Remove task wise mode

[oysand]

Ready for review checklist:

• A self-review has been performed
• All commits run individually
• Temporary changes have been removed, like logging, TODO, etc.
• The PR has been tested locally
• A test has been written
  • This change doesn't need a new test
• Relevant issues are linked
• Remaining work is documented in issues
  • There is no remaining work from this PR that requires new issues
• The changes do not introduce dead code as unused imports, functions etc.

[Eddasol]

• There are a lot of taskwise related comments in robot_interface that can be removed as well. Like this one:

This function should be used in combination with the mission_status function
if the robot is designed to run full missions and not in a taskwise
configuration.

• Initiate_task in robot_interface is only needed for task wise missions and can be removed

[Christdej]

A few lines above this function still says "RobotInfeasibleTaskException" which I believe is no longer possible? Also you can delete this exception from robot_exception.py

[oysand]

I think this is still a reasonable exception as we want to keep initiate_task for scheduling retrun to home from isar directly

[Christdej]

So we want to initiate it as a task and not as a mission?

[oysand]

I would argue so, yes

[andchiind]

It might be easier to merge this PR first: #689 since it isolates all the task-wise code into specific transitions. Instead of deleting specific lines in various states, all we would need to do is delete the relevant transitions (and remove the Task option in starting missions).

[Christdej]

LGTM

[oysand]

It might be easier to merge this PR first: #689 since it isolates all the task-wise code into specific transitions. Instead of deleting specific lines in various states, all we would need to do is delete the relevant transitions (and remove the Task option in starting missions).

As this change entails less change in isar, we will take this in first and continue with it afterwards