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Merge ObstacleStatus and RobotStatus #89

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merged 3 commits into from
Oct 31, 2023
Merged

Merge ObstacleStatus and RobotStatus #89

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785ee35
Switch robot status when its stuck
MuhammadUsama-afk-equinor Sep 29, 2023
c8bbca7
Check for Obstacle status report
MuhammadUsama-afk-equinor Oct 5, 2023
4ca54c8
Switch robot status when its stuck
MuhammadUsama-afk-equinor Oct 6, 2023
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10 changes: 7 additions & 3 deletions src/isar_robot/robotinterface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -226,7 +226,11 @@ 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
obstacle_detected = self._update_obstacle_status()
if obstacle_detected:
return RobotStatus.Blocked
else:
return RobotStatus.Available

def _create_image(self, step: Union[TakeImage, TakeThermalImage]):
now: datetime = datetime.utcnow()
Expand Down Expand Up @@ -328,6 +332,6 @@ def _update_pressure_level(self) -> float:
self.pressure_level = (100 - randrange(0, 100) * 0.5) * millibar_to_bar
return self.pressure_level

def _update_obstacle_status(self) -> bool:
self.obstacle_status = False
def _check_obstacle_status(self) -> bool:
self.obstacle_status = True
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return self.obstacle_status