Add configurable return to home settings

Dockerfile

@@ -17,7 +17,7 @@ COPY . .
 RUN --mount=source=.git,target=.git,type=bind
 RUN pip install .
 
-FROM ghcr.io/equinor/isar:v1.16.14
+FROM ghcr.io/equinor/isar:v1.17.0
 WORKDIR /app
 COPY --from=build /app/venv /app/venv
 ENV PATH="/app/venv/bin:$PATH"

pyproject.toml

@@ -22,7 +22,7 @@ classifiers = [
     "Topic :: Scientific/Engineering :: Physics",
     "Topic :: Software Development :: Libraries",
 ]
-dependencies = ["alitra", "isar"]
+dependencies = ["alitra", "isar>=1.17.0"]
 dynamic = ["version"]
 
 [project.urls]

src/isar_robot/config/settings.env

@@ -1,2 +1,2 @@
-CAPABILITIES = '["take_thermal_image", "take_image", "take_video", "take_thermal_video", "drive_to_pose", "record_audio", "localize", "docking_procedure"]'
+CAPABILITIES = '["take_thermal_image", "take_image", "take_video", "take_thermal_video", "drive_to_pose", "record_audio", "localize", "return_to_home", "docking_procedure"]'
 ROBOT_MODEL = Robot

src/isar_robot/config/settings.py

@@ -19,6 +19,8 @@ def __init__(self) -> None:
     SHOULD_FAIL_LOCALIZATION_MISSION: bool = Field(default=False)
     SHOULD_FAIL_NORMAL_STEP: bool = Field(default=False)
     SHOULD_FAIL_LOCALIZATION_STEP: bool = Field(default=False)
+    SHOULD_FAIL_RETURN_TO_HOME_STEP: bool = Field(default=False)
+    SHOULD_FAIL_RETURN_TO_HOME_MISSION: bool = Field(default=False)
 
     model_config = SettingsConfigDict(
         env_prefix="ROBOT_",

src/isar_robot/robotinterface.py

@@ -23,7 +23,12 @@
 
 from isar_robot import inspections, telemetry
 from isar_robot.config.settings import settings
-from isar_robot.utilities import is_localization_mission, is_localization_step
+from isar_robot.utilities import (
+    is_localization_mission,
+    is_localization_step,
+    is_return_to_home_mission,
+    is_return_to_home_step,
+)
 
 
 class Robot(RobotInterface):
@@ -42,7 +47,10 @@ def mission_status(self) -> MissionStatus:
             if settings.SHOULD_FAIL_LOCALIZATION_MISSION:
                 return MissionStatus.Failed
 
-            return MissionStatus.Successful
+        if is_return_to_home_mission(self.current_mission):
+            self.current_step = None
+            if settings.SHOULD_FAIL_RETURN_TO_HOME_MISSION:
+                return StepStatus.Failed
 
         self.current_mission = None
         if settings.SHOULD_FAIL_NORMAL_MISSION:
@@ -61,7 +69,10 @@ def step_status(self) -> StepStatus:
             if settings.SHOULD_FAIL_LOCALIZATION_STEP:
                 return StepStatus.Failed
 
-            return StepStatus.Successful
+        if is_return_to_home_step(self.current_step):
+            self.current_step = None
+            if settings.SHOULD_FAIL_RETURN_TO_HOME_STEP:
+                return StepStatus.Failed
 
         self.current_step = None
         if settings.SHOULD_FAIL_NORMAL_STEP:

src/isar_robot/utilities.py

@@ -1,5 +1,5 @@
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.step import Localize, Step
+from robot_interface.models.mission.step import Localize, ReturnToHome, Step
 
 
 def is_localization_mission(mission: Mission):
@@ -14,3 +14,17 @@ def is_localization_mission(mission: Mission):
 
 def is_localization_step(step: Step):
     return isinstance(step, Localize)
+
+
+def is_return_to_home_mission(mission: Mission):
+    if len(mission.tasks) != 1:
+        return False
+    if len(mission.tasks[0].steps) != 1:
+        return False
+    if not isinstance(mission.tasks[0].steps[0], ReturnToHome):
+        return False
+    return True
+
+
+def is_return_to_home_step(step: Step):
+    return isinstance(step, ReturnToHome)