From a26f4a762f0d2e3b1496bbc43f6d56008c3deea1 Mon Sep 17 00:00:00 2001
From: oysand <outb@equinor.com>
Date: Fri, 29 Nov 2024 11:45:40 +0100
Subject: [PATCH] Add telemetry no update exception

---
 .../models/exceptions/robot_exceptions.py            | 12 ++++++++++++
 src/robot_interface/telemetry/mqtt_client.py         |  3 ++-
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/robot_interface/models/exceptions/robot_exceptions.py b/src/robot_interface/models/exceptions/robot_exceptions.py
index f3c50e32..e2cc3e2b 100644
--- a/src/robot_interface/models/exceptions/robot_exceptions.py
+++ b/src/robot_interface/models/exceptions/robot_exceptions.py
@@ -16,6 +16,7 @@ class ErrorReason(str, Enum):
     RobotRetrieveDataException: str = "robot_retrieve_data_exception"
     RobotRetrieveInspectionException: str = "robot_retrieve_inspection_exception"
     RobotTelemetryException: str = "robot_telemetry_exception"
+    RobotTelemetryNoUpdateException: str = "robot_telemetry_no_update_exception"
     RobotTelemetryPoseException: str = "robot_telemetry_pose_exception"
     RobotMapException: str = "robot_map_exception"
     RobotTransformException: str = "robot_transform_exception"
@@ -202,6 +203,17 @@ def __init__(self, error_description: str) -> None:
     pass
 
 
+# An exception which should be thrown by the robot package if there is no new telemetry update.
+class RobotTelemetryNoUpdateException(RobotException):
+    def __init__(self, error_description: str) -> None:
+        super().__init__(
+            error_reason=ErrorReason.RobotTelemetryNoUpdateException,
+            error_description=error_description,
+        )
+
+    pass
+
+
 # An exception which should be thrown by the robot package if it is unable to load the
 # configuration for maps and transformations. This could be caused by faulty
 # configuration and this exception will cause ISAR to crash as further execution is not
diff --git a/src/robot_interface/telemetry/mqtt_client.py b/src/robot_interface/telemetry/mqtt_client.py
index 7048db2f..9f2b410b 100644
--- a/src/robot_interface/telemetry/mqtt_client.py
+++ b/src/robot_interface/telemetry/mqtt_client.py
@@ -7,6 +7,7 @@
 
 from robot_interface.models.exceptions.robot_exceptions import (
     RobotTelemetryException,
+    RobotTelemetryNoUpdateException,
     RobotTelemetryPoseException,
 )
 from robot_interface.telemetry.payloads import CloudHealthPayload
@@ -74,7 +75,7 @@ def run(self, isar_id: str, robot_name: str) -> None:
             try:
                 payload = self.telemetry_method(isar_id=isar_id, robot_name=robot_name)
                 topic = self.topic
-            except RobotTelemetryPoseException:
+            except (RobotTelemetryPoseException, RobotTelemetryNoUpdateException):
                 time.sleep(self.interval)
                 continue
             except RobotTelemetryException: