isar 1.25.2__tar.gz → 1.25.4__tar.gz

isar-1.25.4/.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,11 @@
+## Ready for review checklist:
+- [ ] A self-review has been performed
+- [ ] All commits run individually
+- [ ] Temporary changes have been removed, like logging, TODO, etc.
+- [ ] The PR has been tested locally
+- [ ] A test has been written
+  - [ ] This change doesn't need a new test
+- [ ] Relevant issues are linked
+- [ ] Remaining work is documented in issues
+  - [ ] There is no remaining work from this PR that requires new issues
+- [ ] The changes do not introduce dead code as unused imports, functions etc.

{isar-1.25.2 → isar-1.25.4}/.github/workflows/pythonpackage.yml

@@ -44,7 +44,14 @@ jobs:
         env:
           ENVIRONMENT: local
 
-      - name: Lint
+      - name: Run black
         run: |
           black --check .
-          mypy .
+
+      - name: Run mypy
+        run: |
+          mypy --disable-error-code=import-untyped .
+
+      - name: Run ruff
+        run: |
+          ruff check .

{isar-1.25.2 → isar-1.25.4}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.2
 Name: isar
-Version: 1.25.2
+Version: 1.25.4
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -127,9 +127,7 @@ Requires-Dist: transitions
 Requires-Dist: uvicorn
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
-Requires-Dist: flake8; extra == "dev"
 Requires-Dist: mypy; extra == "dev"
-Requires-Dist: myst-parser; extra == "dev"
 Requires-Dist: pip-tools; extra == "dev"
 Requires-Dist: pre-commit; extra == "dev"
 Requires-Dist: pytest-dotenv; extra == "dev"
@@ -137,7 +135,7 @@ Requires-Dist: pytest-mock; extra == "dev"
 Requires-Dist: pytest-xdist; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
 Requires-Dist: requests-mock; extra == "dev"
-Requires-Dist: sphinx; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
 
 # ISAR
 

{isar-1.25.2 → isar-1.25.4}/pyproject.toml

@@ -60,9 +60,7 @@ repository = "https://github.com/equinor/isar.git"
 [project.optional-dependencies]
 dev = [
     "black",
-    "flake8",
     "mypy",
-    "myst-parser",
     "pip-tools",
     "pre-commit",
     "pytest-dotenv",
@@ -70,7 +68,7 @@ dev = [
     "pytest-xdist",
     "pytest",
     "requests-mock",
-    "sphinx",
+    "ruff",
 ]
 
 [tool.setuptools_scm]

{isar-1.25.2 → isar-1.25.4}/requirements.txt

@@ -8,7 +8,7 @@ alitra==1.1.3
     # via isar (pyproject.toml)
 annotated-types==0.7.0
     # via pydantic
-anyio==4.7.0
+anyio==4.8.0
     # via
     #   httpx
     #   starlette
@@ -30,16 +30,16 @@ backoff==2.2.1
     # via isar (pyproject.toml)
 cachetools==5.5.0
     # via google-auth
-certifi==2024.8.30
+certifi==2024.12.14
     # via
     #   httpcore
     #   httpx
     #   requests
 cffi==1.17.1
     # via cryptography
-charset-normalizer==3.4.0
+charset-normalizer==3.4.1
     # via requests
-click==8.1.7
+click==8.1.8
     # via
     #   isar (pyproject.toml)
     #   uvicorn
@@ -62,7 +62,7 @@ fastapi-azure-auth==5.0.1
     # via isar (pyproject.toml)
 google-api-core==2.24.0
     # via opencensus
-google-auth==2.36.0
+google-auth==2.37.0
     # via google-api-core
 googleapis-common-protos==1.66.0
     # via google-api-core
@@ -91,7 +91,7 @@ msal==1.31.1
     #   msal-extensions
 msal-extensions==1.2.0
     # via azure-identity
-numpy==2.2.0
+numpy==2.2.1
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -103,7 +103,7 @@ opencensus==0.11.4
     #   opencensus-ext-requests
 opencensus-context==0.1.3
     # via opencensus
-opencensus-ext-azure==1.1.13
+opencensus-ext-azure==1.1.14
     # via isar (pyproject.toml)
 opencensus-ext-logging==0.1.1
     # via isar (pyproject.toml)
@@ -115,12 +115,12 @@ portalocker==2.10.1
     # via msal-extensions
 proto-plus==1.25.0
     # via google-api-core
-protobuf==5.29.1
+protobuf==5.29.3
     # via
     #   google-api-core
     #   googleapis-common-protos
     #   proto-plus
-psutil==6.1.0
+psutil==6.1.1
     # via opencensus-ext-azure
 pyasn1==0.6.1
     # via
@@ -130,14 +130,14 @@ pyasn1-modules==0.4.1
     # via google-auth
 pycparser==2.22
     # via cffi
-pydantic==2.10.3
+pydantic==2.10.5
     # via
     #   fastapi
     #   isar (pyproject.toml)
     #   pydantic-settings
-pydantic-core==2.27.1
+pydantic-core==2.27.2
     # via pydantic
-pydantic-settings==2.6.1
+pydantic-settings==2.7.1
     # via isar (pyproject.toml)
 pyjwt[crypto]==2.10.1
     # via
@@ -163,7 +163,7 @@ requests-toolbelt==1.0.0
     # via isar (pyproject.toml)
 rsa==4.9
     # via google-auth
-scipy==1.14.1
+scipy==1.15.1
     # via alitra
 six==1.17.0
     # via
@@ -186,9 +186,9 @@ typing-extensions==4.12.2
     #   fastapi
     #   pydantic
     #   pydantic-core
-urllib3==2.2.3
+urllib3==2.3.0
     # via requests
-uvicorn==0.32.1
+uvicorn==0.34.0
     # via isar (pyproject.toml)
-wrapt==1.17.0
+wrapt==1.17.1
     # via opencensus-ext-requests

{isar-1.25.2 → isar-1.25.4}/src/isar/apis/models/start_mission_definition.py

@@ -23,18 +23,18 @@ from robot_interface.models.mission.task import (
 
 
 class InspectionTypes(str, Enum):
-    image: str = "Image"
-    thermal_image: str = "ThermalImage"
-    video: str = "Video"
-    thermal_video: str = "ThermalVideo"
-    audio: str = "Audio"
+    image = "Image"
+    thermal_image = "ThermalImage"
+    video = "Video"
+    thermal_video = "ThermalVideo"
+    audio = "Audio"
 
 
 class TaskType(str, Enum):
-    Inspection: str = "inspection"
-    Localization: str = "localization"
-    ReturnToHome: str = "return_to_home"
-    Dock: str = "dock"
+    Inspection = "inspection"
+    Localization = "localization"
+    ReturnToHome = "return_to_home"
+    Dock = "dock"
 
 
 class StartMissionInspectionDefinition(BaseModel):

{isar-1.25.2 → isar-1.25.4}/src/isar/apis/robot_control/robot_controller.py

@@ -2,9 +2,7 @@ import logging
 
 from injector import inject
 
-from isar.apis.models.models import (
-    RobotInfoResponse,
-)
+from isar.apis.models.models import RobotInfoResponse
 from isar.config.settings import robot_settings, settings
 from isar.services.utilities.robot_utilities import RobotUtilities
 

{isar-1.25.2 → isar-1.25.4}/src/isar/apis/schedule/scheduling_controller.py

@@ -6,11 +6,11 @@ from alitra import Pose
 from fastapi import Body, HTTPException, Path
 from injector import inject
 
-from isar.apis.models import InputPose, StartMissionResponse
 from isar.apis.models.models import (
     ControlMissionResponse,
-    RobotInfoResponse,
     TaskResponse,
+    InputPose,
+    StartMissionResponse,
 )
 from isar.apis.models.start_mission_definition import (
     StartMissionDefinition,

{isar-1.25.2 → isar-1.25.4}/src/isar/mission_planner/sequential_task_selector.py

@@ -4,7 +4,7 @@ from isar.mission_planner.task_selector_interface import (
     TaskSelectorInterface,
     TaskSelectorStop,
 )
-from robot_interface.models.mission.task import TASKS, Task
+from robot_interface.models.mission.task import TASKS
 
 
 class SequentialTaskSelector(TaskSelectorInterface):

{isar-1.25.2 → isar-1.25.4}/src/isar/mission_planner/task_selector_interface.py

@@ -1,7 +1,7 @@
 from abc import ABCMeta, abstractmethod
 from typing import List
 
-from robot_interface.models.mission.task import TASKS, Task
+from robot_interface.models.mission.task import TASKS
 
 
 class TaskSelectorInterface(metaclass=ABCMeta):

{isar-1.25.2 → isar-1.25.4}/src/isar/models/communication/queues/status_queue.py

@@ -11,8 +11,8 @@ class StatusQueue(Queue):
         if not self._qsize():
             raise Empty
         with self.mutex:
-            l = list(self.queue)
-            return l.pop()
+            queueList = list(self.queue)
+            return queueList.pop()
 
     def update(self, item: Any):
         with self.mutex:

{isar-1.25.2 → isar-1.25.4}/src/isar/modules.py

@@ -7,8 +7,8 @@ from typing import Dict, List, Tuple, Union
 from injector import Injector, Module, multiprovider, provider, singleton
 
 from isar.apis.api import API
-from isar.apis.schedule.scheduling_controller import SchedulingController
 from isar.apis.robot_control.robot_controller import RobotController
+from isar.apis.schedule.scheduling_controller import SchedulingController
 from isar.apis.security.authentication import Authenticator
 from isar.config.keyvault.keyvault_service import Keyvault
 from isar.config.settings import settings
@@ -18,8 +18,8 @@ from isar.mission_planner.sequential_task_selector import SequentialTaskSelector
 from isar.mission_planner.task_selector_interface import TaskSelectorInterface
 from isar.models.communication.queues.queues import Queues
 from isar.services.service_connections.request_handler import RequestHandler
-from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.services.utilities.robot_utilities import RobotUtilities
+from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.state_machine import StateMachine
 from isar.storage.blob_storage import BlobStorage
 from isar.storage.local_storage import LocalStorage
@@ -70,9 +70,10 @@ class RobotModule(Module):
     @provider
     @singleton
     def provide_robot_interface(self) -> RobotInterface:
-        robot_package_name: str = settings.ROBOT_PACKAGE
-        robot: ModuleType = import_module(robot_package_name)
-        return robot.robotinterface.Robot()  # type: ignore
+        robot_interface: ModuleType = import_module(
+            f"{settings.ROBOT_PACKAGE}.robotinterface"
+        )
+        return robot_interface.Robot()  # type: ignore
 
 
 class QueuesModule(Module):

{isar-1.25.2 → isar-1.25.4}/src/isar/script.py

@@ -66,7 +66,7 @@ def print_startup_info():
     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)

{isar-1.25.2 → isar-1.25.4}/src/isar/services/utilities/scheduling_utilities.py

@@ -17,7 +17,11 @@ from isar.mission_planner.mission_planner_interface import (
     MissionPlannerInterface,
 )
 from isar.models.communication.message import StartMissionMessage
-from isar.models.communication.queues import QueueIO, Queues, QueueTimeoutError
+from isar.models.communication.queues.queue_io import QueueIO
+from isar.models.communication.queues.queues import Queues
+from isar.models.communication.queues.queue_timeout_error import (
+    QueueTimeoutError,
+)
 from isar.services.utilities.queue_utilities import QueueUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
@@ -101,7 +105,7 @@ class SchedulingUtilities:
         is_capable: bool = True
         missing_capabilities: Set[str] = set()
         for task in mission.tasks:
-            if not task.type in robot_capabilities:
+            if task.type not in robot_capabilities:
                 is_capable = False
                 missing_capabilities.add(task.type)
 

{isar-1.25.2 → isar-1.25.4}/src/isar/state_machine/state_machine.py

@@ -18,16 +18,15 @@ from isar.mission_planner.task_selector_interface import (
 )
 from isar.models.communication.message import StartMissionMessage
 from isar.models.communication.queues.queues import Queues
-from isar.state_machine.states import (
-    Idle,
-    Initialize,
-    Initiate,
-    Monitor,
-    Off,
-    Offline,
-    Paused,
-    Stop,
-)
+from isar.state_machine.states.idle import Idle
+from isar.state_machine.states.initialize import Initialize
+from isar.state_machine.states.initiate import Initiate
+from isar.state_machine.states.monitor import Monitor
+from isar.state_machine.states.off import Off
+from isar.state_machine.states.offline import Offline
+from isar.state_machine.states.blocked_protective_stop import BlockedProtectiveStop
+from isar.state_machine.states.paused import Paused
+from isar.state_machine.states.stop import Stop
 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
@@ -36,6 +35,11 @@ from robot_interface.models.mission.status import MissionStatus, RobotStatus, Ta
 from robot_interface.models.mission.task import TASKS
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
+from robot_interface.telemetry.payloads import (
+    RobotStatusPayload,
+    MissionPayload,
+    TaskPayload,
+)
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
 
@@ -89,6 +93,7 @@ class StateMachine(object):
         self.initiate_state: State = Initiate(self)
         self.off_state: State = Off(self)
         self.offline_state: State = Offline(self)
+        self.blocked_protective_stop: State = BlockedProtectiveStop(self)
 
         self.states: List[State] = [
             self.off_state,
@@ -99,6 +104,7 @@ class StateMachine(object):
             self.stop_state,
             self.paused_state,
             self.offline_state,
+            self.blocked_protective_stop,
         ]
 
         self.machine = Machine(self, states=self.states, initial="off", queued=True)
@@ -224,6 +230,18 @@ class StateMachine(object):
                     "dest": self.idle_state,
                     "before": self._online,
                 },
+                {
+                    "trigger": "robot_protective_stop_engaged",
+                    "source": [self.idle_state],
+                    "dest": self.blocked_protective_stop,
+                    "before": self._protective_stop_engaged,
+                },
+                {
+                    "trigger": "robot_protective_stop_disengaged",
+                    "source": self.blocked_protective_stop,
+                    "dest": self.idle_state,
+                    "before": self._protective_stop_disengaged,
+                },
             ]
         )
 
@@ -272,6 +290,12 @@ class StateMachine(object):
     def _online(self) -> None:
         return
 
+    def _protective_stop_engaged(self) -> None:
+        return
+
+    def _protective_stop_disengaged(self) -> None:
+        return
+
     def _resume(self) -> None:
         self.logger.info(f"Resuming mission: {self.current_mission.id}")
         self.current_mission.status = MissionStatus.InProgress
@@ -484,24 +508,22 @@ class StateMachine(object):
         if self.current_mission:
             if self.current_mission.error_message:
                 error_message = self.current_mission.error_message
-        payload: str = json.dumps(
-            {
-                "isar_id": settings.ISAR_ID,
-                "robot_name": settings.ROBOT_NAME,
-                "mission_id": self.current_mission.id if self.current_mission else None,
-                "status": self.current_mission.status if self.current_mission else None,
-                "error_reason": error_message.error_reason if error_message else None,
-                "error_description": (
-                    error_message.error_description if error_message else None
-                ),
-                "timestamp": datetime.now(timezone.utc),
-            },
-            cls=EnhancedJSONEncoder,
+
+        payload: MissionPayload = MissionPayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            mission_id=self.current_mission.id if self.current_mission else None,
+            status=self.current_mission.status if self.current_mission else None,
+            error_reason=error_message.error_reason if error_message else None,
+            error_description=(
+                error_message.error_description if error_message else None
+            ),
+            timestamp=datetime.now(timezone.utc),
         )
 
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_MISSION,
-            payload=payload,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
             qos=1,
             retain=True,
         )
@@ -516,26 +538,23 @@ class StateMachine(object):
             if task.error_message:
                 error_message = task.error_message
 
-        payload: str = json.dumps(
-            {
-                "isar_id": settings.ISAR_ID,
-                "robot_name": settings.ROBOT_NAME,
-                "mission_id": self.current_mission.id if self.current_mission else None,
-                "task_id": task.id if task else None,
-                "status": task.status if task else None,
-                "task_type": task.type,
-                "error_reason": error_message.error_reason if error_message else None,
-                "error_description": (
-                    error_message.error_description if error_message else None
-                ),
-                "timestamp": datetime.now(timezone.utc),
-            },
-            cls=EnhancedJSONEncoder,
+        payload: TaskPayload = TaskPayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            mission_id=self.current_mission.id if self.current_mission else None,
+            task_id=task.id if task else None,
+            status=task.status if task else None,
+            task_type=task.type if task else None,
+            error_reason=error_message.error_reason if error_message else None,
+            error_description=(
+                error_message.error_description if error_message else None
+            ),
+            timestamp=datetime.now(timezone.utc),
         )
 
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_TASK,
-            payload=payload,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
             qos=1,
             retain=True,
         )
@@ -543,19 +562,17 @@ class StateMachine(object):
     def publish_status(self) -> None:
         if not self.mqtt_publisher:
             return
-        payload: str = json.dumps(
-            {
-                "isar_id": settings.ISAR_ID,
-                "robot_name": settings.ROBOT_NAME,
-                "status": self._current_status(),
-                "timestamp": datetime.now(timezone.utc),
-            },
-            cls=EnhancedJSONEncoder,
+
+        payload: RobotStatusPayload = RobotStatusPayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            status=self._current_status(),
+            timestamp=datetime.now(timezone.utc),
         )
 
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_STATUS,
-            payload=payload,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
             qos=1,
             retain=True,
         )
@@ -565,6 +582,8 @@ class StateMachine(object):
             return RobotStatus.Available
         elif self.current_state == States.Offline:
             return RobotStatus.Offline
+        elif self.current_state == States.BlockedProtectiveStop:
+            return RobotStatus.BlockedProtectiveStop
         else:
             return RobotStatus.Busy
 

isar-1.25.4/src/isar/state_machine/states/blocked_protective_stop.py

@@ -0,0 +1,65 @@
+import logging
+import time
+from typing import TYPE_CHECKING, Optional
+
+from transitions import State
+
+from isar.config.settings import settings
+from isar.services.utilities.threaded_request import (
+    ThreadedRequest,
+    ThreadedRequestNotFinishedError,
+)
+from robot_interface.models.exceptions.robot_exceptions import RobotException
+from robot_interface.models.mission.status import RobotStatus
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+class BlockedProtectiveStop(State):
+    def __init__(self, state_machine: "StateMachine") -> None:
+        super().__init__(
+            name="blocked_protective_stop", on_enter=self.start, on_exit=self.stop
+        )
+        self.state_machine: "StateMachine" = state_machine
+        self.logger = logging.getLogger("state_machine")
+        self.robot_status_thread: Optional[ThreadedRequest] = None
+
+    def start(self) -> None:
+        self.state_machine.update_state()
+        self._run()
+
+    def stop(self) -> None:
+        if self.robot_status_thread:
+            self.robot_status_thread.wait_for_thread()
+        self.robot_status_thread = None
+
+    def _run(self) -> None:
+        while True:
+            if not self.robot_status_thread:
+                self.robot_status_thread = ThreadedRequest(
+                    request_func=self.state_machine.robot.robot_status
+                )
+                self.robot_status_thread.start_thread(
+                    name="State Machine BlockedProtectiveStop Get Robot Status"
+                )
+
+            try:
+                robot_status: RobotStatus = self.robot_status_thread.get_output()
+            except ThreadedRequestNotFinishedError:
+                time.sleep(self.state_machine.sleep_time)
+                continue
+
+            except RobotException as e:
+                self.logger.error(
+                    f"Failed to get robot status because: {e.error_description}"
+                )
+
+            if robot_status != RobotStatus.BlockedProtectiveStop:
+                transition = self.state_machine.robot_protective_stop_disengaged  # type: ignore
+                break
+
+            self.robot_status_thread = None
+            time.sleep(settings.ROBOT_API_STATUS_POLL_INTERVAL)
+
+        transition()

{isar-1.25.2 → isar-1.25.4}/src/isar/state_machine/states/idle.py

@@ -24,6 +24,7 @@ class Idle(State):
         self.logger = logging.getLogger("state_machine")
         self.robot_status_thread: Optional[ThreadedRequest] = None
         self.last_robot_status_poll_time: float = time.time()
+        self.status_checked_at_least_once: bool = False
 
     def start(self) -> None:
         self.state_machine.update_state()
@@ -33,8 +34,12 @@ class Idle(State):
         if self.robot_status_thread:
             self.robot_status_thread.wait_for_thread()
         self.robot_status_thread = None
+        self.status_checked_at_least_once = False
 
     def _is_ready_to_poll_for_status(self) -> bool:
+        if not self.status_checked_at_least_once:
+            return True
+
         time_since_last_robot_status_poll = (
             time.time() - self.last_robot_status_poll_time
         )
@@ -47,17 +52,19 @@ class Idle(State):
             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()
-            )
-            if start_mission:
-                self.state_machine.start_mission(
-                    mission=start_mission.mission,
-                    initial_pose=start_mission.initial_pose,
+
+            if self.status_checked_at_least_once:
+                start_mission: Optional[StartMissionMessage] = (
+                    self.state_machine.should_start_mission()
                 )
-                transition = self.state_machine.mission_started  # type: ignore
-                break
-            time.sleep(self.state_machine.sleep_time)
+                if start_mission:
+                    self.state_machine.start_mission(
+                        mission=start_mission.mission,
+                        initial_pose=start_mission.initial_pose,
+                    )
+                    transition = self.state_machine.mission_started  # type: ignore
+                    break
+                time.sleep(self.state_machine.sleep_time)
 
             if not self._is_ready_to_poll_for_status():
                 continue
@@ -72,6 +79,7 @@ class Idle(State):
 
             try:
                 robot_status: RobotStatus = self.robot_status_thread.get_output()
+                self.status_checked_at_least_once = True
             except ThreadedRequestNotFinishedError:
                 time.sleep(self.state_machine.sleep_time)
                 continue
@@ -86,6 +94,9 @@ class Idle(State):
             if robot_status == RobotStatus.Offline:
                 transition = self.state_machine.robot_turned_offline  # type: ignore
                 break
+            elif robot_status == RobotStatus.BlockedProtectiveStop:
+                transition = self.state_machine.robot_protective_stop_engaged  # type: ignore
+                break
 
             self.robot_status_thread = None