not support it or the input was incorrect",
+                },
+                HTTPStatus.CONFLICT.value: {
+                    "description": "Conflict - Invalid command in the current state",
+                },
+                HTTPStatus.INTERNAL_SERVER_ERROR.value: {
+                    "description": "Internal Server Error - Current state of state machine unknown",
+                },
+            },
+        )
 
         return router
 

src/isar/apis/schedule/scheduling_controller.py

@@ -21,7 +21,7 @@
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.step import DriveToPose, Localize
+from robot_interface.models.mission.step import DriveToPose, Localize, MoveArm
 from robot_interface.models.mission.task import Task
 
 
@@ -37,7 +37,6 @@ def __init__(
     def start_mission_by_id(
         self,
         mission_id: str = Path(
-            ...,
             alias="id",
             title="Mission ID",
             description="ID-number for predefined mission",
@@ -254,6 +253,54 @@ def start_localization_mission(
         )
         return self._api_response(mission)
 
+    def start_move_arm_mission(
+        self,
+        arm_pose_literal: str = Path(
+            ...,
+            alias="arm_pose_literal",
+            title="Arm pose literal",
+            description="Arm pose as a literal",
+        ),
+    ) -> StartMissionResponse:
+        self.logger.info("Received request to start new move arm mission")
+
+        if not robot_settings.VALID_ARM_POSES:
+            error_message: str = (
+                f"Received a request to move the arm but the robot "
+                f"{settings.ROBOT_NAME} does not support moving an arm"
+            )
+            self.logger.warning(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.BAD_REQUEST, detail=error_message
+            )
+
+        if arm_pose_literal not in robot_settings.VALID_ARM_POSES:
+            error_message = (
+                f"Received a request to move the arm but the arm pose "
+                f"{arm_pose_literal} is not supported by the robot "
+                f"{settings.ROBOT_NAME}"
+            )
+            self.logger.warning(error_message)
+            raise HTTPException(
+                status_code=HTTPStatus.BAD_REQUEST, detail=error_message
+            )
+
+        state: States = self.scheduling_utilities.get_state()
+
+        self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
+
+        step: MoveArm = MoveArm(arm_pose=arm_pose_literal)
+        mission: Mission = Mission(tasks=[Task(steps=[step])])
+
+        self.logger.info(
+            f"Starting move arm mission with ISAR Mission ID: '{mission.id}'"
+        )
+        self.scheduling_utilities.start_mission(
+            mission=mission,
+            initial_pose=None,
+        )
+        return self._api_response(mission)
+
     def get_info(self):
         return RobotInfoResponse(
             robot_package=settings.ROBOT_PACKAGE,

src/isar/config/settings.py

@@ -1,6 +1,6 @@
 import importlib.resources as pkg_resources
 import os
-from typing import List
+from typing import List, Optional
 
 from dotenv import load_dotenv
 from pydantic import BaseSettings, Field, validator
@@ -311,6 +311,12 @@ def __init__(self) -> None:
     # This should be set in the robot package settings.env file
     ROBOT_MODEL: RobotModel = Field(default=RobotModel.Robot)  # type: ignore
 
+    # Valid arm poses that the robot may utilize
+    # This should be set in the robot package settings.env file
+    # Note that if the robot does not support moving an arm this will be None and
+    # the functionality will be unavailable
+    VALID_ARM_POSES: Optional[List[str]] = Field(default=None)
+
     class Config:
         env_file_encoding = "utf-8"
         case_sensitive = True

src/robot_interface/models/mission/step.py

@@ -122,6 +122,16 @@ class Localize(MotionStep):
     type: Literal["localize"] = "localize"
 
 
+@dataclass
+class MoveArm(MotionStep):
+    """
+    Step which causes the robot to move its arm
+    """
+
+    arm_pose: str
+    type: Literal["move_arm"] = "move_arm"
+
+
 @dataclass
 class TakeImage(InspectionStep):
     """
@@ -210,4 +220,5 @@ def get_inspection_type() -> Type[Inspection]:
     TakeVideo,
     TakeThermalVideo,
     RecordAudio,
+    MoveArm,
 ]