Fix robot never changing to or from offline

equinor · Oct 7, 2024 · 0fab951 · 0fab951
1 parent 6e1145e
commit 0fab951
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/src/isar/state_machine/states/idle.py b/src/isar/state_machine/states/idle.py
@@ -36,9 +36,9 @@ def stop(self) -> None:
 
     def _run(self) -> None:
         while True:
-            start_mission: Optional[StartMissionMessage] = (
-                self.state_machine.should_start_mission()
-            )
+            start_mission: Optional[
+                StartMissionMessage
+            ] = self.state_machine.should_start_mission()
             if start_mission:
                 self.state_machine.start_mission(
                     mission=start_mission.mission,
@@ -82,4 +82,6 @@ def _run(self) -> None:
                 transition = self.state_machine.robot_turned_offline  # type: ignore
                 break
 
+            self.robot_status_thread = None
+
         transition()
diff --git a/src/isar/state_machine/states/offline.py b/src/isar/state_machine/states/offline.py
@@ -57,6 +57,7 @@ def _run(self) -> None:
                 transition = self.state_machine.robot_turned_online  # type: ignore
                 break
 
+            self.robot_status_thread = None
             time.sleep(settings.ROBOT_API_STATUS_POLL_INTERVAL)
 
         transition()