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Split mission initiate to prepare and start #284

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Split mission initiate to prepare and start #284

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9 changes: 8 additions & 1 deletion src/isar_robot/robotinterface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@

from robot_interface.models.exceptions.robot_exceptions import (
RobotCommunicationException,
RobotInfeasibleMissionException,
)
from robot_interface.models.inspection.inspection import Inspection
from robot_interface.models.mission.mission import Mission
Expand Down Expand Up @@ -38,14 +39,20 @@ def __init__(self) -> None:
self.robot_is_home: bool = False
self.mission_simulation: Optional[MissionSimulation] = None

def initiate_mission(self, mission: Mission) -> None:
def prepare_mission(self, mission: Mission) -> None:
if self.mission_simulation and not self.mission_simulation.mission_done:
raise RobotCommunicationException(
error_description="Could not start mission as one is already running"
)
elif self.mission_simulation:
self.mission_simulation.join()
self.mission_simulation = MissionSimulation(mission)

def start_mission(self, mission_id: str) -> None:
if self.mission_simulation is None:
raise RobotInfeasibleMissionException(
error_description="Mission simulation is None. Cannot start mission."
)
self.mission_simulation.start()
self.robot_is_home = False

Expand Down
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