isar 1.24.0__py3-none-any.whl → 1.24.2__py3-none-any.whl

isar/apis/schedule/scheduling_controller.py

@@ -21,13 +21,7 @@ from isar.mission_planner.mission_planner_interface import MissionPlannerError
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.task import (
-    TASKS,
-    Localize,
-    MoveArm,
-    ReturnToHome,
-)
-from robot_interface.models.mission.task import Task
+from robot_interface.models.mission.task import TASKS, Localize, MoveArm, ReturnToHome
 
 
 class SchedulingController:
@@ -192,7 +186,7 @@ class SchedulingController:
 
         state: States = self.scheduling_utilities.get_state()
 
-        if state in [States.Off, States.Idle]:
+        if state == States.Off:
             error_message = (
                 f"Conflict - Stop command received in invalid state - State: {state}"
             )

isar/config/certs/ca-cert.pem

@@ -1,35 +1,35 @@
 -----BEGIN CERTIFICATE-----
-MIIGGzCCBAOgAwIBAgIUPvXRCWJJPVHgWWm0TR2bOIwBJv0wDQYJKoZIhvcNAQEL
+MIIGGzCCBAOgAwIBAgIUSYiMjuwMgyqwMJ50grQRj92s7tEwDQYJKoZIhvcNAQEL
 BQAwgZwxCzAJBgNVBAYTAk5PMQ8wDQYDVQQIDAZCZXJnZW4xDzANBgNVBAcMBkJl
 cmdlbjEUMBIGA1UECgwLRXFfUm9ib3RpY3MxETAPBgNVBAsMCFJvYm90aWNzMRww
 GgYDVQQDDBNSb2JvdGljc19TZWxmU2lnbmVkMSQwIgYJKoZIhvcNAQkBFhVmZ19y
-b2JvdHNAZXF1aW5vci5jb20wHhcNMjQxMDAyMTMxNjA3WhcNMjUxMDAyMTMxNjA3
+b2JvdHNAZXF1aW5vci5jb20wHhcNMjQxMTI5MTIwODA3WhcNMjUxMTI5MTIwODA3
 WjCBnDELMAkGA1UEBhMCTk8xDzANBgNVBAgMBkJlcmdlbjEPMA0GA1UEBwwGQmVy
 Z2VuMRQwEgYDVQQKDAtFcV9Sb2JvdGljczERMA8GA1UECwwIUm9ib3RpY3MxHDAa
 BgNVBAMME1JvYm90aWNzX1NlbGZTaWduZWQxJDAiBgkqhkiG9w0BCQEWFWZnX3Jv
 Ym90c0BlcXVpbm9yLmNvbTCCAiIwDQYJKoZIhvcNAQEBBQADggIPADCCAgoCggIB
-AK5BmZCy0mXXvoN+GcfFY8/drAetE+kt+M8cwHGXt/vMfq1owOEvtzSijxmxrbd/
-5s43vRFNWS43xRxs4vwePnTNiyhEso6hW2yvp3RF3Xr1nhTG+rDeHijp7KKW/ypM
-WAlbSDh/AlI61isi29JbhlWdYSBVEqgtBXTHDHkZM6mp++D/zoaEr5BmCh0BDzhi
-G0MF8p5l7Qf98zX697KWbsp1cFWGuLKZbhxoNVWxPBRHXatCUz/skNIIF9jAMh7p
-bf4qF/ybaIx3pU0e/iHxlYVSAEX3g77pLmL1BvggT/yc6S4Yp6T3dhereR7s0y1q
-/hL5N/I+qn42A9uxb8ZqfTeelsJugIQIcQkITXSAyYvaDyDCY01lxGNM3XrU3+EH
-J4tFNagJFVkjpxSrR0Il3RFYa5pP17X6DcaJ+EBAkdHYfNrXL9XIMYhtxrBCjcMx
-1oJN/M25luHxgdd8D7jZHFkESkof7DJ0Q9S9KOdNLlcYCBLk64WN4tlqGDy5XMYW
-u8gKEHLXg/Do1I1zEfYsAxqLNbGoHGFn3641PQFnjVkz+g1ZjoK2UQOnoNyyqUR8
-mJ9c5Coqc5+bqZLqjAHu/MKIZD+j/znX4rydRstqla/84dljNFQdg6L7+4BCALFE
-O2tMGw307U77St20ciEZ/SpN399ncRj48+Crb/4hmro1AgMBAAGjUzBRMB0GA1Ud
-DgQWBBQ4qAj9zavGZ2EX0JUKeQgh8znRRzAfBgNVHSMEGDAWgBQ4qAj9zavGZ2EX
-0JUKeQgh8znRRzAPBgNVHRMBAf8EBTADAQH/MA0GCSqGSIb3DQEBCwUAA4ICAQA8
-wcdamA4GkKH8aJCOAJkb1GUuC8q/eG1VerUHftWf5BiyEMeINHny1qqsROC6JBJt
-kFUA1lNKb4FqMi3FrRREATH9fohC+KW/TfDeJg+L4eJltRLQhWSbyHoOgbL+iieU
-CyppZCJoQakeyNTBdHJBsF/yRJ22j1PoTOqbQNLErTwrhQrre+N+GsuCmBVUM/Xa
-u4gB+nw6IipCgSaJxG1PxCYVNHx28oQIL/TsbMGTvxCwyR5j6QSH/vtpjnbPDolH
-PtgxcIfB1V9tfSwkWmowMUwnxXO/lPYdE6XF7I5xwI46J0PGpOWw25QCtaR7NhOy
-P3KNvL9L5eD4PSKP48Bg31EW2W/dceGX8aBszYD2lXLXpalCWqNt7pyytUFot4MP
-p1WhBhEC7yUfpMrCGeCf3TJrZnq3cOGKyFjIwo5SYGk8+hT/gOfmKiFiHGrXVZgW
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-jdUW/m9XCIYmFUfr0B2LyXFUmtCnn41/ZDPX8uN1ldw2LyRdyRoRFKOQpmqaNv5V
-jduGQ6Mmxc33hWeZRk6n8ExFd2CoAcy2OA1a3KyRYiDAFiDzjPhFTAcllRlz6hn8
-R4l9UPpFXV30/AP7t3A1PtlqWrJ1yefe20gubJ8gyw==
+AIuxSKWbBEaXku8BPa8vdQ4fZKWXFxX3706vEst8Z+T1IKkYjFDbLEMu0c9HayVf
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+pRoHIRu5K1D8/9vwIBfz8rEM8aVCq/TqAutQL1t3w/lq6iLzikrc2ke1FNWLVZUI
+vem8gjsmPUaEBZxmvIWZjtNmDwa/Z+PVipKFoC8yS27AwxIuPCWNODnUPP112hrS
+2Lgad64Tap2S4zB7Wrg+1JvHzTRCgOg96Hf0Nnr2elSjRgfi//ddObAxQEcKZq3u
+6SBgc0conq+3olbtaIutK7Mn244ynz1+Edadn2lwhf/FQG95pSIb/1PayrtkzPgv
+BDmzaUUWuxJkDry4tDTAu7ruktDXQ3OFaF/3Mko3RKR7hQqSDL4XqArSBgKv8QGs
+nklgBbEa5fkh8Ng5vRLcMaNCTeS1K9n66sR2ZP5JWoWgR/Ldl5mbnwvtqqyhUdx1
+YxLzbRr0nmjDSufF4Gpbvg+3lpY23pQ0BRQH6zAkeygRAgMBAAGjUzBRMB0GA1Ud
+DgQWBBQehtclGXxA16tJAy/VA8EqWgVXyjAfBgNVHSMEGDAWgBQehtclGXxA16tJ
+Ay/VA8EqWgVXyjAPBgNVHRMBAf8EBTADAQH/MA0GCSqGSIb3DQEBCwUAA4ICAQCE
+ehrGvVcUrlB7da8zp+QM3PxhiXiAxPwSNlCqS8QjhPLeKIIJg2aFuyb8PFUvXjhd
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+n7PwPVhCbilix806pmo8lkrFJFusV/ofiFgLYpu1jG7kCQaaPYMlVXre16M7yeJx
+XHyv6qc59hPNkZphgPIjk52g4f5jEphylt1EuG7qhk+uveIjOfWKyk2gx5fSM6Lr
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+uAJ0Bes3jSYOJXHTnog2Y52h1K0mDcnSVKPOZpGCKf8FoWcH0bNRIauF7j7/mTV3
+yo5As4ANS8PQjfrq14MZrlqL8SpObCb6OvnCSdIiYMsNXVNKEobHy8csYP5h/Ifo
+mdSwmDHEyMI/Bu1NmsK5iz3zhCDraspn7JM0UWxtBL92siE5yysTwPBD2ImKsxF2
+6k0Ad6cWoeZRtfFdq8Ix4EfDXsRFHSRcanUXAhw233WtUBVVqF72f0JubgOmpttz
+1misnsVPwUg4ID8KdTRQi6fxyigXgfxr3YTzPvCip2kDNjZEtTL7N90Mdh6f9BzN
+J6b5slRz9Zr7E0AG5BfKd0qB1Ho3WDQ4zxTVH+QEHQ==
 -----END CERTIFICATE-----

isar/state_machine/state_machine.py

@@ -32,11 +32,7 @@ from isar.state_machine.states_enum import States
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.initialize.initialize_params import InitializeParams
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.status import (
-    MissionStatus,
-    RobotStatus,
-    TaskStatus,
-)
+from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
 from robot_interface.models.mission.task import TASKS, Task
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
@@ -134,7 +130,11 @@ class StateMachine(object):
                 },
                 {
                     "trigger": "stop",
-                    "source": [self.initiate_state, self.monitor_state],
+                    "source": [
+                        self.initiate_state,
+                        self.monitor_state,
+                        self.idle_state,
+                    ],
                     "dest": self.stop_state,
                     "before": self._stop,
                 },
@@ -371,6 +371,11 @@ class StateMachine(object):
             self.iterate_current_task()
 
     def _mission_stopped(self) -> None:
+        if self.current_mission is None:
+            self._queue_empty_response()
+            self.reset_state_machine()
+            return
+
         self.current_mission.status = MissionStatus.Cancelled
 
         for task in self.current_mission.tasks:
@@ -588,6 +593,16 @@ class StateMachine(object):
             task_status=self.current_task.status,
         )
 
+    def _queue_empty_response(self):
+        self.queues.stop_mission.output.put(
+            ControlMissionResponse(
+                mission_id="None",
+                mission_status="None",
+                task_id="None",
+                task_status="None",
+            )
+        )
+
 
 def main(state_machine: StateMachine):
     """Starts a state machine instance."""

isar/state_machine/states/idle.py

@@ -36,6 +36,9 @@ class Idle(State):
 
     def _run(self) -> None:
         while True:
+            if self.state_machine.should_stop_mission():
+                transition = self.state_machine.stop  # type: ignore
+                break
             start_mission: Optional[StartMissionMessage] = (
                 self.state_machine.should_start_mission()
             )

isar/state_machine/states/monitor.py

@@ -49,7 +49,6 @@ class Monitor(State):
         if self.task_status_thread:
             self.task_status_thread.wait_for_thread()
         self.task_status_thread = None
-        self.request_status_failure_counter = 0
 
     def _run(self) -> None:
         transition: Callable
@@ -76,15 +75,19 @@ class Monitor(State):
             except ThreadedRequestNotFinishedError:
                 time.sleep(self.state_machine.sleep_time)
                 continue
-
             except (
                 RobotCommunicationTimeoutException,
                 RobotCommunicationException,
             ) as e:
-                task_failed: bool = self._handle_communication_retry(e)
-                if task_failed:
+                retry_limit_exceeded: bool = self._check_if_exceeded_retry_limit(e)
+                if retry_limit_exceeded:
+                    self.logger.error(
+                        f"Monitoring task {self.state_machine.current_task.id[:8]} failed "
+                        f"because: {e.error_description}"
+                    )
                     status = TaskStatus.Failed
                 else:
+                    time.sleep(self.state_machine.sleep_time)
                     continue
 
             except RobotTaskStatusException as e:
@@ -111,7 +114,7 @@ class Monitor(State):
                 )
                 break
 
-            if self.state_machine.current_task == None:
+            if self.state_machine.current_task is None:
                 self.state_machine.iterate_current_task()
 
             self.state_machine.current_task.status = status
@@ -142,7 +145,7 @@ class Monitor(State):
                     )
 
                     self.state_machine.iterate_current_task()
-                    if self.state_machine.current_task == None:
+                    if self.state_machine.current_task is None:
                         transition = self.state_machine.full_mission_finished  # type: ignore
                         break
 
@@ -193,6 +196,7 @@ class Monitor(State):
         self.logger.info(f"Inspection: {str(inspection.id)[:8]} queued for upload")
 
     def _report_task_status(self, task: Task) -> None:
+        self.request_status_failure_counter = 0
         if task.status == TaskStatus.Failed:
             self.logger.warning(
                 f"Task: {str(task.id)[:8]} was reported as failed by the robot"
@@ -215,7 +219,7 @@ class Monitor(State):
         )
         self.state_machine.current_task.error_message = error_message
 
-    def _handle_communication_retry(
+    def _check_if_exceeded_retry_limit(
         self, e: Union[RobotCommunicationTimeoutException, RobotCommunicationException]
     ) -> bool:
         self.state_machine.current_mission.error_message = ErrorMessage(

{isar-1.24.0.dist-info → isar-1.24.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.0
+Version: 1.24.2
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0

{isar-1.24.0.dist-info → isar-1.24.2.dist-info}/RECORD

@@ -7,7 +7,7 @@ isar/apis/models/__init__.py,sha256=NI1BYyN__Ogr00Qqe0XJ-9gEVPva2brXo2RJsbrS4tM,
 isar/apis/models/models.py,sha256=6E8VhGBti6EKJefYTDNVERxRu_g_omg4J2MriPUPkaw,1709
 isar/apis/models/start_mission_definition.py,sha256=oY2CRKNkf4DQys0lbz-WTib1Ppw_OUwHqhBTrBhUJQk,8044
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/schedule/scheduling_controller.py,sha256=GXjvkF4OPRJTWzQEvvxbKc79x2X2uzqbl1ZOv_-9Fpw,11508
+isar/apis/schedule/scheduling_controller.py,sha256=JbVF0kvGACqc0Pgbt5DLsiXkRx4WWPiAZnYlHUrAHz0,11419
 isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/security/authentication.py,sha256=TI8U9Y_L6ihHLMeM50ZONd5EPfuHdw_XMU_Q987W4AY,1975
 isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -16,7 +16,7 @@ isar/config/log.py,sha256=zHFLmGWQRn8TrcsxUS6KHpJt2JE86kYazU7b-bkcN9o,2285
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
 isar/config/settings.env,sha256=hJFfyl4S84nmcyf70Pz8nbGlPf4KTVx0UkgP3uf6T8E,534
 isar/config/settings.py,sha256=lbpuXAyeSCHFcEuIQvbqwyJIOp23Rtdqpajf_HrUjbU,13491
-isar/config/certs/ca-cert.pem,sha256=ijutWtGOAnKx3xPydNLOVoCLip3tGkNKUpr6pTPQfJA,2179
+isar/config/certs/ca-cert.pem,sha256=3X9NO4qzvA55PMXPyOwOCcXw33YVbF7tjPU5cX7vO5I,2179
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
 isar/config/keyvault/keyvault_service.py,sha256=b2EWNiNQmZ-FUWjZidNg5KXRcVH-U8CsiqcBf1devNw,3124
@@ -67,13 +67,13 @@ isar/services/utilities/queue_utilities.py,sha256=Pw3hehSwkXJNeDv-bDVDfs58VOwtt3
 isar/services/utilities/scheduling_utilities.py,sha256=UUMxhudY2mQRG6Edjq6BG7oxwlqmcu5h6fMyw4Vhl_o,8376
 isar/services/utilities/threaded_request.py,sha256=py4G-_RjnIdHljmKFAcQ6ddqMmp-ZYV39Ece-dqRqjs,1874
 isar/state_machine/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/state_machine.py,sha256=A7qAaXEnErmPQ7--sM7w9VabceS0qJOProlmwMb9iaU,21299
+isar/state_machine/state_machine.py,sha256=ceH0WiQNVMYIe7mVuH62L7OPPGrj1Qx2FuToIYBRQlk,21820
 isar/state_machine/states_enum.py,sha256=BlrUcBWkM5K6D_UZXRwTaUgGpAagWmVZH6HhDBGzVU4,278
 isar/state_machine/states/__init__.py,sha256=kErbKPDTwNfCLijvdyN6_AuOqDwR23nu9F0Qovsnir4,218
-isar/state_machine/states/idle.py,sha256=TVUVtoFwe3-InO4tEupa1_MNG3bviLuMxmHV7FX7Js0,3076
+isar/state_machine/states/idle.py,sha256=wKEG3QzmEO3MfFCwbh9vBRZin3sby_cwXhm85Fke9-s,3224
 isar/state_machine/states/initialize.py,sha256=TVXV5Ps3N4_flM88j9pQiX88kZgLzLwzlJy_6hPbgcA,2359
 isar/state_machine/states/initiate.py,sha256=j1wvSC3zVODgRkKOVsQROiuWkjihSBtwCs5GsoivLvc,5655
-isar/state_machine/states/monitor.py,sha256=4gCSf_FpHcxPiaaAuOJ5Tqhw79kqcaY5e_fg0nmA83I,9578
+isar/state_machine/states/monitor.py,sha256=bcrLKftME7tWUGCwx_wj6myZToD4BBJT3jq9WMbpd0w,9874
 isar/state_machine/states/off.py,sha256=jjqN_oJMpBtWuY7hP-c9f0w3p2CYCfe-NpmYHHPnmyI,544
 isar/state_machine/states/offline.py,sha256=IfEZ6-kl6OfJSRT1eKHOey7AU23tKiSHqpwGqclmH_c,2166
 isar/state_machine/states/paused.py,sha256=TIg1iJvAxGUIfzE_qWp0wrq4Ka0a3zEf3GNwIWLIK0M,1177
@@ -90,7 +90,7 @@ robot_interface/robot_interface.py,sha256=TJjB1FNXxkKxen5zwfXdAUqqlTZ1pAl6St9SuC
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
 robot_interface/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/exceptions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/models/exceptions/robot_exceptions.py,sha256=tL3Pf45Nuh9dc9QDRt43SF4qZT3f2NVaRpYj1POVjsA,10093
+robot_interface/models/exceptions/robot_exceptions.py,sha256=7s9X7GaQVhQiTnXLi-a51qRUX9CU7F4rEUMoRBiWF_I,10548
 robot_interface/models/initialize/__init__.py,sha256=rz5neEDr59GDbzzI_FF0DId-C-I-50l113P-h-C_QBY,48
 robot_interface/models/initialize/initialize_params.py,sha256=2eG5Aq5bDKU6tVkaUMAoc46GERBgyaKkqv6yLupdRLc,164
 robot_interface/models/inspection/__init__.py,sha256=14wfuj4XZazrigKD7fL98khFKz-eckIpEgPcYRj40Kg,227
@@ -103,14 +103,14 @@ robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5N
 robot_interface/models/robots/robot_model.py,sha256=pZQsqhn9hh6XE3EjMZhWMzYqg5oJ4CJ4CXeOASKvEf8,452
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/telemetry/media_connection_type.py,sha256=Z8Jayi5SjBJh_xEd5KdS__A6bM-nofbSAedc6u41iAY,91
-robot_interface/telemetry/mqtt_client.py,sha256=RoXJFQ4YiaSQpHTlZ2LD-ICRPtfUhylEwgyt_3NE4xM,2916
+robot_interface/telemetry/mqtt_client.py,sha256=DkzYZNWFaJkG3AVc0dM4Bj52hZEQj-14Q75zqzQcv9A,2988
 robot_interface/telemetry/payloads.py,sha256=FafpIwsOvcTNtaBZqyOX7r5EjG7nZ2uLNhyJo2l5GiI,1767
 robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/utilities/json_service.py,sha256=nU2Q_3P9Fq9hs6F_wtUjWtHfl_g1Siy-yDhXXSKwHwg,1018
 robot_interface/utilities/uuid_string_factory.py,sha256=_NQIbBQ56w0qqO0MUDP6aPpHbxW7ATRhK8HnQiBSLkc,76
-isar-1.24.0.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.24.0.dist-info/METADATA,sha256=qqbu0Z7e1Fs45oQLR1Cj4TokH5F5swLBwUuCfJVQulE,30661
-isar-1.24.0.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-isar-1.24.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.24.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.24.0.dist-info/RECORD,,
+isar-1.24.2.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.24.2.dist-info/METADATA,sha256=Rh1FBaPlouwNa4sbVMC_qL66uHwrTzkGBrUsbx61WuI,30661
+isar-1.24.2.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+isar-1.24.2.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.24.2.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.24.2.dist-info/RECORD,,

robot_interface/models/exceptions/robot_exceptions.py

@@ -16,6 +16,7 @@ class ErrorReason(str, Enum):
     RobotRetrieveDataException: str = "robot_retrieve_data_exception"
     RobotRetrieveInspectionException: str = "robot_retrieve_inspection_exception"
     RobotTelemetryException: str = "robot_telemetry_exception"
+    RobotTelemetryNoUpdateException: str = "robot_telemetry_no_update_exception"
     RobotTelemetryPoseException: str = "robot_telemetry_pose_exception"
     RobotMapException: str = "robot_map_exception"
     RobotTransformException: str = "robot_transform_exception"
@@ -202,6 +203,17 @@ class RobotTelemetryPoseException(RobotException):
     pass
 
 
+# An exception which should be thrown by the robot package if there is no new telemetry update.
+class RobotTelemetryNoUpdateException(RobotException):
+    def __init__(self, error_description: str) -> None:
+        super().__init__(
+            error_reason=ErrorReason.RobotTelemetryNoUpdateException,
+            error_description=error_description,
+        )
+
+    pass
+
+
 # An exception which should be thrown by the robot package if it is unable to load the
 # configuration for maps and transformations. This could be caused by faulty
 # configuration and this exception will cause ISAR to crash as further execution is not

robot_interface/telemetry/mqtt_client.py

@@ -7,6 +7,7 @@ from typing import Callable, Tuple
 
 from robot_interface.models.exceptions.robot_exceptions import (
     RobotTelemetryException,
+    RobotTelemetryNoUpdateException,
     RobotTelemetryPoseException,
 )
 from robot_interface.telemetry.payloads import CloudHealthPayload
@@ -74,7 +75,7 @@ class MqttTelemetryPublisher(MqttClientInterface):
             try:
                 payload = self.telemetry_method(isar_id=isar_id, robot_name=robot_name)
                 topic = self.topic
-            except RobotTelemetryPoseException:
+            except (RobotTelemetryPoseException, RobotTelemetryNoUpdateException):
                 time.sleep(self.interval)
                 continue
             except RobotTelemetryException: