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Config failed stopping #244

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2 changes: 2 additions & 0 deletions src/isar_robot/config/settings.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@ def __init__(self) -> None:
SHOULD_FAIL_NORMAL_TASK: bool = Field(default=False)
SHOULD_FAIL_RETURN_TO_HOME_TASK: bool = Field(default=False)
SHOULD_FAIL_RETURN_TO_HOME_MISSION: bool = Field(default=False)
SHOULD_FAIL_TO_STOP_NORMAL_MISSION: bool = Field(default=False)
SHOULD_FAIL_TO_STOP_RETURN_TO_HOME_MISSION: bool = Field(default=False)
SHOULD_HAVE_RANDOM_BATTERY_LEVEL: bool = Field(default=False)
ROBOT_POSE_PUBLISH_INTERVAL: float = Field(default=5)
ROBOT_BATTERY_PUBLISH_INTERVAL: float = Field(default=2)
Expand Down
12 changes: 12 additions & 0 deletions src/isar_robot/robotinterface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
from threading import Thread
from typing import Callable, List, Optional

from robot_interface.models.exceptions.robot_exceptions import RobotActionException
from robot_interface.models.inspection.inspection import Inspection
from robot_interface.models.mission.mission import Mission
from robot_interface.models.mission.status import RobotStatus, TaskStatus
Expand Down Expand Up @@ -77,6 +78,17 @@ def task_status(self, task_id: str) -> TaskStatus:
return TaskStatus.Successful

def stop(self) -> None:
if (
isinstance(self.current_task, ReturnToHome)
and settings.SHOULD_FAIL_TO_STOP_RETURN_TO_HOME_MISSION
):
raise RobotActionException("Failed to stop return home missios")
if (
not isinstance(self.current_task, ReturnToHome)
and self.current_task is not None
and settings.SHOULD_FAIL_TO_STOP_NORMAL_MISSION
):
raise RobotActionException("Failed to stop missios")
return

def get_inspection(self, task: InspectionTask) -> Inspection:
Expand Down