Modularise creating a new mission definition

src/isar_exr/robotinterface.py

@@ -95,7 +95,7 @@ def create_new_stage(self) -> str:
         stage_id: str = self.api.create_stage(site_id=settings.ROBOT_EXR_SITE_ID)
         return stage_id
 
-    def update_site_with_tasks(self, tasks) -> List[str]: # Returns a list of POI IDs
+    def update_site_with_tasks(self, tasks: List[Task]) -> List[str]: # Returns a list of POI IDs
         new_stage_id = None
         poi_ids: List[str] = []
         is_possible_return_to_home_mission = False
@@ -157,13 +157,9 @@ def update_site_with_tasks(self, tasks) -> List[str]: # Returns a list of POI ID
             ):
                 time.sleep(settings.API_SLEEP_TIME)
         return poi_ids
-
-    def initiate_mission(self, mission: Mission) -> None:
-        try:
-            poi_ids: List[str] = self.update_site_with_tasks(mission.tasks)
-        except RobotMissionNotSupportedException:
-            return
-
+
+    def create_mission_definition(self, mission: Mission, poi_ids: List[str]) -> str: # Returns a mission definition ID
+        # Note that the POI IDs need to be in the same order as inspection steps in the provided mission
         mission_definition_id: str = self.api.create_mission_definition(
             site_id=settings.ROBOT_EXR_SITE_ID,
             mission_name=mission.id,
@@ -187,6 +183,15 @@ def initiate_mission(self, mission: Mission) -> None:
             task_name="dock",
             mission_definition_id=mission_definition_id,
         )
+        return mission_definition_id
+
+    def initiate_mission(self, mission: Mission) -> None:
+        try:
+            poi_ids: List[str] = self.update_site_with_tasks(mission.tasks)
+        except RobotMissionNotSupportedException:
+            return
+
+        mission_definition_id: str = self.create_mission_definition(mission, poi_ids)
 
         self.api.start_mission_execution(
             mission_definition_id=mission_definition_id, robot_id=settings.ROBOT_EXR_ID