Raise already home exception if already home

Author: Eddasol

src/isar_robot/robotinterface.py

@@ -9,11 +9,12 @@
 from alitra import Position
 
 from robot_interface.models.exceptions.robot_exceptions import (
+    RobotAlreadyHomeException,
     RobotCommunicationException,
     RobotNoMissionRunningException,
 )
 from robot_interface.models.inspection.inspection import Inspection
-from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.mission import Mission, TaskTypes
 from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
 from robot_interface.models.mission.task import (
     InspectionTask,
@@ -50,6 +51,10 @@ def initiate_mission(self, mission: Mission) -> None:
             raise RobotCommunicationException(
                 error_description="Could not start mission as one is already running"
             )
+        elif self.robot_is_home and mission.tasks[0].type == TaskTypes.ReturnToHome:
+            raise RobotAlreadyHomeException(
+                error_description="Ignoring initiate of return to home as robot is already home"
+            )
         elif self.mission_simulation:
             self.mission_simulation.join()
         self.mission_simulation = MissionSimulation(mission)