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Remove unused step
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@Eddasol
Eddasol committed Dec 12, 2024
1 parent 593e4c7 commit 735841a
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Showing 5 changed files with 102 additions and 134 deletions.
2 changes: 1 addition & 1 deletion src/isar/script.py
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ def print_setting(setting: str = "", value: Any = "", fillchar: str = " "):
print_setting(fillchar="-")
print_setting("Robot package", settings.ROBOT_PACKAGE)
print_setting("Robot name", settings.ROBOT_NAME)
print_setting("Run mission stepwise", settings.RUN_MISSION_BY_TASK)
print_setting("Run mission taskwise", settings.RUN_MISSION_BY_TASK)
print_setting("Running on port", settings.API_PORT)
print_setting("Mission planner", settings.MISSION_PLANNER)
print_setting("Using local storage", settings.STORAGE_LOCAL_ENABLED)
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2 changes: 1 addition & 1 deletion src/robot_interface/models/exceptions/robot_exceptions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
class ErrorReason(str, Enum):
RobotCommunicationException: str = "robot_communication_exception"
RobotCommunicationTimeoutException: str = "robot_communication_timeout_exception"
RobotInfeasibleTaskException: str = "robot_infeasible_step_exception"
RobotInfeasibleTaskException: str = "robot_infeasible_task_exception"
RobotInfeasibleMissionException: str = "robot_infeasible_mission_exception"
RobotMissionStatusException: str = "robot_mission_status_exception"
RobotTaskStatusException: str = "robot_task_status_exception"
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1 change: 0 additions & 1 deletion src/robot_interface/telemetry/payloads.py
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,6 @@ class RobotStatusPayload:
current_isar_state: State
current_mission_id: str
current_task_id: str
current_step_id: str
timestamp: datetime


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161 changes: 73 additions & 88 deletions tests/integration/turtlebot/config/missions/default.json
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Original file line number Diff line number Diff line change
Expand Up @@ -2,103 +2,88 @@
"id": "2",
"tasks": [
{
"steps": [
{
"type": "drive_to_pose",
"pose": {
"position": {
"x": -3.6,
"y": 4,
"z": 0,
"frame": "asset"
},
"orientation": {
"x": 0,
"y": 0,
"z": -0.7286672256879113,
"w": -0.6848660759820616,
"frame": "asset"
},
"frame": "asset"
}
"type": "drive_to_pose",
"pose": {
"position": {
"x": -3.6,
"y": 4,
"z": 0,
"frame": "asset"
},
{
"type": "take_image",
"target": {
"x": -4.7,
"y": 4.9,
"z": 0,
"frame": "robot"
}
}
]
"orientation": {
"x": 0,
"y": 0,
"z": -0.7286672256879113,
"w": -0.6848660759820616,
"frame": "asset"
},
"frame": "asset"
}
},
{
"type": "take_image",
"target": {
"x": -4.7,
"y": 4.9,
"z": 0,
"frame": "robot"
}
},
{
"steps": [
{
"type": "drive_to_pose",
"pose": {
"position": {
"x": 4.7,
"y": 3,
"z": 0,
"frame": "asset"
},
"orientation": {
"x": 0,
"y": 0,
"z": 0.5769585,
"w": 0.8167734,
"frame": "asset"
},
"frame": "asset"
}
"type": "drive_to_pose",
"pose": {
"position": {
"x": 4.7,
"y": 3,
"z": 0,
"frame": "asset"
},
"orientation": {
"x": 0,
"y": 0,
"z": 0.5769585,
"w": 0.8167734,
"frame": "asset"
},
{
"type": "take_image",
"target": {
"x": 5.6,
"y": 5.2,
"z": 0,
"frame": "robot"
}
}
]
"frame": "asset"
}
},
{
"steps": []
"type": "take_image",
"target": {
"x": 5.6,
"y": 5.2,
"z": 0,
"frame": "robot"
}
},
{
"steps": [
{
"type": "drive_to_pose",
"pose": {
"position": {
"x": 0.95,
"y": 2.6,
"z": 0,
"frame": "asset"
},
"orientation": {
"x": 0,
"y": 0,
"z": -0.6992469,
"w": 0.7148802,
"frame": "asset"
},
"frame": "asset"
}
"type": "drive_to_pose",
"pose": {
"position": {
"x": 0.95,
"y": 2.6,
"z": 0,
"frame": "asset"
},
{
"type": "take_thermal_image",
"target": {
"x": 1.9,
"y": 1.9,
"z": 0,
"frame": "robot"
}
}
]
"orientation": {
"x": 0,
"y": 0,
"z": -0.6992469,
"w": 0.7148802,
"frame": "asset"
},
"frame": "asset"
}
},
{
"type": "take_thermal_image",
"target": {
"x": 1.9,
"y": 1.9,
"z": 0,
"frame": "robot"
}
}
]
}
70 changes: 27 additions & 43 deletions tests/test_data/test_mission_not_working.json
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Original file line number Diff line number Diff line change
Expand Up @@ -2,60 +2,44 @@
"id": "1",
"tasks": [
{
"steps": [
{
"action_type": "drive_to",
"action_message": {
"xypsi_pose": {
"x": -2,
"y": -2,
"yaw": 1
}
}
"action_type": "return_to_home",
"action_message": {
"xypsi_pose": {
"x": -2,
"y": -2,
"yaw": 1
}
]
}
},
{
"steps": [
{
"action_type": "drive_three",
"action_message": {
"xypsi_pose": {
"x": -2,
"y": 2,
"psi": 1
}
"action_type": "drive_three",
"action_message": {
"xypsi_pose": {
"x": -2,
"y": 2,
"psi": 1
}
}
]
},
{
"steps": [
{
"action_type": "drive_to",
"action_message": {
"xypsi_pose": {
"x": 2,
"y": 2,
"phi": 1
}
}
"action_type": "drive_to",
"action_message": {
"xypsi_pose": {
"x": 2,
"y": 2,
"phi": 1
}
]
}
},
{
"steps": [
{
"action_type": "drive_to",
"action_message": {
"uups": {
"x": 0,
"y": 0,
"psi": 1
}
}
"action_type": "drive_to",
"action_message": {
"uups": {
"x": 0,
"y": 0,
"psi": 1
}
]
}
}
]
}

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