Fix bug: VGR showed active when it was idle

simulator/devs_models/vacuum_gripper.py

@@ -251,8 +251,9 @@ class VacuumGripper(AtomicDEVS):
 
         # Queue some messages for later processing, if we are not IDLE
         elif not self.is_idle() and msg.topic in ["f/i/state/dsi", "f/o/order", "fl/sld/ack"]:
-            # don't queue if we're waiting on it
-            if not self.state.phase == InputRoutine.MOVE_TO_DSI and msg.topic == "f/i/state/dsi":
+            if msg.topic == "f/i/state/dsi" and (self.state.phase == InputRoutine.MOVE_TO_DSI or msg.payload['active'] == 0):
+                pass # we are already moving to DSI, or the DSI is not active, so ignore this message
+            else:
                 self.state.mqtt_msg_queue.append(msg)
 
         elif msg.topic == "f/i/state/dsi":
@@ -379,7 +380,9 @@ class VacuumGripper(AtomicDEVS):
 
         elif self.state.phase == OutputRoutine.DROP_WP_DSO:
             return {self.dso_out: [self.state.workpiece], self.mqtt_out: [self.get_status_message()]}
-
+        
+        logger.trace(f"peepo {self.state.phase.value}")
+        logger.trace(f"{self.state.mqtt_msg_queue}")
         return {self.mqtt_out: [self.get_status_message()]}  # return status
 
     def intTransition(self):