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Raise already home exception if already home #245

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Raise already home exception if already home #245

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5 changes: 5 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 +6,8 @@
from threading import Thread
from typing import Callable, List, Optional

from robot_interface.models.exceptions.robot_exceptions import \
RobotAlreadyHomeException
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 @@ -38,6 +40,9 @@ def __init__(self) -> None:
self.robot_is_home: bool = False

def initiate_mission(self, mission: Mission) -> None:
if mission._is_return_to_home_mission() and self.robot_is_home:
raise RobotAlreadyHomeException("Robot is already at home. Ignoring return to home mission")

time.sleep(settings.INITIATE_MISSION_DURATION_IN_SECONDS)
self.current_mission = mission
self.current_task_ix = 0
Expand Down
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