Avoid excess site updates

src/isar_exr/api/energy_robotics_api.py

@@ -125,6 +125,35 @@ def pause_current_mission(self, exr_robot_id: str) -> None:
             raise RobotMissionStatusException(
                 error_description=f"Invalid status after pausing mission: '{status}'"
             )
+
+    def get_point_of_interest_by_customer_tag(
+        self, customer_tag: str, site_id: str
+    ) -> str:
+        variable_definitions_graphql: DSLVariableDefinitions = DSLVariableDefinitions()
+
+        point_of_interest_query: DSLQuery = DSLQuery(
+            self.schema.Query.pointOfInterestByCustomerTag.args(
+                customerTag=variable_definitions_graphql.customerTag, siteId=variable_definitions_graphql.siteId
+            ).select(self.schema.PointOfInterestType.id)
+        )
+
+        point_of_interest_query.variable_definitions = (
+            variable_definitions_graphql
+        )
+
+        params: dict = {"customerTag": customer_tag, "siteId": site_id}
+
+        try:
+            response_dict: dict[str, Any] = self.client.query(
+                dsl_gql(point_of_interest_query), params
+            )
+        except Exception:
+            return None
+
+        if response_dict["pointOfInterestByCustomerTag"] is None:
+            raise None
+
+        return response_dict["pointOfInterestByCustomerTag"]["id"]
 
     def create_point_of_interest(
         self, point_of_interest_input: AddPointOfInterestInput

src/isar_exr/api/models/models.py

@@ -56,6 +56,10 @@ class AddPointOfInterestInput(BaseModel):
     photoAction: Optional[PointOfInterestActionPhotoInput] = None
     videoAction: Optional[PointOfInterestActionVideoInput] = None
 
+class PointOfInterestByCustomerTag(BaseModel):
+    customerTag: str
+    siteId: str
+
 
 class RobotTypeEnum(str, Enum):
     SPOT: str = "SPOT"

src/isar_exr/config/settings.env

@@ -1,2 +1,2 @@
-CAPABILITIES = '["take_image", "take_video", "drive_to_pose", "take_thermal_image"]'
+CAPABILITIES = '["take_image", "take_video", "drive_to_pose", "take_thermal_image", "localize"]'
 ROBOT_MODEL = ExR2

src/isar_exr/robotinterface.py

@@ -51,6 +51,7 @@
     Point3DInput,
     PointOfInterestActionPhotoInput,
     PointOfInterestActionVideoInput,
+    PointOfInterestByCustomerTag,
     PointOfInterestTypeEnum,
     Pose3DInput,
     Pose3DStampedInput,
@@ -90,26 +91,34 @@ def initiate_mission(self, mission: Mission) -> None:
         curent_stage_id = self.api.get_current_site_stage(settings.ROBOT_EXR_SITE_ID)
         if curent_stage_id is not None:
             self.api.discard_stage(stage_id=curent_stage_id)
-        stage_id: str = self.api.create_stage(site_id=settings.ROBOT_EXR_SITE_ID)
+        stage_id: str = self.api.create_stage(site_id=settings.ROBOT_EXR_SITE_ID) # Do we need a new stage here?
+        updating_site = False
         poi_ids: List[str] = []
         for task in mission.tasks:
             for step in task.steps:
                 if isinstance(step, DriveToPose):
                     robot_pose: Pose = step.pose
                 if isinstance(step, InspectionStep):
-                    poi_id: str = self._create_and_add_poi(
-                        task=task, step=step, robot_pose=robot_pose, stage_id=stage_id
-                    )
-                    poi_ids.append(poi_id)
-
-        snapshot_id: str = self.api.commit_site_to_snapshot(stage_id=stage_id)
-
-        self.api.set_snapshot_as_head(
-            snapshot_id=snapshot_id, site_id=settings.ROBOT_EXR_SITE_ID
-        )
+                    existing_poi_id = self.api.get_point_of_interest_by_customer_tag(customer_tag=task.tag_id, site_id=settings.ROBOT_EXR_SITE_ID)
+                    if (existing_poi_id == None):
+                        poi_id: str = self._create_and_add_poi( # Here we should only create if it does not already exist
+                            task=task, step=step, robot_pose=robot_pose, stage_id=stage_id
+                        )
+                        poi_ids.append(poi_id)
+                        updating_site = True
+                    else:
+                        poi_ids.append(existing_poi_id)
+
+        if updating_site:
+            # We should only do the following if we changed the site
+            snapshot_id: str = self.api.commit_site_to_snapshot(stage_id=stage_id)
+
+            self.api.set_snapshot_as_head(
+                snapshot_id=snapshot_id, site_id=settings.ROBOT_EXR_SITE_ID
+            )
 
-        while not self.api.is_pipeline_completed(site_id=settings.ROBOT_EXR_SITE_ID):
-            time.sleep(settings.API_SLEEP_TIME)
+            while not self.api.is_pipeline_completed(site_id=settings.ROBOT_EXR_SITE_ID):
+                time.sleep(settings.API_SLEEP_TIME)
 
         mission_definition_id: str = self.api.create_mission_definition(
             site_id=settings.ROBOT_EXR_SITE_ID,
@@ -136,6 +145,10 @@ def initiate_mission(self, mission: Mission) -> None:
             mission_definition_id=mission_definition_id, robot_id=settings.ROBOT_EXR_ID
         )
 
+        # TODO: maybe store current mission, so that we can interpret idle but with mission as not idle
+
+        time.sleep(5) # Waits for mission to start in order to avoid returning Successful to ISAR
+
     def mission_status(self) -> MissionStatus:
         try:
             return self.api.get_mission_status(settings.ROBOT_EXR_ID)
@@ -278,7 +291,7 @@ def _create_and_add_poi(
         )
 
         add_point_of_interest_input: dict[str, PointOfInterestActionPhotoInput] = {
-            "name": step.id,
+            "name":  task.tag_id if task.tag_id != None else step.id,
             "customerTag": task.tag_id,
             "frame": "map",
             "type": PointOfInterestTypeEnum.GENERIC,