unblock properties (#333)

viam-modules · Apr 2, 2024 · 9f728e4 · 9f728e4
1 parent b6c7ef2
commit 9f728e4
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Showing 2 changed files with 3 additions and 6 deletions.
diff --git a/viam_cartographer.go b/viam_cartographer.go
@@ -660,8 +660,9 @@ func (cartoSvc *CartographerService) Properties(ctx context.Context) (slam.Prope
 	_, span := trace.StartSpan(ctx, "viamcartographer::CartographerService::Properties")
 	defer span.End()
 
-	if err := cartoSvc.isOpenAndRunningLocally("Properties"); err != nil {
-		return slam.Properties{}, err
+	if cartoSvc.closed {
+		cartoSvc.logger.Warn("Properties called after closed")
+		return slam.Properties{}, ErrClosed
 	}
 
 	props := slam.Properties{

diff --git a/viam_cartographer_test.go b/viam_cartographer_test.go
@@ -70,10 +70,6 @@ func TestNew(t *testing.T) {
 		test.That(t, gisF, test.ShouldBeNil)
 		test.That(t, err, test.ShouldBeError, viamcartographer.ErrUseCloudSlamEnabled)
 
-		prop, err := svc.Properties(ctx)
-		test.That(t, err, test.ShouldBeError, viamcartographer.ErrUseCloudSlamEnabled)
-		test.That(t, prop, test.ShouldResemble, slam.Properties{})
-
 		cmd := map[string]interface{}{}
 		resp, err := svc.DoCommand(ctx, cmd)
 		test.That(t, resp, test.ShouldBeNil)