Improve stability of communication

Handle a new authentication response.
Increase energy robotics API timeout.
Handle null values when fetching battery status.
Handle duplicate custom tags.
Handle getting step status before mission starts.

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 +699,7 @@ 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:
             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)