isar 1.27.1__tar.gz → 1.27.2__tar.gz

{isar-1.27.1 → isar-1.27.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.27.1
+Version: 1.27.2
 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-1.27.1 → isar-1.27.2}/src/isar/state_machine/states/stopping.py

@@ -6,7 +6,6 @@ from typing import TYPE_CHECKING, Optional
 from transitions import State
 
 from isar.models.communication.queues.queue_utils import check_for_event
-from isar.services.utilities.threaded_request import ThreadedRequest
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 
 if TYPE_CHECKING:
@@ -19,7 +18,6 @@ class Stopping(State):
         self.state_machine: "StateMachine" = state_machine
         self.logger = logging.getLogger("state_machine")
         self.events = self.state_machine.events
-        self.stop_thread: Optional[ThreadedRequest] = None
         self._count_number_retries: int = 0
         self.signal_state_machine_to_stop = state_machine.signal_state_machine_to_stop
         self.stopping_return_home_mission: bool = False
@@ -33,9 +31,6 @@ class Stopping(State):
         self._run()
 
     def stop(self) -> None:
-        if self.stop_thread:
-            self.stop_thread.wait_for_thread()
-        self.stop_thread = None
         self._count_number_retries = 0
         self.stopping_return_home_mission = False
 

{isar-1.27.1 → isar-1.27.2}/src/isar/state_machine/transitions/functions/stop.py

@@ -34,7 +34,16 @@ def stop_mission_cleanup(state_machine: "StateMachine") -> bool:
         state_machine._make_control_mission_response()
     )
     state_machine.events.api_requests.stop_mission.output.put(stopped_mission_response)
-
     state_machine.publish_task_status(task=state_machine.current_task)
     state_machine._finalize()
     return True
+
+
+def stop_return_home_mission_cleanup(state_machine: "StateMachine") -> bool:
+    if state_machine.current_mission is None:
+        state_machine._queue_empty_response()
+        state_machine.reset_state_machine()
+        return True
+
+    state_machine._finalize()
+    return True

{isar-1.27.1 → isar-1.27.2}/src/isar/state_machine/transitions/mission.py

@@ -15,6 +15,7 @@ from isar.state_machine.transitions.functions.start_mission import (
 )
 from isar.state_machine.transitions.functions.stop import (
     stop_mission_cleanup,
+    stop_return_home_mission_cleanup,
     trigger_stop_mission_event,
 )
 from isar.state_machine.transitions.functions.utils import def_transition
@@ -59,7 +60,7 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
             "trigger": "return_home_mission_stopped",
             "source": state_machine.stopping_state,
             "dest": state_machine.robot_standing_still_state,
-            "before": def_transition(state_machine, stop_mission_cleanup),
+            "before": def_transition(state_machine, stop_return_home_mission_cleanup),
         },
         {
             "trigger": "request_mission_start",

{isar-1.27.1 → isar-1.27.2}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.27.1
+Version: 1.27.2
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0