Split task finished function for modularity

src/isar/models/mission/mission.py

@@ -7,14 +7,13 @@
 from isar.config.settings import settings
 from isar.models.mission_metadata.mission_metadata import MissionMetadata
 from robot_interface.models.mission import (
-    STEPS,
     InspectionStep,
     MotionStep,
+    STEPS,
     Step,
     StepStatus,
 )
 from robot_interface.models.mission.step import DriveToPose
-
 from .status import MissionStatus, TaskStatus
 
 
@@ -36,8 +35,7 @@ def is_finished(self) -> bool:
         for step in self.steps:
             if step.status is StepStatus.Failed and isinstance(step, MotionStep):
                 # One motion step has failed meaning the task as a whole should be
-                # aborted
-                self.status = TaskStatus.Failed
+                # considered as failed
                 return True
 
             elif (step.status is StepStatus.Failed) and isinstance(
@@ -46,7 +44,6 @@ def is_finished(self) -> bool:
                 # It should be possible to perform several inspections per task. If
                 # one out of many inspections fail the task is considered as
                 # partially successful.
-                self.status = TaskStatus.PartiallySuccessful
                 continue
 
             elif step.status is StepStatus.Successful:
@@ -56,18 +53,29 @@ def is_finished(self) -> bool:
                 # Not all steps have been completed yet
                 return False
 
-        # Check if the task has been marked as partially successful by having one or
-        # more inspection steps fail
+        return True
+
+    def update_task_status(self) -> None:
+        for step in self.steps:
+            if step.status is StepStatus.Failed and isinstance(step, MotionStep):
+                self.status = TaskStatus.Failed
+                return
+
+            elif (step.status is StepStatus.Failed) and isinstance(
+                step, InspectionStep
+            ):
+                self.status = TaskStatus.PartiallySuccessful
+                continue
+
+            elif step.status is StepStatus.Successful:
+                continue
+
         if self.status is not TaskStatus.PartiallySuccessful:
-            # All steps have been completed
             self.status = TaskStatus.Successful
 
-        # Set the task to failed if all inspection steps failed
         elif self._all_inspection_steps_failed():
             self.status = TaskStatus.Failed
 
-        return True
-
     def reset_task(self):
         for step in self.steps:
             if isinstance(step, DriveToPose):

src/isar/state_machine/state_machine.py

@@ -307,7 +307,7 @@ def _stop(self) -> None:
 
     def _initiate_step_failed(self) -> None:
         self.current_step.status = StepStatus.Failed
-        _ = self.current_task.is_finished()
+        self.current_task.update_task_status()
         self.current_mission.status = MissionStatus.Failed
         self.publish_step_status()
         self.publish_task_status()
@@ -365,6 +365,7 @@ def begin(self):
 
     def update_current_task(self):
         if self.current_task.is_finished():
+            self.current_task.update_task_status()
             self.publish_task_status()
             try:
                 self.current_task = self.task_selector.next_task()