Add possibility of RobotStatus as Blocked into interface

equinor · Oct 31, 2023 · f94deab · f94deab
1 parent 8924674
commit f94deab
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/main.py b/main.py
@@ -49,15 +49,15 @@
         target=uploader.run, name="ISAR Uploader", daemon=True
     )
     threads.append(uploader_thread)
-
     if settings.MQTT_ENABLED:
+        print("Entered MQTT Enabled block")
         mqtt_client: MqttClient = MqttClient(mqtt_queue=queues.mqtt_queue)
 
         mqtt_thread: Thread = Thread(
             target=mqtt_client.run, name="ISAR MQTT Client", daemon=True
         )
         threads.append(mqtt_thread)
-
+        print("Seeing up robot status publisher now")
         robot_status_publisher: RobotStatusPublisher = RobotStatusPublisher(
             mqtt_queue=queues.mqtt_queue, robot=robot, state_machine=state_machine
         )

diff --git a/src/isar/services/service_connections/mqtt/robot_status_publisher.py b/src/isar/services/service_connections/mqtt/robot_status_publisher.py
@@ -37,10 +37,10 @@ def _get_combined_robot_status(
             return RobotStatus.Offline
         elif current_state == States.Idle and robot_status == RobotStatus.Available:
             return RobotStatus.Available
+        elif robot_status == RobotStatus.Blocked:
+            return RobotStatus.Blocked
         elif current_state != States.Idle or robot_status == RobotStatus.Busy:
             return RobotStatus.Busy
-        elif current_state != States.Idle or robot_status == RobotStatus.Stuck:
-            return RobotStatus.Busy
         return None
 
     def run(self) -> None:

diff --git a/src/robot_interface/models/mission/status.py b/src/robot_interface/models/mission/status.py
@@ -33,4 +33,4 @@ class RobotStatus(Enum):
     Available: str = "available"
     Busy: str = "busy"
     Offline: str = "offline"
-    Stuck: str = "stuck"
+    Blocked: str = "blocked"