Update config to new pydantic version

and move config from settings folder to config folder

setup.py

@@ -13,9 +13,9 @@
     package_dir={"": "src"},
     package_data={
         "isar_turtlebot": [
-            "settings/maps/turtleworld.json",
-            "settings/maps/klab_turtlebot_old.json",
-            "settings/maps/klab_turtlebot.json",
+            "config/maps/turtleworld.json",
+            "config/maps/klab_turtlebot_old.json",
+            "config/maps/klab_turtlebot.json",
             "config/settings.env",
         ]
     },

src/isar_turtlebot/config/__init__.py

@@ -0,0 +1 @@
+from isar_turtlebot.config.settings import settings

src/isar_turtlebot/config/settings.env

@@ -1,2 +1,4 @@
 CAPABILITIES = '["take_thermal_image","take_image","drive_to_pose"]'
 ROBOT_MODEL = Turtlebot
+
+TURTLEBOT_MAP = klab_turtlebot

src/isar_turtlebot/settings/settings.py → src/isar_turtlebot/config/settings.py

@@ -1,7 +1,18 @@
-from pydantic import BaseSettings, Field
+import importlib.resources as pkg_resources
+
+from pydantic import Field
+from pydantic_settings import BaseSettings, SettingsConfigDict
 
 
 class Settings(BaseSettings):
+    def __init__(self) -> None:
+        try:
+            with pkg_resources.path(f"isar_turtlebot.config", "settings.env") as path:
+                env_file_path = path
+        except ModuleNotFoundError:
+            env_file_path = None
+        super().__init__(_env_file=env_file_path)
+
     IMAGE_FILETYPE: str = Field(default="jpg")
     THERMAL_IMAGE_FILETYPE: str = Field(default="png")
 
@@ -17,8 +28,11 @@ class Settings(BaseSettings):
 
     LOGGER_NAME: str = Field(default="isar_turtlebot")
 
-    class Config:
-        env_prefix = "ISAR_TURTLEBOT_"
+    model_config = SettingsConfigDict(
+        env_prefix="ISAR_TURTLEBOT_",
+        env_file_encoding="utf-8",
+        case_sensitive=True,
+    )
 
 
 settings = Settings()

src/isar_turtlebot/robotinterface.py

@@ -15,8 +15,8 @@
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttTelemetryPublisher
 
+from isar_turtlebot.config import settings
 from isar_turtlebot.ros_bridge.ros_bridge import RosBridge, RosBridgeInterface
-from isar_turtlebot.settings import settings
 from isar_turtlebot.turtlebot import Turtlebot
 
 
@@ -25,7 +25,7 @@ def __init__(self, bridge: RosBridgeInterface = RosBridge):
         map_alignment: MapAlignment = MapAlignment.from_config(
             Path(
                 os.path.dirname(os.path.realpath(__file__)),
-                f"settings/maps/{settings.TURTLEBOT_MAP}.json",
+                f"config/maps/{settings.TURTLEBOT_MAP}.json",
             )
         )
         transform: Transform = align_maps(

src/isar_turtlebot/ros_bridge/ros_bridge.py

@@ -7,8 +7,8 @@
 )
 from roslibpy import Ros
 
+from isar_turtlebot.config import settings
 from isar_turtlebot.ros_bridge.topic import ImageTopic, Topic
-from isar_turtlebot.settings import settings
 
 
 class RosBridgeInterface(ABC):

src/isar_turtlebot/ros_bridge/topic.py

@@ -10,7 +10,7 @@
 from roslibpy import Message, Ros
 from roslibpy import Topic as RosTopic
 
-from isar_turtlebot.settings import settings
+from isar_turtlebot.config import settings
 
 
 class TopicInterface(ABC):

src/isar_turtlebot/turtlebot/step_handlers/driveto.py

@@ -9,9 +9,9 @@
 )
 from robot_interface.models.mission.step import DriveToPose
 
+from isar_turtlebot.config import settings
 from isar_turtlebot.models.turtlebot_status import Status
 from isar_turtlebot.ros_bridge.ros_bridge import RosBridge
-from isar_turtlebot.settings import settings
 from isar_turtlebot.turtlebot.step_handlers.stephandler import StepHandler
 from isar_turtlebot.utilities.pose_message import encode_pose_message
 

src/isar_turtlebot/turtlebot/step_handlers/stephandler.py

@@ -5,8 +5,8 @@
 from robot_interface.models.exceptions.robot_exceptions import RobotAPIException
 from robot_interface.models.mission.step import Step
 
+from isar_turtlebot.config import settings
 from isar_turtlebot.models.turtlebot_status import Status
-from isar_turtlebot.settings import settings
 
 
 class StepHandler(ABC):

src/isar_turtlebot/turtlebot/step_handlers/takeimage.py

@@ -12,15 +12,12 @@
     RobotCommunicationException,
     RobotInfeasibleStepException,
 )
-from robot_interface.models.inspection.inspection import (
-    Image,
-    ImageMetadata,
-)
+from robot_interface.models.inspection.inspection import Image, ImageMetadata
 from robot_interface.models.mission.step import TakeImage
 
+from isar_turtlebot.config import settings
 from isar_turtlebot.models.turtlebot_status import Status
 from isar_turtlebot.ros_bridge.ros_bridge import RosBridge
-from isar_turtlebot.settings import settings
 from isar_turtlebot.turtlebot.step_handlers.stephandler import StepHandler
 from isar_turtlebot.utilities.inspection_pose import get_inspection_pose
 from isar_turtlebot.utilities.pose_message import (

src/isar_turtlebot/turtlebot/step_handlers/takethermalimage.py

@@ -8,8 +8,8 @@
 from typing import Optional
 from uuid import uuid4
 
-import PIL.Image as PILImage
 import numpy as np
+import PIL.Image as PILImage
 from alitra import Pose, Position, Transform
 from robot_interface.models.exceptions.robot_exceptions import (
     RobotCommunicationException,
@@ -21,9 +21,9 @@
 )
 from robot_interface.models.mission.step import TakeThermalImage
 
+from isar_turtlebot.config import settings
 from isar_turtlebot.models.turtlebot_status import Status
 from isar_turtlebot.ros_bridge.ros_bridge import RosBridge
-from isar_turtlebot.settings import settings
 from isar_turtlebot.turtlebot.step_handlers.stephandler import StepHandler
 from isar_turtlebot.utilities.inspection_pose import get_inspection_pose
 from isar_turtlebot.utilities.pose_message import (

src/isar_turtlebot/turtlebot/turtlebot.py

@@ -11,7 +11,6 @@
     RobotRetrieveInspectionException,
     RobotTelemetryException,
 )
-
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.status import StepStatus
 from robot_interface.models.mission.step import InspectionStep, Step
@@ -21,9 +20,9 @@
 )
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
+from isar_turtlebot.config import settings
 from isar_turtlebot.models.turtlebot_status import Status
 from isar_turtlebot.ros_bridge import RosBridge
-from isar_turtlebot.settings import settings
 from isar_turtlebot.turtlebot.step_handlers import (
     DriveToHandler,
     TakeImageHandler,