WIP

src/isar_exr/api/energy_robotics_api.py

@@ -593,7 +593,10 @@ def get_battery_level(self, exr_robot_id: str) -> Optional[float]:
  error_description=message,
  )
 
- if not result["currentRobotStatus"]["isConnected"]:
+ if result["currentRobotStatus"]["isConnected"] == None:
+ return None
+
+ if result["currentRobotStatus"]["batteryStatus"] == None or result["currentRobotStatus"]["batteryStatus"]["percentage"] == None:
  return None
 
  battery_level: float = result["currentRobotStatus"]["batteryStatus"][
@@ -696,7 +699,8 @@ def start_mission_execution(self, mission_definition_id: str, robot_id: str) ->
  response_dict: dict[str, Any] = self.client.query(
  dsl_gql(start_mission_execution_mutation), params
  )
- except Exception:
+ except Exception as e:
+ # TODO: occurs when mission is for a different site. We should compare robot and mission locations before running them
  message: str = "Could not start mission execution"
  self.logger.error(message)
  raise RobotInfeasibleMissionException(

src/isar_exr/api/graphql_client.py

@@ -58,7 +58,7 @@ def _initialize_session(self) -> None:
  schema: GraphQLSchema = build_ast_schema(self.document)
 
  transport: HTTPXTransport = HTTPXTransport(
- url=settings.ROBOT_API_URL, headers=auth_header
+ url=settings.ROBOT_API_URL, headers=auth_header, timeout=30
  )
  self.client: Client = Client(transport=transport, schema=schema) # type: ignore
  self.schema: DSLSchema = DSLSchema(self.client.schema)
@@ -104,7 +104,7 @@ def query(
  self.logger.error("The connection to the GraphQL endpoint is closed")
  raise
  except TransportServerError as e:
- if e.code == 302:
+ if e.code == 302 or e.code == 401:
  if self._reauthenticated:
  self.logger.error(
  "Transport server error - Error in Energy Robotics server even after reauthentication"

src/isar_exr/robotinterface.py

@@ -115,7 +115,7 @@ def update_site_with_tasks(
  robot_pose: Pose = step.pose
  if isinstance(step, InspectionStep):
  is_possible_return_to_home_mission = False
- customer_tag: str = task.tag_id + "|" + str(robot_pose)
+ customer_tag: str = task.tag_id + "|" + str(robot_pose) + "|" + str(step.target)
  existing_poi_id = (
  self.api.get_point_of_interest_by_customer_tag(
  customer_tag=customer_tag,
@@ -216,6 +216,8 @@ def initiate_mission(self, mission: Mission) -> None:
  mission_definition_id=mission_definition_id, robot_id=settings.ROBOT_EXR_ID
  )
 
+ time.sleep(5)
+
  def mission_status(self) -> MissionStatus:
  try:
  return self.api.get_mission_status(settings.ROBOT_EXR_ID)
@@ -241,7 +243,7 @@ def step_status(self) -> StepStatus:
  step_status: StepStatus = ExrStepStatus(mission_status).to_step_status()
  except NoMissionRunningException:
  # This is a temporary solution until we have mission status by mission id
- return MissionStatus.Successful
+ return StepStatus.NotStarted
  except Exception as e:
  message: str = "Could not get status of running mission\n"
  self.logger.error(message)
@@ -262,7 +264,7 @@ def step_status(self) -> StepStatus:
  try:
  step: List[str] = list(
  filter(lambda step: current_task_id in step, self.mission_task_ids)
- )[0]
+ )[0] # TODO: get all steps and figure out what is actually being executed. Return step status not task status
  task_index: int = self.mission_task_ids.index(step)
  except ValueError or IndexError:
  value_error_message: str = (