Add analysis_types passthrough from Flotilla to SARA

Carry per-inspection analysis selections from Flotilla through
ISAR to SARA without inspecting their semantics. The REST field
'analysisTypes' on each inspection definition is parsed into
InspectionTask.analysis_types, copied onto InspectionMetadata,
and re-emitted as 'required_analysis' on the MQTT inspection
result payload that SARA consumes. The same list is also written
to the metadata sidecar JSON uploaded alongside the blob.

Backward compatible in both directions: missions without the
field produce null on the wire, and SARA falls back to its
existing default-analysis-by-file-extension behaviour.

Author: aeshub

src/isar/apis/models/start_mission_definition.py

@@ -40,6 +40,7 @@ class StartMissionInspectionDefinition(BaseModel):
     inspection_target: InputPosition
     inspection_description: str | None = None
     duration: float | None = None
+    analysis_types: list[str] | None = Field(default=None)
 
 
 class StartMissionTaskDefinition(BaseModel):
@@ -123,6 +124,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             inspection_description=task_definition.inspection.inspection_description,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
             zoom=task_definition.zoom,
+            analysis_types=inspection_definition.analysis_types,
         )
     elif inspection_definition.type == InspectionTypes.video:
         if inspection_definition.duration is None:
@@ -135,6 +137,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             target=task_definition.inspection.inspection_target.to_alitra_position(),
             duration=inspection_definition.duration,
             zoom=task_definition.zoom,
+            analysis_types=inspection_definition.analysis_types,
         )
     elif inspection_definition.type == InspectionTypes.thermal_image:
         return TakeThermalImage(
@@ -144,6 +147,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             inspection_description=task_definition.inspection.inspection_description,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
             zoom=task_definition.zoom,
+            analysis_types=inspection_definition.analysis_types,
         )
     elif inspection_definition.type == InspectionTypes.thermal_video:
         if inspection_definition.duration is None:
@@ -156,6 +160,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             target=task_definition.inspection.inspection_target.to_alitra_position(),
             duration=inspection_definition.duration,
             zoom=task_definition.zoom,
+            analysis_types=inspection_definition.analysis_types,
         )
     elif inspection_definition.type == InspectionTypes.audio:
         if inspection_definition.duration is None:
@@ -167,13 +172,15 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
             inspection_description=task_definition.inspection.inspection_description,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
             duration=inspection_definition.duration,
+            analysis_types=inspection_definition.analysis_types,
         )
     elif inspection_definition.type == InspectionTypes.co2_measurement:
         return TakeCO2Measurement(
             id=task_definition.id if task_definition.id else str(uuid4()),
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
             inspection_description=task_definition.inspection.inspection_description,
+            analysis_types=inspection_definition.analysis_types,
         )
     else:
         raise ValueError(

src/isar/robot/robot_inspection_service.py

@@ -47,6 +47,7 @@ def robot_upload_inspection(
         )
 
     inspection.metadata.tag_id = task.tag_id
+    inspection.metadata.analysis_types = task.analysis_types
 
     message: Tuple[Inspection, Mission] = (
         inspection,

src/isar/storage/uploader.py

@@ -259,9 +259,6 @@ def _publish_inspection_result(
         inspection: InspectionBlob,
         inspection_paths: StoragePaths[BlobStoragePath],
     ) -> None:
-        """Publishes the reference of the inspection result to the MQTT Broker
-        along with the analysis type
-        """
         if not self.mqtt_publisher:
             return
 
@@ -275,6 +272,7 @@ def _publish_inspection_result(
             tag_id=inspection.metadata.tag_id,
             inspection_type=type(inspection).__name__,
             inspection_description=inspection.metadata.inspection_description,
+            required_analysis=inspection.metadata.analysis_types,
             timestamp=inspection.metadata.start_time,
         )
         self.mqtt_publisher.publish(

src/isar/storage/utilities.py

@@ -43,6 +43,7 @@ def construct_metadata_file(
             "robot_name": settings.ROBOT_NAME,
             "inspection_description": inspection.metadata.inspection_description,
             "tag": inspection.metadata.tag_id,
+            "analysis_types": inspection.metadata.analysis_types,
             "robot_pose": {
                 "position": {
                     "x": inspection.metadata.robot_pose.position.x,

src/robot_interface/models/inspection/inspection.py

@@ -12,6 +12,7 @@ class InspectionMetadata(BaseModel):
     file_type: str
     tag_id: str | None = None
     inspection_description: str | None = None
+    analysis_types: list[str] | None = None
 
 
 class ImageMetadata(InspectionMetadata):

src/robot_interface/models/mission/task.py

@@ -49,6 +49,7 @@ class InspectionTask(Task):
     robot_pose: Pose = Field()
     inspection_description: str | None = Field(default=None)
     zoom: ZoomDescription | None = Field(default=None)
+    analysis_types: list[str] | None = Field(default=None)
 
     @staticmethod
     def get_inspection_type() -> Type[Inspection]:

src/robot_interface/telemetry/payloads.py

@@ -114,6 +114,7 @@ class InspectionResultPayload(BaseModel):
     tag_id: str | None = None
     inspection_type: str | None = None
     inspection_description: str | None = None
+    required_analysis: list[str] | None = None
     timestamp: datetime
 
 

tests/isar/apis/models/example_mission_definition.json

@@ -28,6 +28,7 @@
           "z": 0,
           "frame_name": "robot"
         },
+        "analysis_types": ["anonymize"],
         "id": "generated_inspection_id"
       },
       "tag": "MY-TAG-123",

tests/isar/apis/models/test_start_mission_definition.py

@@ -1,6 +1,7 @@
 import json
 import os
 
+import pytest
 from alitra import Frame, Orientation, Pose, Position
 
 from isar.apis.models.models import InputOrientation, InputPose, InputPosition
@@ -13,7 +14,7 @@
     to_isar_mission,
 )
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.task import TakeImage
+from robot_interface.models.mission.task import InspectionTask, TakeImage
 
 
 def test_to_isar_mission() -> None:
@@ -79,3 +80,41 @@ def test_mission_definition_from_json_to_isar_mission() -> None:
     )
     assert task.type == "take_image"
     assert task.target == Position(0.0, 0.0, 0.0, frame=Frame("robot"))
+    assert task.analysis_types == ["anonymize"]
+
+
+def _build_mission_with_inspection_payload(inspection_payload: dict) -> Mission:
+    payload = {
+        "name": "mission",
+        "tasks": [
+            {
+                "type": "inspection",
+                "pose": {
+                    "position": {"x": 0, "y": 0, "z": 0},
+                    "orientation": {"x": 0, "y": 0, "z": 0, "w": 1},
+                },
+                "inspection": inspection_payload,
+            }
+        ],
+    }
+    return to_isar_mission(StartMissionDefinition.model_validate(payload))
+
+
+@pytest.mark.parametrize(
+    "inspection_type",
+    [t.value for t in InspectionTypes],
+)
+def test_analysis_types_defaults_to_none_for_all_inspection_types(
+    inspection_type: str,
+) -> None:
+    payload: dict = {
+        "type": inspection_type,
+        "inspection_target": {"x": 0, "y": 0, "z": 0},
+    }
+    if inspection_type in {"Video", "ThermalVideo", "Audio"}:
+        payload["duration"] = 1.0
+
+    mission = _build_mission_with_inspection_payload(payload)
+    task = mission.tasks[0]
+    assert isinstance(task, InspectionTask)
+    assert task.analysis_types is None

tests/isar/storage/test_uploader.py

@@ -1,6 +1,7 @@
+import json
 import time
 from datetime import datetime
-from typing import Tuple
+from typing import Callable, Tuple
 from uuid import uuid4
 
 from alitra import Frame, Orientation, Pose, Position
@@ -31,6 +32,17 @@
 )
 
 
+def _wait_until(
+    predicate: Callable[[], bool], timeout: float = 5.0, interval: float = 0.01
+) -> None:
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+        if predicate():
+            return
+        time.sleep(interval)
+    raise AssertionError(f"Timed out after {timeout}s waiting for predicate")
+
+
 def test_should_upload_from_queue(
     container: ApplicationContainer, uploader_thread: UploaderThreadMock
 ) -> None:
@@ -65,12 +77,10 @@ def test_should_upload_from_queue(
     )
 
     uploader: Uploader = container.uploader()
+    storage_handler: StorageFake = uploader.storage_handlers[0]  # type: ignore
 
     uploader.upload_queue.put(message)
-    time.sleep(0.01)
-
-    storage_handler: StorageFake = uploader.storage_handlers[0]  # type: ignore
-    assert inspection in storage_handler.stored_inspections
+    _wait_until(lambda: inspection in storage_handler.stored_inspections)
 
 
 def test_should_retry_failed_upload_from_queue(
@@ -93,15 +103,15 @@ def test_should_retry_failed_upload_from_queue(
     # Need it to fail so that it retries
     storage_handler.will_fail = True
     uploader.upload_queue.put(message)
+    # Fixed wait: asserting absence of upload requires a real elapsed window
     time.sleep(1)
 
     # Should not upload, instead raise StorageException
     assert not storage_handler.blob_exists(inspection)
     storage_handler.will_fail = False
-    time.sleep(3)
 
-    # After some time, it should have retried and now it should be successful
-    assert storage_handler.blob_exists(inspection)
+    # Retry succeeds once exponential backoff elapses
+    _wait_until(lambda: storage_handler.blob_exists(inspection), timeout=5.0)
 
 
 def test_should_not_publish_when_blob_paths_are_empty(
@@ -127,8 +137,59 @@ def test_should_not_publish_when_blob_paths_are_empty(
         mission,
     )
     uploader.upload_queue.put(message)
-    time.sleep(1)
-
-    assert inspection in storage_handler.stored
+    _wait_until(lambda: inspection in storage_handler.stored)
 
+    # Brief quiet period to confirm no MQTT publish follows the store
+    time.sleep(0.1)
     assert len(mqtt_fake.published) == 0
+
+
+def _put_inspection_with_analysis_types(
+    container: ApplicationContainer,
+    analysis_types: list[str] | None,
+) -> MqttPublisherFake:
+    metadata = ImageMetadata(
+        start_time=datetime.now(),
+        robot_pose=Pose(
+            Position(0, 0, 0, Frame("asset")),
+            Orientation(x=0, y=0, z=0, w=1, frame=Frame("asset")),
+            Frame("asset"),
+        ),
+        target_position=Position(0, 0, 0, Frame("asset")),
+        file_type="jpg",
+        analysis_types=analysis_types,
+    )
+    inspection = InspectionBlob(metadata=metadata, id=str(uuid4()))
+    mission = Mission(name="m")
+
+    uploader: Uploader = container.uploader()
+    mqtt_fake = MqttPublisherFake()
+    uploader.mqtt_publisher = mqtt_fake
+
+    message: Tuple[Inspection, Mission] = (inspection, mission)
+    uploader.upload_queue.put(message)
+    return mqtt_fake
+
+
+def test_publishes_required_analysis_when_present(
+    container: ApplicationContainer, uploader_thread: UploaderThreadMock
+) -> None:
+    uploader_thread.start()
+    mqtt_fake = _put_inspection_with_analysis_types(
+        container, ["anonymize", "thermal-reading"]
+    )
+    _wait_until(lambda: mqtt_fake.count() == 1)
+
+    payload = json.loads(mqtt_fake.last()["payload"])
+    assert payload["required_analysis"] == ["anonymize", "thermal-reading"]
+
+
+def test_publishes_null_required_analysis_when_absent(
+    container: ApplicationContainer, uploader_thread: UploaderThreadMock
+) -> None:
+    uploader_thread.start()
+    mqtt_fake = _put_inspection_with_analysis_types(container, None)
+    _wait_until(lambda: mqtt_fake.count() == 1)
+
+    payload = json.loads(mqtt_fake.last()["payload"])
+    assert payload["required_analysis"] is None