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Inspect return to home #1988

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merged 1 commit into from
Jan 28, 2025
Merged

Inspect return to home #1988

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7 changes: 4 additions & 3 deletions backend/api/Controllers/ReturnToHomeController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -31,17 +31,18 @@ [FromRoute] string robotId
var robot = await robotService.ReadById(robotId, readOnly: true);
if (robot is null)
{
logger.LogWarning("Could not find robot with id={Id}", robotId);
logger.LogWarning("Could not find robot with id {Id}", robotId);
return NotFound();
}

var returnToHomeMission =
await returnToHomeService.ScheduleReturnToHomeMissionRunIfNotAlreadyScheduled(
robot
robot,
true
);
if (returnToHomeMission is null)
{
string errorMessage = "Error while scheduling Return home mission";
string errorMessage = "Error while scheduling Return Home mission";
logger.LogError(errorMessage);
return StatusCode(StatusCodes.Status502BadGateway, $"{errorMessage}");
}
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19 changes: 8 additions & 11 deletions backend/api/Services/MissionRunService.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -267,21 +267,18 @@ public async Task<IList<MissionRun>> ReadMissionRuns(

public async Task<bool> PendingOrOngoingReturnToHomeMissionRunExists(string robotId)
{
var pendingMissionRuns = await ReadNextScheduledMissionRun(
robotId,
type: MissionRunType.ReturnHome,
readOnly: true
);
if (pendingMissionRuns != null)
return true;

var ongoingMissionRuns = await GetMissionRunsWithSubModels(readOnly: true)
var pendingAndOngoingMissionRuns = await GetMissionRunsWithSubModels(readOnly: true)
.Where(missionRun =>
missionRun.Robot.Id == robotId && missionRun.Status == MissionStatus.Ongoing
missionRun.Robot.Id == robotId
&& (
missionRun.Status == MissionStatus.Ongoing
|| missionRun.Status == MissionStatus.Paused
|| missionRun.Status == MissionStatus.Pending
)
)
.OrderBy(missionRun => missionRun.DesiredStartTime)
.ToListAsync();
return ongoingMissionRuns.Any((m) => m.IsReturnHomeMission());
return pendingAndOngoingMissionRuns.Any((m) => m.IsReturnHomeMission());
}

public bool IncludesUnsupportedInspectionType(MissionRun missionRun)
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27 changes: 17 additions & 10 deletions backend/api/Services/MissionSchedulingService.cs
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Expand Up @@ -70,7 +70,7 @@ public async Task StartNextMissionRunIfSystemIsAvailable(Robot robot)
)
{
logger.LogInformation(
"Robot {robotName} was ready to start a mission but its mission queue was frozen",
"Robot {robotName} is ready to start a mission but its mission queue is frozen",
robot.Name
);
return;
Expand All @@ -88,19 +88,19 @@ public async Task StartNextMissionRunIfSystemIsAvailable(Robot robot)
if (missionRun.InspectionArea == null)
{
logger.LogWarning(
"Mission {MissionRunId} does not have an inspection area and was therefore not started",
"Mission {MissionRunId} cannot be started as it does not have an inspection area",
missionRun.Id
);
return;
}

if (robot.CurrentInspectionArea == null && missionRun.InspectionArea != null)
if (robot.CurrentInspectionArea == null)
{
await robotService.UpdateCurrentInspectionArea(
robot.Id,
missionRun.InspectionArea.Id
missionRun.InspectionArea!.Id
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Can we ensure that this is not null?

);
robot.CurrentInspectionArea = missionRun.InspectionArea;
robot.CurrentInspectionArea = missionRun.InspectionArea!;
}
else if (
!await localizationService.RobotIsOnSameInspectionAreaAsMission(
Expand All @@ -110,21 +110,24 @@ await robotService.UpdateCurrentInspectionArea(
)
{
logger.LogError(
"Robot {RobotId} is not on the same inspection area as the mission run {MissionRunId}. Aborting all mission runs",
"Robot {RobotNAme} with Id {RobotId} is not on the same inspection area as the mission run with Id {MissionRunId}. Aborting all mission runs",
robot.Name,
robot.Id,
missionRun.Id
);
try
{
await AbortAllScheduledNormalMissions(
robot.Id,
"Aborted: Robot was at different inspection area"
$"All missions aborted: Robot {robot.Name} is on inspection area {robot.CurrentInspectionArea?.Name} "
+ $"and mission run was on inspection area {missionRun.InspectionArea?.Name}"
);
}
catch (RobotNotFoundException)
{
logger.LogError(
"Failed to abort scheduled missions for robot {RobotId}",
"Failed to abort all scheduled missions for robot {RobotName} with Id {RobotId}",
robot.Name,
robot.Id
);
}
Expand Down Expand Up @@ -232,12 +235,16 @@ public async Task HandleBatteryAndPressureLevel(Robot robot)
{
await AbortAllScheduledNormalMissions(
robot.Id,
"Aborted: Robot pressure or battery values are too low."
$"Mission aborted for robot {robot.Name}: pressure or battery values too low."
);
}
catch (RobotNotFoundException)
{
logger.LogError("Failed to abort scheduled missions for robot {RobotId}", robot.Id);
logger.LogError(
"Failed to abort scheduled missions for robot {RobotName} with Id {RobotId} since the robot was not found",
robot.Name,
robot.Id
);
}
}

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45 changes: 30 additions & 15 deletions backend/api/Services/ReturnToHomeService.cs
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Expand Up @@ -5,7 +5,10 @@ namespace Api.Services
{
public interface IReturnToHomeService
{
public Task<MissionRun?> ScheduleReturnToHomeMissionRunIfNotAlreadyScheduled(Robot robot);
public Task<MissionRun?> ScheduleReturnToHomeMissionRunIfNotAlreadyScheduled(
Robot robot,
bool shouldTriggerMissionCreatedEvent = false
oysand marked this conversation as resolved.
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);
public Task<MissionRun?> GetActiveReturnToHomeMissionRun(
string robotId,
bool readOnly = true
Expand All @@ -18,18 +21,21 @@ IMissionRunService missionRunService
) : IReturnToHomeService
{
public async Task<MissionRun?> ScheduleReturnToHomeMissionRunIfNotAlreadyScheduled(
Robot robot
Robot robot,
bool shouldTriggerMissionCreatedEvent = false
)
{
logger.LogInformation(
"Scheduling return home mission if not already scheduled or the robot is home for robot {RobotId}",
"Scheduling return home mission if not already scheduled and the robot is not home for Robot {RobotName} with Id {RobotId}",
robot.Name,
robot.Id
);

if (await IsReturnToHomeMissionAlreadyScheduled(robot.Id))
{
logger.LogInformation(
"ReturnToHomeMission is already scheduled for Robot {RobotId}",
"Return Home Mission already scheduled for Robot {RobotName} with Id {RobotId}",
robot.Name,
robot.Id
);
return null;
Expand All @@ -38,7 +44,10 @@ Robot robot
MissionRun missionRun;
try
{
missionRun = await ScheduleReturnToHomeMissionRun(robot);
missionRun = await ScheduleReturnToHomeMissionRun(
robot,
shouldTriggerMissionCreatedEvent
);
}
catch (Exception ex)
when (ex
Expand All @@ -61,9 +70,12 @@ private async Task<bool> IsReturnToHomeMissionAlreadyScheduled(string robotId)
return await missionRunService.PendingOrOngoingReturnToHomeMissionRunExists(robotId);
}

private async Task<MissionRun> ScheduleReturnToHomeMissionRun(Robot robot)
private async Task<MissionRun> ScheduleReturnToHomeMissionRun(
Robot robot,
bool shouldTriggerMissionCreatedEvent = false
)
{
Pose? return_to_home_pose;
Pose? returnToHomePose;
InspectionArea? currentInspectionArea;
if (
robot.RobotCapabilities is not null
Expand All @@ -75,15 +87,15 @@ robot.RobotCapabilities is not null
readOnly: true
);
currentInspectionArea = previousMissionRun?.InspectionArea;
return_to_home_pose =
returnToHomePose =
previousMissionRun?.InspectionArea?.DefaultLocalizationPose?.Pose == null
? new Pose()
: new Pose(previousMissionRun.InspectionArea.DefaultLocalizationPose.Pose);
}
else
{
currentInspectionArea = robot.CurrentInspectionArea;
return_to_home_pose =
returnToHomePose =
robot.CurrentInspectionArea?.DefaultLocalizationPose?.Pose == null
? new Pose()
: new Pose(robot.CurrentInspectionArea.DefaultLocalizationPose.Pose);
Expand All @@ -92,26 +104,29 @@ robot.RobotCapabilities is not null
if (currentInspectionArea == null)
{
string errorMessage =
$"Robot with ID {robot.Id} could return home as it did not have an inspection area";
logger.LogError("{Message}", errorMessage);
$"Robot with ID {robot.Id} could not return to home because it does not have an inspection area";
logger.LogError("Message: {Message}", errorMessage);
throw new InspectionAreaNotFoundException(errorMessage);
}

var returnToHomeMissionRun = new MissionRun
{
Name = "Return home",
Name = "Return Home",
Robot = robot,
InstallationCode = robot.CurrentInstallation.InstallationCode,
MissionRunType = MissionRunType.ReturnHome,
InspectionArea = currentInspectionArea!,
Status = MissionStatus.Pending,
DesiredStartTime = DateTime.UtcNow,
Tasks = [new(return_to_home_pose, MissionTaskType.ReturnHome)],
Tasks = [new(returnToHomePose, MissionTaskType.ReturnHome)],
};

var missionRun = await missionRunService.Create(returnToHomeMissionRun, false);
var missionRun = await missionRunService.Create(
returnToHomeMissionRun,
shouldTriggerMissionCreatedEvent
);
logger.LogInformation(
"Scheduled a mission for the robot {RobotName} to return to home location on inspection area {InspectionAreaName}",
"Scheduled Return to Home mission for robot {RobotName} on Inspection Area {InspectionAreaName}",
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Suggested change
"Scheduled Return to Home mission for robot {RobotName} on Inspection Area {InspectionAreaName}",
"Scheduled Return Home mission for robot {RobotName} on Inspection Area {InspectionAreaName}",

robot.Name,
currentInspectionArea?.Name
);
Expand Down
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