pip tribunal

hi I was on indefinite dla middle care low mobility got asked to claim pip dec 2016 anyway to cut a long story short atos refused a home visit and I can't leave my house haven't done for over 2 yrs so I didn't get pip I appealed to tribunal and my support worker and social worker attended on my behalf with all up to date medical info and psychiatrist report as when I made my claim I wasn't with them as they had signed me off cause I was managing and don't like help unless I'm really struggling but all this has made my illness worse so crisis team got involved and have my social and support worker back and the pschiatrist did home visit so the tribunal were discusted as how I've been treated and they say if they need to do a face assessment it will have to be in my home although hopefully I won't need one as I have paranoid schizophrenia severe social anxiety agoraphobia autism with pda profile osteoarthritis and mortons nuroma in foot am confused though as I thought the tribunal was to sort it out but they say the decision was wrong as I should of been allowed home visit but now I have more evidence it's up to dwp because they refused my claim because I never attended assessment so I'm hoping this is a positive outcome as I can't take much more now what do you think