tools: planner: fix call to act_intermediate_pose()

This was not updated when is_intermediate attribute has been added to
the Pose class and "intermediate_pose_reached" message was sent by the
firmware.

Signed-off-by: Eric Courtois <[email protected]>

Author: ecourtois

cogip/tools/planner/event_manager.py

@@ -88,8 +88,6 @@ async def new_path_event_loop(self):
                 if not updated:
                     continue
                 self.planner.blocked_counter = 0
-                if self.planner.pose_order:
-                    await self.planner.pose_order.act_intermediate_pose()
         except asyncio.CancelledError:
             logger.info("Planner: Task New Path Event Watcher Loop cancelled")
             raise

cogip/tools/planner/planner.py

@@ -473,6 +473,7 @@ async def set_intermediate_pose_reached(self):
 
         # The pose reached is intermediate, just force path recompute.
         if self.pose_order:
+            await self.pose_order.act_intermediate_pose()
             self.pose_order.path_pose.to_shared(self.shared_avoidance_pose_order)
             self.shared_memory.avoidance_has_new_pose_order = True