Support gas measurement inspection

Author: mrica-equinor

backend/api/Database/Models/Inspection.cs

@@ -129,6 +129,7 @@ public void UpdateWithIsarInfo(IsarTask isarTask)
                 IsarTaskType.TakeThermalImage => InspectionType.ThermalImage,
                 IsarTaskType.TakeVideo => InspectionType.Video,
                 IsarTaskType.TakeThermalVideo => InspectionType.ThermalVideo,
+                IsarTaskType.TakeGasMeasurement => InspectionType.GasMeasurement,
                 _ => throw new ArgumentException(
                     $"ISAR task type '{isarTask.TaskType}' not supported for inspections"
                 ),
@@ -168,6 +169,9 @@ public bool IsSupportedInspectionType(IList<RobotCapabilitiesEnum> capabilities)
                 InspectionType.ThermalVideo => capabilities.Contains(
                     RobotCapabilitiesEnum.take_thermal_video
                 ),
+                InspectionType.GasMeasurement => capabilities.Contains(
+                    RobotCapabilitiesEnum.take_gas_measurement
+                ),
                 InspectionType.Audio => capabilities.Contains(RobotCapabilitiesEnum.record_audio),
                 _ => false,
             };
@@ -190,6 +194,7 @@ public enum InspectionType
         Video,
         ThermalVideo,
         Audio,
+        GasMeasurement,
     }
 
     public enum AnalysisType

backend/api/Database/Models/Robot.cs

@@ -192,6 +192,7 @@ public enum RobotCapabilitiesEnum
         take_image,
         take_video,
         take_thermal_video,
+        take_gas_measurement,
         record_audio,
         localize,
         auto_localize,

backend/api/MQTT/MessageModels/IsarTask.cs

@@ -37,6 +37,7 @@ public MissionTaskType GetMissionTaskTypeFromIsarTask(string isarTaskType)
                 "take_thermal_image" => MissionTaskType.Inspection,
                 "take_thermal_video" => MissionTaskType.Inspection,
                 "return_to_home" => MissionTaskType.ReturnHome,
+                "take_gas_measurement" => MissionTaskType.Inspection,
 
                 _ => throw new ArgumentException($"ISAR Task type '{isarTaskType}' not supported"),
             };

backend/api/Services/EchoService.cs

@@ -333,7 +333,9 @@ public async Task<IList<MissionTask>> MissionTasksFromEchoTag(EchoTag echoTag)
         {
             var inspections = echoTag
                 .Inspections.Select(inspection => new Inspection(
-                    inspectionType: inspection.InspectionType,
+                    inspectionType: inspection.InspectionType != InspectionType.Audio
+                        ? inspection.InspectionType
+                        : InspectionType.GasMeasurement,
                     videoDuration: inspection.TimeInSeconds,
                     inspectionTarget: inspection.InspectionPoint,
                     inspectionTargetName: inspection.InspectionPointName,

backend/api/Services/Models/IsarTask.cs

@@ -36,6 +36,7 @@ public static IsarTaskType TaskTypeFromString(string isarClassName)
                 "take_video" => IsarTaskType.TakeVideo,
                 "take_thermal_image" => IsarTaskType.TakeThermalImage,
                 "take_thermal_video" => IsarTaskType.TakeThermalVideo,
+                "take_gas_measurement" => IsarTaskType.TakeGasMeasurement,
                 "return_to_home" => IsarTaskType.ReturnToHome,
                 "move_arm" => IsarTaskType.MoveArm,
                 _ => throw new ArgumentException(
@@ -63,6 +64,7 @@ public enum IsarTaskType
         TakeVideo,
         TakeThermalImage,
         TakeThermalVideo,
+        TakeGasMeasurement,
         RecordAudio,
         MoveArm,
     }

frontend/src/models/Robot.ts

@@ -58,6 +58,7 @@ export enum RobotCapabilitiesEnum {
     take_image = 'take_image',
     take_video = 'take_video',
     take_thermal_video = 'take_thermal_video',
+    take_gas_measurement = 'take_gas_measurement',
     record_audio = 'record_audio',
     localize = 'localize',
     auto_localize = 'auto_localize',