Add possibility of RobotStatus as Stuck into interface

equinor · Oct 6, 2023 · 2bb11d4 · 2bb11d4
1 parent b3f2088
commit 2bb11d4
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/main.py b/main.py
@@ -49,15 +49,16 @@
         target=uploader.run, name="ISAR Uploader", daemon=True
     )
     threads.append(uploader_thread)
-
+    print(settings.MQTT_ENABLED)
     if settings.MQTT_ENABLED:
+        print("Entered MQTT Enabled block")
         mqtt_client: MqttClient = MqttClient(mqtt_queue=queues.mqtt_queue)
 
         mqtt_thread: Thread = Thread(
             target=mqtt_client.run, name="ISAR MQTT Client", daemon=True
         )
         threads.append(mqtt_thread)
-
+        print("Seeing up robot status publisher now")
         robot_status_publisher: RobotStatusPublisher = RobotStatusPublisher(
             mqtt_queue=queues.mqtt_queue, robot=robot, state_machine=state_machine
         )

diff --git a/src/isar/services/service_connections/mqtt/robot_status_publisher.py b/src/isar/services/service_connections/mqtt/robot_status_publisher.py
@@ -37,9 +37,9 @@ def _get_combined_robot_status(
             return RobotStatus.Offline
         elif current_state == States.Idle and robot_status == RobotStatus.Available:
             return RobotStatus.Available
-        elif current_state != States.Idle or robot_status == RobotStatus.Busy:
-            return RobotStatus.Busy
         elif current_state != States.Idle or robot_status == RobotStatus.Stuck:
+            return RobotStatus.Stuck
+        elif current_state != States.Idle or robot_status == RobotStatus.Busy:
             return RobotStatus.Busy
         return None