Switch robot status when its stuck

equinor · Oct 31, 2023 · 785ee35 · 785ee35
1 parent a9246e5
commit 785ee35
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/src/isar_robot/robotinterface.py b/src/isar_robot/robotinterface.py
@@ -226,7 +226,10 @@ def _get_pressure_telemetry(self, isar_id: str, robot_name: str) -> str:
         return json.dumps(pressure_payload, cls=EnhancedJSONEncoder)
 
     def robot_status(self) -> RobotStatus:
-        return RobotStatus.Available
+        if self._update_obstacle_status():
+            return RobotStatus.Stuck
+        else:
+            return RobotStatus.Available
 
     def _create_image(self, step: Union[TakeImage, TakeThermalImage]):
         now: datetime = datetime.utcnow()
@@ -329,5 +332,5 @@ def _update_pressure_level(self) -> float:
         return self.pressure_level
 
     def _update_obstacle_status(self) -> bool:
-        self.obstacle_status = False
+        self.obstacle_status = True
         return self.obstacle_status