From 785ee35e4b9474e5aa3253e42b90056ee5a70fed Mon Sep 17 00:00:00 2001
From: UsamaEquinorAFK <muu@equinor.com>
Date: Fri, 29 Sep 2023 10:19:48 +0200
Subject: [PATCH] Switch robot status when its stuck

---
 src/isar_robot/robotinterface.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/isar_robot/robotinterface.py b/src/isar_robot/robotinterface.py
index e0738b08..eb898dff 100644
--- 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