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Bug fixes #1077

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Merged
andchiind merged 3 commits into from
Jan 29, 2026
Merged

Bug fixes #1077

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66b213e
Add missing None check for task
andchiind Jan 28, 2026
2c46a7f
Fix json encoding errors
andchiind Jan 28, 2026
41b1add
Report task status on cancelled mission
andchiind Jan 28, 2026
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17 changes: 14 additions & 3 deletions src/isar/robot/robot_monitor_mission.py
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Original file line number Diff line number Diff line change
Expand Up @@ -251,9 +251,10 @@ def _get_and_handle_task_status(self, current_task: TASKS) -> Optional[TASKS]:
publish_task_status(self.mqtt_publisher, current_task, self.mission_id)
return current_task

def _handle_stopped_mission(self, current_task: TASKS) -> None:
current_task.status = TaskStatus.Cancelled
publish_task_status(self.mqtt_publisher, current_task, self.mission_id)
def _handle_stopped_mission(self, current_task: Optional[TASKS]) -> None:
if current_task is not None:
current_task.status = TaskStatus.Cancelled
publish_task_status(self.mqtt_publisher, current_task, self.mission_id)
publish_mission_status(
self.mqtt_publisher,
self.mission_id,
Expand Down Expand Up @@ -302,6 +303,16 @@ def run(self) -> None:
not in [MissionStatus.NotStarted, MissionStatus.InProgress]
and current_task is None # We wait for all task statuses
):
if (
new_mission_status == MissionStatus.Cancelled
and current_task is not None
and current_task.status == TaskStatus.InProgress
):
current_task.status = TaskStatus.Cancelled
publish_task_status(
self.mqtt_publisher, current_task, self.mission_id
)

# Standardises final mission status report
new_mission_status = self._get_mission_status_based_on_task_status()
if self.error_message is None and new_mission_status in [
Expand Down
12 changes: 9 additions & 3 deletions src/isar/storage/utilities.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,9 @@ def construct_metadata_file(
"inspection_id": inspection.id,
"mission_id": mission.id,
"mission_name": mission.name,
"mission_date": datetime.now(timezone.utc).date(),
"mission_date": datetime.now(timezone.utc)
.date()
.strftime("%Y-%m-%dT%H:%M:%S.%f"),
"plant_name": settings.PLANT_NAME,
"isar_id": settings.ISAR_ID,
"robot_name": settings.ROBOT_NAME,
Expand All @@ -47,14 +49,18 @@ def construct_metadata_file(
"y": inspection.metadata.robot_pose.position.y,
"z": inspection.metadata.robot_pose.position.z,
},
"orientation": inspection.metadata.robot_pose.orientation.to_quat_array(),
"orientation": str(
inspection.metadata.robot_pose.orientation.to_quat_array()
),
},
"target_position": {
"x": inspection.metadata.target_position.x,
"y": inspection.metadata.target_position.y,
"z": inspection.metadata.target_position.z,
},
"timestamp": inspection.metadata.start_time,
"timestamp": inspection.metadata.start_time.strftime(
"%Y-%m-%dT%H:%M:%S.%f"
),
},
"data_files": [
{
Expand Down
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