isar 1.30.2__py3-none-any.whl → 1.30.3__py3-none-any.whl

isar/state_machine/states/returning_home.py

@@ -1,187 +1,24 @@
-import logging
-from queue import Queue
-from typing import TYPE_CHECKING, Optional
+from typing import TYPE_CHECKING
 
 from transitions import State
 
-from isar.models.communication.message import StartMissionMessage
-from isar.models.communication.queues.queue_utils import (
-    check_for_event,
-    check_for_event_without_consumption,
-    trigger_event,
+from isar.state_machine.generic_states.ongoing_mission import (
+    OngoingMission,
+    OngoingMissionStates,
 )
-from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
-from robot_interface.models.mission.status import TaskStatus
-from robot_interface.models.mission.task import Task
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
 
-class ReturningHome(State):
+class ReturningHome(State, OngoingMission):
     def __init__(self, state_machine: "StateMachine") -> None:
-        super().__init__(name="returning_home", on_enter=self.start, on_exit=self.stop)
-        self.state_machine: "StateMachine" = state_machine
-
-        self.logger = logging.getLogger("state_machine")
-        self.events = self.state_machine.events
-
-        self.awaiting_task_status: bool = False
-        self.signal_state_machine_to_stop = state_machine.signal_state_machine_to_stop
-
-    def start(self) -> None:
-        self.state_machine.update_state()
-        self._run()
-
-    def stop(self) -> None:
-        self.state_machine.mission_ongoing = False
-        return
-
-    def _check_and_handle_stop_mission_event(self, event: Queue) -> bool:
-        if check_for_event(event):
-            self.state_machine.stop()  # type: ignore
-            return True
-        return False
-
-    def _check_and_handle_mission_started_event(self, event: Queue) -> bool:
-        if self.state_machine.mission_ongoing:
-            return False
-
-        if check_for_event(event):
-            self.state_machine.mission_ongoing = True
-            return False
-
-        return True
-
-    def _check_and_handle_mission_failed_event(self, event: Queue) -> bool:
-        mission_failed: Optional[ErrorMessage] = check_for_event(event)
-        if mission_failed is not None:
-            self.state_machine.logger.warning(
-                f"Failed to initiate mission "
-                f"{str(self.state_machine.current_mission.id)[:8]} because: "
-                f"{mission_failed.error_description}"
-            )
-            self.state_machine.current_mission.error_message = ErrorMessage(
-                error_reason=mission_failed.error_reason,
-                error_description=mission_failed.error_description,
-            )
-
-            self.state_machine.mission_failed_to_start()  # type: ignore
-            return True
-        return False
-
-    def _check_and_handle_task_status_failed_event(self, event: Queue) -> bool:
-        task_failure: Optional[ErrorMessage] = check_for_event(event)
-        if task_failure is not None:
-            self.awaiting_task_status = False
-            self.state_machine.current_task.error_message = task_failure
-            self.logger.error(
-                f"Monitoring task {self.state_machine.current_task.id[:8]} failed "
-                f"because: {task_failure.error_description}"
-            )
-            return self._handle_new_task_status(TaskStatus.Failed)
-        elif not self.awaiting_task_status:
-            trigger_event(
-                self.events.state_machine_events.task_status_request,
-                self.state_machine.current_task.id,
-            )
-            self.awaiting_task_status = True
-        return False
-
-    def _check_and_handle_task_status_event(self, event: Queue) -> bool:
-        status: Optional[TaskStatus] = check_for_event(event)
-        if status is not None:
-            self.awaiting_task_status = False
-            return self._handle_new_task_status(status)
-        elif not self.awaiting_task_status:
-            trigger_event(
-                self.events.state_machine_events.task_status_request,
-                self.state_machine.current_task.id,
-            )
-            self.awaiting_task_status = True
-        return False
-
-    def _handle_new_task_status(self, status: TaskStatus) -> bool:
-        if self.state_machine.current_task is None:
-            self.state_machine.iterate_current_task()
-
-        self.state_machine.current_task.status = status
-
-        if self.state_machine.current_task.is_finished():
-            self._report_task_status(self.state_machine.current_task)
-            self.state_machine.publish_task_status(task=self.state_machine.current_task)
-
-            self.state_machine.iterate_current_task()
-            if self.state_machine.current_task is None:
-                if status != TaskStatus.Successful:
-                    self.state_machine.return_home_failed()  # type: ignore
-                    return True
-                self.state_machine.returned_home()  # type: ignore
-                return True
-
-            # Report and update next task
-            self.state_machine.current_task.update_task_status()
-            self.state_machine.publish_task_status(task=self.state_machine.current_task)
-        return False
-
-    def _check_and_handle_start_mission_event(
-        self, event: Queue[StartMissionMessage]
-    ) -> bool:
-        if check_for_event_without_consumption(event):
-            self.state_machine.stop()  # type: ignore
-            return True
-
-        return False
-
-    def _run(self) -> None:
-        while True:
-            if self.signal_state_machine_to_stop.is_set():
-                self.logger.info(
-                    "Stopping state machine from %s state", self.__class__.__name__
-                )
-                break
-
-            if self._check_and_handle_stop_mission_event(
-                self.events.api_requests.stop_mission.input
-            ):
-                break
-
-            if self._check_and_handle_mission_started_event(
-                self.events.robot_service_events.mission_started
-            ):
-                continue
-
-            if self._check_and_handle_task_status_event(
-                self.events.robot_service_events.task_status_updated
-            ):
-                break
-
-            if self._check_and_handle_start_mission_event(
-                self.events.api_requests.start_mission.input
-            ):
-                break
-
-            if self._check_and_handle_mission_failed_event(
-                self.events.robot_service_events.mission_failed
-            ):
-                break
-
-            if self._check_and_handle_task_status_failed_event(
-                self.events.robot_service_events.task_status_failed
-            ):
-                break
-
-            if self._check_and_handle_task_status_event(
-                self.events.robot_service_events.task_status_updated
-            ):
-                break
-
-    def _report_task_status(self, task: Task) -> None:
-        if task.status == TaskStatus.Failed:
-            self.logger.warning(
-                f"Task: {str(task.id)[:8]} was reported as failed by the robot"
-            )
-        elif task.status == TaskStatus.Successful:
-            self.logger.info(
-                f"{type(task).__name__} task: {str(task.id)[:8]} completed"
-            )
+        State.__init__(
+            self, name="returning_home", on_enter=self.start, on_exit=self.stop
+        )
+
+        OngoingMission.__init__(
+            self,
+            state_machine=state_machine,
+            state=OngoingMissionStates.ReturningHome,
+        )

isar/state_machine/states/robot_standing_still.py

@@ -1,100 +1,20 @@
-import logging
-import time
-from queue import Queue
-from typing import TYPE_CHECKING, Optional
+from typing import TYPE_CHECKING
 
 from transitions import State
 
-from isar.models.communication.message import StartMissionMessage
-from isar.models.communication.queues.queue_io import QueueIO
-from isar.models.communication.queues.queue_utils import (
-    check_for_event,
-    check_shared_state,
-)
-from isar.models.communication.queues.status_queue import StatusQueue
-from robot_interface.models.mission.status import RobotStatus
-
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
 
+from isar.state_machine.generic_states.idle import Idle, IdleStates
+
 
-class RobotStandingStill(State):
+class RobotStandingStill(State, Idle):
     def __init__(self, state_machine: "StateMachine") -> None:
-        super().__init__(
-            name="robot_standing_still", on_enter=self.start, on_exit=self.stop
+        State.__init__(
+            self, name="robot_standing_still", on_enter=self.start, on_exit=self.stop
+        )
+        Idle.__init__(
+            self,
+            state_machine=state_machine,
+            state=IdleStates.RobotStandingStill,
         )
-        self.state_machine: "StateMachine" = state_machine
-        self.logger = logging.getLogger("state_machine")
-        self.events = self.state_machine.events
-        self.shared_state = self.state_machine.shared_state
-        self.signal_state_machine_to_stop = state_machine.signal_state_machine_to_stop
-
-    def start(self) -> None:
-        self.state_machine.update_state()
-        self._run()
-
-    def stop(self) -> None:
-        return
-
-    def _check_and_handle_stop_mission_event(self, event: Queue) -> bool:
-        if check_for_event(event):
-            self.state_machine.stop()  # type: ignore
-            return True
-        return False
-
-    def _check_and_handle_start_mission_event(
-        self, event: Queue[StartMissionMessage]
-    ) -> bool:
-        start_mission: Optional[StartMissionMessage] = check_for_event(event)
-        if start_mission:
-            self.state_machine.start_mission(mission=start_mission.mission)
-            self.state_machine.request_mission_start()  # type: ignore
-            return True
-        return False
-
-    def _check_and_handle_return_home_event(self, event: QueueIO) -> bool:
-        if check_for_event(event.input):
-            event.output.put(True)
-            self.state_machine.request_return_home()  # type: ignore
-            return True
-        return False
-
-    def _check_and_handle_robot_status_event(
-        self, event: StatusQueue[RobotStatus]
-    ) -> bool:
-        robot_status: RobotStatus = check_shared_state(event)
-        if robot_status != RobotStatus.Available:
-            self.state_machine.robot_status_changed()  # type: ignore
-            return True
-
-        return False
-
-    def _run(self) -> None:
-        while True:
-            if self.signal_state_machine_to_stop.is_set():
-                self.logger.info(
-                    "Stopping state machine from %s state", self.__class__.__name__
-                )
-                break
-
-            if self._check_and_handle_stop_mission_event(
-                self.events.api_requests.stop_mission.input
-            ):
-                break
-
-            if self._check_and_handle_start_mission_event(
-                self.events.api_requests.start_mission.input
-            ):
-                break
-
-            if self._check_and_handle_return_home_event(
-                self.events.api_requests.return_home
-            ):
-                break
-
-            if self._check_and_handle_robot_status_event(
-                self.shared_state.robot_status
-            ):
-                break
-
-            time.sleep(self.state_machine.sleep_time)

isar/state_machine/transitions/mission.py

@@ -106,7 +106,7 @@ def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
         },
         {
             "trigger": "mission_failed_to_start",
-            "source": state_machine.monitor_state,
+            "source": [state_machine.monitor_state, state_machine.returning_home_state],
             "dest": state_machine.robot_standing_still_state,
             "before": def_transition(state_machine, report_failed_mission_and_finalize),
         },

{isar-1.30.2.dist-info → isar-1.30.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.30.2
+Version: 1.30.3
 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-1.30.2.dist-info → isar-1.30.3.dist-info}/RECORD

@@ -15,7 +15,7 @@ isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5ATfKc,46
 isar/config/log.py,sha256=SzEWbzXU1DpN7YONIRT8k0zBOGm_qVkXlJuuZtb8STc,2300
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
-isar/config/settings.py,sha256=IYnL8aMOIlEIKzVMtJVFM1LlNlNdmW-VxiEEvvnhcqk,12324
+isar/config/settings.py,sha256=M8Licz8HfVH46nh8dmUwVyi-4MqWD-1sYBOYNoorae0,12379
 isar/config/certs/ca-cert.pem,sha256=qoNljfad_qcMxhXJIUMLd7nT-Qwf_d4dYSdoOFEOE8I,2179
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
@@ -50,8 +50,8 @@ isar/models/communication/queues/queue_utils.py,sha256=wg6bIR3NS35Ek9hnGR5eN8z6i
 isar/models/communication/queues/status_queue.py,sha256=on8kvlNsG6MJjEVsyqtBswIpmOdOggQiKr7F5x0T3jw,514
 isar/models/mission_metadata/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/robot/robot.py,sha256=h-Z_1xCACekHvaj-vPJAhdzixSlcW4zMpe9__ui0zv8,5490
-isar/robot/robot_start_mission.py,sha256=jTTTAA_S3fIdzN57BsfVm_kgDzZZNMCn9UY5MkEncu8,2859
-isar/robot/robot_status.py,sha256=j5fGq5FzpEscmqUL6i8jRWCZEJ56b2g_DUpAgWpE1YI,1935
+isar/robot/robot_start_mission.py,sha256=vQKsKnrWQuY70jEK-qeeaZYpXxQH4vElorczYZheXTQ,3423
+isar/robot/robot_status.py,sha256=FpkTIAA-O5vKuyU7fnWn2YXtbstq5qbk9XSxbn_0MXU,2015
 isar/robot/robot_stop_mission.py,sha256=jUyfemvbyigxrlIp9aKPn-PvarhagJEgajQPS_LgJ7g,2442
 isar/robot/robot_task_status.py,sha256=71SYPnoqaFbTe1bELLTvAUigAJ-McpomC2sjYQNQs_A,3290
 isar/services/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -70,20 +70,23 @@ isar/services/utilities/robot_utilities.py,sha256=J3miRs0t74HNBoMIzVMceMCibp5Doz
 isar/services/utilities/scheduling_utilities.py,sha256=SVmpAuU7101FVUx6x4tcMDrxYaWBPhgOkntFxX_d6Zc,10179
 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=EvPTMTWkJuZlrr65cDsNXiyxvjk-B_81Q9U1O_ipS00,12864
+isar/state_machine/state_machine.py,sha256=onPjxGqDGSSvjHxCosKxIyiTw0X01FLwJX9rJArqfXg,13152
 isar/state_machine/states_enum.py,sha256=Z3dO6k6JmQAZ1lzcR58oVCxoCky_-ZS9MaL3RSaNbZ4,434
+isar/state_machine/generic_states/idle.py,sha256=T_LSadQ8Eu9egYPgL43WKDYv27MwFu-dqIxDazVE_KU,4359
+isar/state_machine/generic_states/ongoing_mission.py,sha256=NTYQIddTG0Nsq_ZjcWWBSe9KsQp_7zQcKH_0HYW18SQ,10850
+isar/state_machine/generic_states/robot_unavailable.py,sha256=pHmed1uRPwCWAR4uBJmdnxi9WX8veTbGG9ephmROhm0,1851
 isar/state_machine/states/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/states/await_next_mission.py,sha256=Afmg2mtWQrlGLlsHJuHLeLWm0RT1lngN8MfRQrGUvXA,3227
-isar/state_machine/states/blocked_protective_stop.py,sha256=Se7ZkZEb2TUYMWBwBDfetNnRH9vkmIwHlsHMqZhmDxg,1714
-isar/state_machine/states/home.py,sha256=YKcOuoj_Z4Z61l_74mOnNQl0mKjRnfuJSl2nk1d6wXE,2956
-isar/state_machine/states/monitor.py,sha256=FLXJEXyD5GJBwffeHF-ykaEe9lXL8XqMN-C61eIVtYQ,9631
-isar/state_machine/states/offline.py,sha256=aqHv8EH68pfq4yTIxOxxDW7VMkPWcQZX3fNgz90_EbE,1503
-isar/state_machine/states/paused.py,sha256=NgEl48GjLvnqGfPipYZZ6Yj8vdTb-fFLAK2tUu8i9j8,1461
-isar/state_machine/states/returning_home.py,sha256=m0tjDaIC5Pi6WqjyZbAqCgA5hDP8iVzIvJQFLHFlTm4,7005
-isar/state_machine/states/robot_standing_still.py,sha256=h2a0CTxXIjE8YKT9_8hkU80q0caq4TYCxHaOYB54cKc,3378
+isar/state_machine/states/await_next_mission.py,sha256=U0oGi-O05S-ZvdhpQRuirrY3ZBbblURo5U95PsscMlQ,573
+isar/state_machine/states/blocked_protective_stop.py,sha256=KDux2lm5kwEEarnDt9FG4MFrWbYUzs1_DX5hu2ILIlI,675
+isar/state_machine/states/home.py,sha256=2v7BFQn4QZ0npOrXpWLWCoHD5IpSyAJr-vQCS3MQWJs,514
+isar/state_machine/states/monitor.py,sha256=1PMirQaaQa_V-DEmbv-4dqlrB5q_XTg1Q1Gt--F1Bgw,655
+isar/state_machine/states/offline.py,sha256=vZnBMVDnehZ-0gPsHNVRpZtb8OBBFkeEnq2olo_Ep6M,609
+isar/state_machine/states/paused.py,sha256=IgnWBM6WXj3wjFZMARAPWIpzWGyUSW35DVBvNHuiNP8,1460
+isar/state_machine/states/returning_home.py,sha256=BBQo3PoNP-THlvJa5gQr0fNBhInh_Ox1L2OeH8evUq8,638
+isar/state_machine/states/robot_standing_still.py,sha256=RbOZSiQz72tWAJID5ksgzcb4lND6OniiG35IE1wMUHk,579
 isar/state_machine/states/stopping.py,sha256=Y44kEw-xB9_63eP6utAMY0RegrIz_1nL5cSI3cfaXEg,2838
 isar/state_machine/states/unknown_status.py,sha256=tOwfHW_4bKKkUTpKD7qc5gIwGT_fTXaCNxXcogGw-wo,2416
-isar/state_machine/transitions/mission.py,sha256=JJt_v84xFS60cMDIz_MsE6GRLBwpxx2JM5BTIB2O05Q,4867
+isar/state_machine/transitions/mission.py,sha256=Sb_D9i1orV_I_eCDI0c8ZvhCU89peUqTfHI5-G36d08,4905
 isar/state_machine/transitions/return_home.py,sha256=LeOMnckUUQYzBYRidD2ge6M0KdxGDTgo-ioXR7_9r8A,2714
 isar/state_machine/transitions/robot_status.py,sha256=c1ceyWRGCtx-KTDtxHXRD7oPbt8TQ2ej24A0wyim8vc,2720
 isar/state_machine/transitions/functions/fail_mission.py,sha256=_6HqBMALDinFZ4yh5GMpeqqgV5tw5i8OVMj5UDdqesg,495
@@ -101,9 +104,9 @@ isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
 isar/storage/uploader.py,sha256=HAC3ssuPQCQ1xH4aTQfHIaq-ZoEzKwONWmsAOpNXOzw,9523
 isar/storage/utilities.py,sha256=oLH0Rp7UtrQQdilfITnmXO1Z0ExdeDhBImYHid55vBA,3449
-isar-1.30.2.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.30.3.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/robot_interface.py,sha256=9I6c_7Qi8lOwb8M96p12iX2KwrRhcAXz1Ug_tnBEKcU,7821
+robot_interface/robot_interface.py,sha256=Miout0IRX7QniUNu_upyNzkB8KDUWin7GGCqIeMh83E,8195
 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
@@ -125,8 +128,8 @@ robot_interface/telemetry/payloads.py,sha256=78EVedDyRhYIquwXWdwjhA3RntMboCcuPWE
 robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/utilities/json_service.py,sha256=qkzVkb60Gi_pto-b5n1vNzCrQze2yqgIJqSLNLYj1Fg,1034
 robot_interface/utilities/uuid_string_factory.py,sha256=_NQIbBQ56w0qqO0MUDP6aPpHbxW7ATRhK8HnQiBSLkc,76
-isar-1.30.2.dist-info/METADATA,sha256=olWUSdkBtmv0INgMAqJYIS3IB7VzBdCMQ96SH3Z8lZ4,31063
-isar-1.30.2.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-isar-1.30.2.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.30.2.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.30.2.dist-info/RECORD,,
+isar-1.30.3.dist-info/METADATA,sha256=wJcwLK3BoorZOiqr_4dYD_sdppvRkl8qIHazybd1Ml0,31063
+isar-1.30.3.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+isar-1.30.3.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.30.3.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.30.3.dist-info/RECORD,,

robot_interface/robot_interface.py

@@ -48,6 +48,9 @@ class RobotInterface(metaclass=ABCMeta):
 
         Raises
         ------
+        RobotCommunicationTimeoutException or RobotCommunicationException
+            If the robot package is unable to communicate with the robot API the fetching
+            of task status will be attempted again until a certain number of retries
         RobotException
             If the task status could not be retrieved.
 
@@ -56,7 +59,7 @@ class RobotInterface(metaclass=ABCMeta):
 
     @abstractmethod
     def stop(self) -> None:
-        """Stops the execution of the current task and stops the movement of the robot.
+        """Stops the execution of the current task and corresponding mission.
 
         Returns
         -------
@@ -121,8 +124,8 @@ class RobotInterface(metaclass=ABCMeta):
 
         Returns
         -------
-        Sequence[Inspection]
-            List containing all the inspection connected to the given task.
+        Inspection
+            The inspection connected to the given task.
             get_inspection has responsibility to assign the inspection_id of the task
             to the inspection that it returns.
 
@@ -188,6 +191,7 @@ class RobotInterface(metaclass=ABCMeta):
         -------
         MediaConfig
             An object containing the connection information for a media stream connection
+
         """
         raise NotImplementedError
 
@@ -210,6 +214,7 @@ class RobotInterface(metaclass=ABCMeta):
         -------
         List[Thread]
             List containing all threads that will be started to publish telemetry.
+
         """
         raise NotImplementedError
 
@@ -229,13 +234,16 @@ class RobotInterface(metaclass=ABCMeta):
         Raises
         -------
         RobotCommunicationException
-            Raised if the robot package is unable to communicate with the robot API
+            Raised if the robot package is unable to communicate with the robot API.
+            The fetching of robot status will be attempted again until success
         RobotAPIException
             Raised if the robot package is able to communicate with the API but an error
-            occurred while interpreting the response
+            occurred while interpreting the response. The fetching of robot status will
+            be attempted again until success
         RobotException
             Catches other RobotExceptions that may have occurred while retrieving the
-            robot status
-            At this point ISAR will attempt to request the robot status again
+            robot status. The fetching of robot status will be attempted again until
+            success
+
         """
         raise NotImplementedError