MiR: Custom command callback messages (#31)

inorbit-ai · Nov 29, 2024 · 1e40532 · 1e40532
1 parent 0ae9cec
commit 1e40532
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Showing 2 changed files with 16 additions and 6 deletions.
diff --git a/mir_connector/inorbit_mir_connector/src/connector.py b/mir_connector/inorbit_mir_connector/src/connector.py
@@ -115,6 +115,12 @@ def _inorbit_command_handler(self, command_name, args, options):
         """
         if command_name == COMMAND_CUSTOM_COMMAND:
             self._logger.info(f"Received '{command_name}'!. {args}")
+            if len(args) < 2:
+                self._logger.error("Invalid number of arguments: ", args)
+                options["result_function"](
+                    "1", execution_status_details="Invalid number of arguments"
+                )
+                return
             script_name = args[0]
             script_args = args[1]
             # TODO (Elvio): Needs to be re designed.
@@ -139,8 +145,9 @@ def _inorbit_command_handler(self, command_name, args, options):
                 if script_args[0] == "--state_id":
                     state_id = script_args[1]
                     if not state_id.isdigit() or int(state_id) not in MIR_STATE.keys():
-                        self._logger.error(f"Invalid `state_id` ({state_id})")
-                        options["result_function"]("1")
+                        error = f"Invalid `state_id` '{state_id}'"
+                        self._logger.error(error)
+                        options["result_function"]("1", execution_status_details=error)
                         return
                     state_id = int(state_id)
                     self._logger.info(
@@ -196,9 +203,8 @@ def _inorbit_command_handler(self, command_name, args, options):
                 self.mir_api.set_state(4)
             elif msg == "inorbit_resume":
                 self.mir_api.set_state(3)
-
         else:
-            self._logger.info(f"Received '{command_name}'!. {args}")
+            self._logger.info(f"Received unknown command '{command_name}'!. {args}")
 
     def _connect(self) -> None:
         """Connect to the robot services and to InOrbit"""

diff --git a/mir_connector/inorbit_mir_connector/tests/test_connector.py b/mir_connector/inorbit_mir_connector/tests/test_connector.py
@@ -189,12 +189,16 @@ def test_command_callback_state(connector, callback_kwargs):
 
     callback_kwargs["args"] = ["set_state", ["--state_id", "123"]]
     connector._inorbit_command_handler(**callback_kwargs)
-    callback_kwargs["options"]["result_function"].assert_called_with("1")
+    callback_kwargs["options"]["result_function"].assert_called_with(
+        "1", execution_status_details="Invalid `state_id` '123'"
+    )
     assert not connector.mir_api.set_state.called
 
     callback_kwargs["args"] = ["set_state", ["--state_id", "abc"]]
     connector._inorbit_command_handler(**callback_kwargs)
-    callback_kwargs["options"]["result_function"].assert_called_with("1")
+    callback_kwargs["options"]["result_function"].assert_called_with(
+        "1", execution_status_details="Invalid `state_id` 'abc'"
+    )
     assert not connector.mir_api.set_state.called