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Add communication reconnect delay #700

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merged 1 commit into from
Jan 27, 2025
+5 −1
Merged

Add communication reconnect delay #700

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4 changes: 4 additions & 0 deletions src/isar/config/settings.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,10 @@ def __init__(self) -> None:
# Number of attempts to request a task status in monitor before cancelling
REQUEST_STATUS_FAILURE_COUNTER_LIMIT: int = Field(default=3)

# Time allocated to reconnect when failing to retrieve status due to communication
# issues
REQUEST_STATUS_COMMUNICATION_RECONNECT_DELAY: float = Field(default=10)

# Number of attempts to stop the robot before giving up
STOP_ROBOT_ATTEMPTS_LIMIT: int = Field(default=10)

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2 changes: 1 addition & 1 deletion src/isar/state_machine/states/monitor.py
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Expand Up @@ -87,7 +87,7 @@ def _run(self) -> None:
)
status = TaskStatus.Failed
else:
time.sleep(self.state_machine.sleep_time)
time.sleep(settings.REQUEST_STATUS_COMMUNICATION_RECONNECT_DELAY)
continue

except RobotTaskStatusException as e:
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