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Improve mission starting stability #1889

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merged 4 commits into from
Dec 17, 2024
Merged

Improve mission starting stability #1889

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4f0f8db
Improve mission starting stability
andchiind Dec 16, 2024
3fdb1fa
Handle missions being scheduled at the same time
andchiind Dec 16, 2024
4cf6b35
Allow return home missions when queue is frozen
andchiind Dec 17, 2024
c7fbe7a
Don't use potentially outdated robot after update
andchiind Dec 17, 2024
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2 changes: 1 addition & 1 deletion backend/api/Controllers/Models/UpdateRobotQuery.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
{
public class UpdateRobotQuery
{
public string? AreaId { get; set; }
public string? InspectionAreaId { get; set; }

public Pose? Pose { get; set; }

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42 changes: 24 additions & 18 deletions backend/api/Controllers/RobotController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ public class RobotController(
IIsarService isarService,
IMissionSchedulingService missionSchedulingService,
IRobotModelService robotModelService,
IAreaService areaService,
IDeckService deckService,
IErrorHandlingService errorHandlingService
) : ControllerBase
{
Expand Down Expand Up @@ -163,8 +163,8 @@ [FromBody] Robot robot

try
{
var updatedRobot = await robotService.Update(robot);
var robotResponse = new RobotResponse(updatedRobot);
await robotService.Update(robot);
var robotResponse = new RobotResponse(robot);
logger.LogInformation("Successful PUT of robot to database");

return Ok(robotResponse);
Expand Down Expand Up @@ -215,31 +215,36 @@ [FromBody] UpdateRobotQuery query
return NotFound(errorMessage);
}

Robot updatedRobot;
switch (fieldName)
{
case "currentInspectionAreaId":
if (query.AreaId == null)
updatedRobot = await robotService.UpdateCurrentInspectionArea(id, null);
if (query.InspectionAreaId == null)
{
await robotService.UpdateCurrentInspectionArea(id, null);
robot.CurrentInspectionArea = null;
}
else
{
var area = await areaService.ReadById(query.AreaId, readOnly: true);
if (area == null) return NotFound($"No area with ID {query.AreaId} was found");
updatedRobot = await robotService.UpdateCurrentInspectionArea(id, area.Id);
var inspectionArea = await deckService.ReadById(query.InspectionAreaId, readOnly: true);
if (inspectionArea == null) return NotFound($"No inspection area with ID {query.InspectionAreaId} was found");
await robotService.UpdateCurrentInspectionArea(id, inspectionArea.Id);
robot.CurrentInspectionArea = inspectionArea;
}
break;
case "pose":
if (query.Pose == null) return BadRequest("Cannot set robot pose to null");
updatedRobot = await robotService.UpdateRobotPose(id, query.Pose);
await robotService.UpdateRobotPose(id, query.Pose);
robot.Pose = query.Pose;
break;
case "missionId":
updatedRobot = await robotService.UpdateCurrentMissionId(id, query.MissionId);
await robotService.UpdateCurrentMissionId(id, query.MissionId);
robot.CurrentMissionId = query.MissionId;
break;
default:
return NotFound($"Could not find any field with name {fieldName}");
}

var robotResponse = new RobotResponse(updatedRobot);
var robotResponse = new RobotResponse(robot);
logger.LogInformation("Successful PUT of robot to database");

return Ok(robotResponse);
Expand Down Expand Up @@ -284,10 +289,10 @@ [FromRoute] bool deprecated
return NotFound(errorMessage);
}

Robot updatedRobot;
updatedRobot = await robotService.UpdateDeprecated(id, deprecated);
await robotService.UpdateDeprecated(id, deprecated);
robot.Deprecated = deprecated;

var robotResponse = new RobotResponse(updatedRobot);
var robotResponse = new RobotResponse(robot);
logger.LogInformation("Successful updated deprecated on robot to database");

return Ok(robotResponse);
Expand Down Expand Up @@ -357,10 +362,11 @@ [FromBody] RobotStatus robotStatus

try
{
var updatedRobot = await robotService.UpdateRobotStatus(id, robotStatus);
logger.LogInformation("Successfully updated robot {RobotId}", updatedRobot.Id);
await robotService.UpdateRobotStatus(id, robotStatus);
robot.Status = robotStatus;
logger.LogInformation("Successfully updated robot {RobotId}", robot.Id);

var robotResponse = new RobotResponse(updatedRobot);
var robotResponse = new RobotResponse(robot);

if (robotStatus == RobotStatus.Available) missionSchedulingService.TriggerRobotAvailable(new RobotAvailableEventArgs(robot.Id));

Expand Down
11 changes: 6 additions & 5 deletions backend/api/EventHandlers/MqttEventHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -100,15 +100,16 @@ private async void OnIsarStatus(object? sender, MqttReceivedArgs mqttArgs)
_updateRobotSemaphore.WaitOne();
_logger.LogDebug("Semaphore acquired for updating robot status");

var updatedRobot = await RobotService.UpdateRobotStatus(robot.Id, isarStatus.Status);
await RobotService.UpdateRobotStatus(robot.Id, isarStatus.Status);
robot.Status = isarStatus.Status;
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_updateRobotSemaphore.Release();
_logger.LogDebug("Semaphore released after updating robot status");

_logger.LogInformation("Updated status for robot {Name} to {Status}", updatedRobot.Name, updatedRobot.Status);
_logger.LogInformation("Updated status for robot {Name} to {Status}", robot.Name, robot.Status);


_logger.LogInformation("OnIsarStatus: Robot {robotName} has status {robotStatus} and current inspection area {areaName}", updatedRobot.Name, updatedRobot.Status, updatedRobot.CurrentInspectionArea?.Name);
_logger.LogInformation("OnIsarStatus: Robot {robotName} has status {robotStatus} and current inspection area {areaName}", robot.Name, robot.Status, robot.CurrentInspectionArea?.Name);

if (isarStatus.Status == RobotStatus.Available)
{
Expand Down Expand Up @@ -205,7 +206,7 @@ private async void OnIsarRobotInfo(object? sender, MqttReceivedArgs mqttArgs)
if (isarRobotInfo.Capabilities is not null) UpdateRobotCapabilitiesIfChanged(isarRobotInfo.Capabilities, ref robot, ref updatedFields);
if (updatedFields.Count < 1) return;

robot = await RobotService.Update(robot);
await RobotService.Update(robot);
_logger.LogInformation("Updated robot '{Id}' ('{RobotName}') in database: {Updates}", robot.Id, robot.Name, updatedFields);
}
finally
Expand Down Expand Up @@ -353,7 +354,7 @@ private async void OnIsarBatteryUpdate(object? sender, MqttReceivedArgs mqttArgs
var robot = await BatteryTimeseriesService.AddBatteryEntry(batteryStatus.BatteryLevel, batteryStatus.IsarId);
if (robot != null && robot.BatteryState != batteryStatus.BatteryState)
{
robot = await RobotService.UpdateRobotBatteryState(robot.Id, batteryStatus.BatteryState);
await RobotService.UpdateRobotBatteryState(robot.Id, batteryStatus.BatteryState);
}

_updateRobotSemaphore.Release();
Expand Down
3 changes: 2 additions & 1 deletion backend/api/Services/ActionServices/BatteryTimeseriesService.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,8 @@ public class BatteryTimeseriesService(ILogger<BatteryTimeseriesService> logger,
{
if (Math.Abs(batteryLevel - robot.BatteryLevel) > Tolerance)
{
robot = await robotService.UpdateRobotBatteryLevel(robot.Id, batteryLevel);
await robotService.UpdateRobotBatteryLevel(robot.Id, batteryLevel);
robot.BatteryLevel = batteryLevel;
}
}
catch (Exception e)
Expand Down
3 changes: 2 additions & 1 deletion backend/api/Services/ActionServices/PressureTimeseriesService.cs
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Expand Up @@ -24,7 +24,8 @@ public class PressureTimeseriesService(ILogger<PressureTimeseriesService> logger
{
if (robot.PressureLevel is null || Math.Abs(pressureLevel - (float)robot.PressureLevel) > Tolerance)
{
robot = await robotService.UpdateRobotPressureLevel(robot.Id, pressureLevel);
await robotService.UpdateRobotPressureLevel(robot.Id, pressureLevel);
robot.PressureLevel = pressureLevel;
}
}
catch (Exception e)
Expand Down
3 changes: 3 additions & 0 deletions backend/api/Services/IsarService.cs
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Expand Up @@ -57,6 +57,9 @@ public async Task<IsarMission> StartMission(Robot robot, MissionRun missionRun)

if (!response.IsSuccessStatusCode)
{
if (response.StatusCode == HttpStatusCode.Conflict)
throw new RobotBusyException("Robot was not available when starting mission");

(string message, int statusCode) = GetErrorDescriptionFoFailedIsarRequest(response);
string errorResponse = await response.Content.ReadAsStringAsync();
logger.LogError("{Message}: {ErrorResponse}", message, errorResponse);
Expand Down
74 changes: 11 additions & 63 deletions backend/api/Services/MissionSchedulingService.cs
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Expand Up @@ -38,14 +38,14 @@ public async Task StartNextMissionRunIfSystemIsAvailable(Robot robot)
logger.LogInformation("Robot {robotName} has status {robotStatus} and current area {areaName}", robot.Name, robot.Status, robot.CurrentInspectionArea?.Name);

MissionRun? missionRun;
try { missionRun = await SelectNextMissionRun(robot.Id); }
try { missionRun = await SelectNextMissionRun(robot); }
catch (RobotNotFoundException)
{
logger.LogError("Robot with ID: {RobotId} was not found in the database", robot.Id);
return;
}

if (robot.MissionQueueFrozen && missionRun != null && !missionRun.IsEmergencyMission())
if (robot.MissionQueueFrozen && missionRun != null && !(missionRun.IsEmergencyMission() || missionRun.IsReturnHomeMission()))
{
logger.LogInformation("Robot {robotName} was ready to start a mission but its mission queue was frozen", robot.Name);
return;
Expand All @@ -68,7 +68,7 @@ public async Task StartNextMissionRunIfSystemIsAvailable(Robot robot)

if (missionRun == null) { return; }

if (!await TheSystemIsAvailableToRunAMission(robot.Id, missionRun.Id))
if (!TheSystemIsAvailableToRunAMission(robot, missionRun))
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{
logger.LogInformation("Mission {MissionRunId} was put on the queue as the system may not start a mission now", missionRun.Id);
return;
Expand Down Expand Up @@ -98,7 +98,7 @@ public async Task StartNextMissionRunIfSystemIsAvailable(Robot robot)
if (missionRun == null) { return; }
}

try { await StartMissionRun(missionRun); }
try { await StartMissionRun(missionRun, robot); }
catch (Exception ex) when (
ex is MissionException
or RobotNotFoundException
Expand All @@ -114,6 +114,9 @@ or MissionRunNotFoundException
);
await missionRunService.SetMissionRunToFailed(missionRun.Id, $"Mission run '{missionRun.Id}' was not started successfully. '{ex.Message}'");
}
catch (RobotBusyException)
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{
}
}

public async Task<MissionRun?> HandleBatteryAndPressureLevel(Robot robot)
Expand Down Expand Up @@ -308,16 +311,8 @@ public void TriggerRobotAvailable(RobotAvailableEventArgs e)
OnRobotAvailable(e);
}

private async Task<MissionRun?> SelectNextMissionRun(string robotId)
private async Task<MissionRun?> SelectNextMissionRun(Robot robot)
{
var robot = await robotService.ReadById(robotId, readOnly: true);
if (robot == null)
{
string errorMessage = $"Could not find robot with id {robotId}";
logger.LogError("{Message}", errorMessage);
throw new RobotNotFoundException(errorMessage);
}

var missionRun = await missionRunService.ReadNextScheduledEmergencyMissionRun(robot.Id, readOnly: true);
if (robot.MissionQueueFrozen == false && missionRun == null) { missionRun = await missionRunService.ReadNextScheduledMissionRun(robot.Id, readOnly: true); }
return missionRun;
Expand Down Expand Up @@ -371,33 +366,10 @@ private async Task MoveInterruptedMissionsToQueue(IEnumerable<string> interrupte
}
}

private async Task StartMissionRun(MissionRun queuedMissionRun)
private async Task StartMissionRun(MissionRun queuedMissionRun, Robot robot)
{
string robotId = queuedMissionRun.Robot.Id;
string missionRunId = queuedMissionRun.Id;

var robot = await robotService.ReadById(robotId, readOnly: true);
if (robot == null)
{
string errorMessage = $"Could not find robot with id {robotId}";
logger.LogError("{Message}", errorMessage);
throw new RobotNotFoundException(errorMessage);
}

if (robot.Status is not RobotStatus.Available)
{
string errorMessage = $"Robot {robotId} has status {robot.Status} and is not available";
logger.LogError("{Message}", errorMessage);
throw new RobotNotAvailableException(errorMessage);
}

if (robot.Deprecated)
{
string errorMessage = $"Robot {robotId} is deprecated and cannot start mission";
logger.LogError("{Message}", errorMessage);
throw new RobotNotAvailableException(errorMessage);
}

var missionRun = await missionRunService.ReadById(missionRunId, readOnly: true);
if (missionRun == null)
{
Expand Down Expand Up @@ -452,33 +424,9 @@ private async Task StartMissionRun(MissionRun queuedMissionRun)
return ongoingMissions;
}

private async Task<bool> TheSystemIsAvailableToRunAMission(string robotId, string missionRunId)
private bool TheSystemIsAvailableToRunAMission(Robot robot, MissionRun missionRun)
{
bool ongoingMission = await OngoingMission(robotId);
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if (ongoingMission)
{
logger.LogInformation("Mission run {MissionRunId} was not started as there is already an ongoing mission", missionRunId);
return false;
}

var robot = await robotService.ReadById(robotId, readOnly: true);
if (robot is null)
{
string errorMessage = $"Robot with ID: {robotId} was not found in the database";
logger.LogError("{Message}", errorMessage);
throw new RobotNotFoundException(errorMessage);
}

var missionRun = await missionRunService.ReadById(missionRunId, readOnly: true);
if (missionRun is null)
{
string errorMessage = $"Mission run with Id {missionRunId} was not found in the database";
logger.LogError("{Message}", errorMessage);
throw new MissionRunNotFoundException(errorMessage);
}

if (robot.MissionQueueFrozen && missionRun.MissionRunType != MissionRunType.Emergency)
if (robot.MissionQueueFrozen && !(missionRun.IsEmergencyMission() || missionRun.IsReturnHomeMission()))
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{
logger.LogInformation("Mission run {MissionRunId} was not started as the mission run queue for robot {RobotName} is frozen", missionRun.Id, robot.Name);
return false;
Expand Down
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