Reword increment steps to iterate steps

src/isar/state_machine/state_machine.py

@@ -292,7 +292,7 @@ def _resume(self) -> None:
         self.queues.resume_mission.output.put(resume_mission_response)
 
         self.current_task.reset_task()
-        self.increment_current_step()
+        self.iterate_current_step()
 
         self.robot.resume()
 
@@ -337,12 +337,12 @@ def _mission_started(self) -> None:
         else:
             self.current_task.status = TaskStatus.InProgress
             self.publish_task_status(task=self.current_task)
-            self.increment_current_step()
+            self.iterate_current_step()
 
     def _step_finished(self) -> None:
         self.publish_step_status(step=self.current_step)
-        self.increment_current_task()
-        self.increment_current_step()
+        self.iterate_current_task()
+        self.iterate_current_step()
 
     def _full_mission_finished(self) -> None:
         self.current_task = None
@@ -379,8 +379,8 @@ def _initiate_infeasible(self) -> None:
         if self.stepwise_mission:
             self.current_step.status = StepStatus.Failed
             self.publish_step_status(step=self.current_step)
-            self.increment_current_task()
-            self.increment_current_step()
+            self.iterate_current_task()
+            self.iterate_current_step()
 
     def _mission_stopped(self) -> None:
         self.current_mission.status = MissionStatus.Cancelled
@@ -427,7 +427,7 @@ def begin(self):
         """
         self.to_idle()
 
-    def increment_current_task(self):
+    def iterate_current_task(self):
         if self.current_task.is_finished():
             try:
                 self.current_task = self.task_selector.next_task()
@@ -437,7 +437,7 @@ def increment_current_task(self):
                 # Indicates that all tasks are finished
                 self.current_task = None
 
-    def increment_current_step(self):
+    def iterate_current_step(self):
         if self.current_task != None:
             self.current_step = self.current_task.next_step()
 

src/isar/state_machine/states/monitor.py

@@ -108,9 +108,9 @@ def _run(self) -> None:
                 break
 
             if self.state_machine.current_task == None:
-                self.state_machine.increment_current_task()
+                self.state_machine.iterate_current_task()
             if self.state_machine.current_step == None:
-                self.state_machine.increment_current_step()
+                self.state_machine.iterate_current_step()
 
             self.state_machine.current_step.status = status
 
@@ -133,16 +133,14 @@ def _run(self) -> None:
                 if self._is_step_finished(self.state_machine.current_step):
                     self._report_step_status(self.state_machine.current_step)
 
-
-
                     if self.state_machine.current_task.is_finished():
                         # Report and update finished task
                         self.state_machine.current_task.update_task_status()  # Uses the updated step status to set the task status
                         self.state_machine.publish_task_status(
                             task=self.state_machine.current_task
                         )
 
-                        self.state_machine.increment_current_task()
+                        self.state_machine.iterate_current_task()
 
                         if self.state_machine.current_task == None:
                             transition = self.state_machine.full_mission_finished  # type: ignore
@@ -153,8 +151,8 @@ def _run(self) -> None:
                         self.state_machine.publish_task_status(
                             task=self.state_machine.current_task
                         )
-                    
-                    self.state_machine.increment_current_step()
+
+                    self.state_machine.iterate_current_step()
 
                 else:  # If not all steps are done
                     self.state_machine.current_task.status = TaskStatus.InProgress