WIP: always assume step_status reported

equinor · Apr 11, 2024 · 91d105e · 91d105e
1 parent c46fe56
commit 91d105e
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Showing 2 changed files with 28 additions and 90 deletions.
diff --git a/src/isar/state_machine/state_machine.py b/src/isar/state_machine/state_machine.py
@@ -1,7 +1,6 @@
 import json
 import logging
 import queue
-import time
 from collections import deque
 from datetime import datetime
 from typing import Deque, List, Optional
@@ -12,7 +11,7 @@
 from transitions.core import State
 
 from isar.apis.models.models import ControlMissionResponse
-from isar.config.settings import robot_settings, settings
+from isar.config.settings import settings
 from isar.mission_planner.task_selector_interface import (
     TaskSelectorInterface,
     TaskSelectorStop,
@@ -224,23 +223,14 @@ def _initialization_failed(self) -> None:
         self._finalize()
 
     def _initiated(self) -> None:
-        if self.stepwise_mission:
-            self.current_step.status = StepStatus.InProgress
-            self.publish_step_status(step=self.current_step)
-            self.logger.info(
-                f"Successfully initiated "
-                f"{type(self.current_step).__name__} "
-                f"step: {str(self.current_step.id)[:8]}"
-            )
-        else:
-            if "step_status" in robot_settings.CAPABILITIES:
-                self.current_step.status = StepStatus.InProgress
-                self.publish_step_status(step=self.current_step)
-            self.current_mission.status = MissionStatus.InProgress
-            self.logger.info(
-                f"Successfully initiated full mission with ID: "
-                f"{str(self.current_mission.id)[:8]}"
-            )
+        self.current_step.status = StepStatus.InProgress
+        self.current_mission.status = MissionStatus.InProgress
+        self.publish_step_status(step=self.current_step)
+        self.logger.info(
+            f"Successfully initiated "
+            f"{type(self.current_step).__name__} "
+            f"step: {str(self.current_step.id)[:8]}"
+        )
 
     def _pause(self) -> None:
         return
@@ -352,26 +342,12 @@ def _stop(self) -> None:
         self.stopped = True
 
     def _initiate_failed(self) -> None:
-        if self.stepwise_mission:
-            self.current_step.status = StepStatus.Failed
-            self.current_task.update_task_status()
-            self.current_mission.status = MissionStatus.Failed
-            self.publish_step_status(step=self.current_step)
-            self.publish_task_status(task=self.current_task)
-            self._finalize()
-
-        else:
-            self.current_task = None
-            step_status: StepStatus = StepStatus.Cancelled
-            task_status: TaskStatus = TaskStatus.Cancelled
-
-            for task in self.current_mission.tasks:
-                task.status = task_status
-                for step in task.steps:
-                    step.status = step_status
-                    self.publish_step_status(step=step)
-                self.publish_task_status(task=task)
-            self._finalize()
+        self.current_step.status = StepStatus.Failed
+        self.current_task.update_task_status()
+        self.current_mission.status = MissionStatus.Failed
+        self.publish_step_status(step=self.current_step)
+        self.publish_task_status(task=self.current_task)
+        self._finalize()
 
     def _initiate_infeasible(self) -> None:
         if self.stepwise_mission:

diff --git a/src/isar/state_machine/states/monitor.py b/src/isar/state_machine/states/monitor.py
@@ -6,7 +6,6 @@
 from injector import inject
 from transitions import State
 
-from isar.config.settings import robot_settings, settings
 from isar.mission_planner.task_selector_interface import TaskSelectorStop
 from isar.services.utilities.threaded_request import (
     ThreadedRequest,
@@ -58,19 +57,10 @@ def _run(self) -> None:
                 break
 
             if not self.step_status_thread:
-                if (
-                    self.state_machine.stepwise_mission
-                    or "step_status" in robot_settings.CAPABILITIES
-                ):
-                    self._run_get_status_thread(
-                        status_function=self.state_machine.robot.step_status,
-                        thread_name="State Machine Monitor Get Step Status",
-                    )
-                else:
-                    self._run_get_status_thread(
-                        status_function=self.state_machine.robot.mission_status,
-                        thread_name="State Machine Monitor Get Mission Status",
-                    )
+                self._run_get_status_thread(
+                    status_function=self.state_machine.robot.step_status,
+                    thread_name="State Machine Monitor Get Step Status",
+                )
 
             try:
                 status: Union[StepStatus, MissionStatus] = (
@@ -102,13 +92,7 @@ def _run(self) -> None:
 
             except RobotException as e:
                 self._set_error_message(e)
-                if (
-                    self.state_machine.stepwise_mission
-                    or "step_status" in robot_settings.CAPABILITIES
-                ):
-                    status = StepStatus.Failed
-                else:
-                    status = MissionStatus.Failed
+                status = StepStatus.Failed
 
                 self.logger.error(
                     f"Retrieving the status failed because: {e.error_description}"
@@ -134,10 +118,7 @@ def _run(self) -> None:
                     transition = self.state_machine.step_finished  # type: ignore
                     break
             else:
-                if (
-                    isinstance(status, StepStatus)
-                    and "step_status" in robot_settings.CAPABILITIES
-                ):
+                if isinstance(status, StepStatus):
                     if (
                         status != StepStatus.InProgress
                         and status != StepStatus.NotStarted
@@ -227,34 +208,15 @@ def _mission_finished(mission: Mission) -> bool:
         return False
 
     def _should_upload_inspections(self) -> bool:
-        if (
-            self.state_machine.stepwise_mission
-            or "step_status" in robot_settings.CAPABILITIES
-        ):
-            step: Step = self.state_machine.current_step
-            return (
-                self._step_finished(step)
-                and step.status == StepStatus.Successful
-                and isinstance(step, InspectionStep)
-            )
-        else:
-            mission_status: MissionStatus = self.state_machine.current_mission.status
-            if (
-                mission_status == MissionStatus.Successful
-                or mission_status == MissionStatus.PartiallySuccessful
-            ):
-                return True
-            return False
+        step: Step = self.state_machine.current_step
+        return (
+            self._step_finished(step)
+            and step.status == StepStatus.Successful
+            and isinstance(step, InspectionStep)
+        )
 
     def _set_error_message(self, e: RobotException) -> None:
         error_message: ErrorMessage = ErrorMessage(
             error_reason=e.error_reason, error_description=e.error_description
         )
-        if (
-            self.state_machine.stepwise_mission
-            or "step_status" in robot_settings.CAPABILITIES
-        ):
-            self.state_machine.current_step.error_message = error_message
-        else:
-            if self.state_machine.current_mission:
-                self.state_machine.current_mission.error_message = error_message
+        self.state_machine.current_step.error_message = error_message