Prevent using outdated robot during mission check

mrica-equinor · Dec 16, 2024 · 0060030 · 0060030
1 parent c496dec
commit 0060030
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Showing 5 changed files with 19 additions and 18 deletions.
diff --git a/backend/api/EventHandlers/MissionEventHandler.cs b/backend/api/EventHandlers/MissionEventHandler.cs
@@ -74,7 +74,7 @@ private async void OnMissionRunCreated(object? sender, MissionRunCreatedEventArg
                 await MissionScheduling.AbortActiveReturnToHomeMission(missionRun.Robot.Id);
             }
 
-            try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(missionRun.Robot.Id); }
+            try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(missionRun.Robot); }
             catch (MissionRunNotFoundException) { return; }
             finally { _startMissionSemaphore.Release(); }
         }
@@ -90,7 +90,7 @@ private async void OnRobotAvailable(object? sender, RobotAvailableEventArgs e)
             }
 
             _startMissionSemaphore.WaitOne();
-            try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot.Id); }
+            try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot); }
             catch (MissionRunNotFoundException) { return; }
             finally { _startMissionSemaphore.Release(); }
         }
@@ -153,7 +153,7 @@ private async void OnSendRobotToDockTriggered(object? sender, RobotEmergencyEven
             }
 
             _startMissionSemaphore.WaitOne();
-            try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot.Id); }
+            try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot); }
             catch (MissionRunNotFoundException) { return; }
             finally { _startMissionSemaphore.Release(); }
         }
@@ -174,9 +174,11 @@ private async void OnReleaseRobotFromDockTriggered(object? sender, RobotEmergenc
                 return;
             }
 
-            try { await MissionScheduling.UnfreezeMissionRunQueueForRobot(e.RobotId); }
+            try { await MissionScheduling.UnfreezeMissionRunQueueForRobot(robot.Id); }
             catch (RobotNotFoundException) { return; }
 
+            robot.MissionQueueFrozen = false;
+
             try { await RobotService.UpdateFlotillaStatus(e.RobotId, e.RobotFlotillaStatus ?? RobotFlotillaStatus.Normal); }
             catch (Exception ex)
             {
@@ -185,7 +187,7 @@ private async void OnReleaseRobotFromDockTriggered(object? sender, RobotEmergenc
             }
 
             _startMissionSemaphore.WaitOne();
-            try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot.Id); }
+            try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot); }
             catch (MissionRunNotFoundException) { return; }
             finally { _startMissionSemaphore.Release(); }
         }

diff --git a/backend/api/EventHandlers/MqttEventHandler.cs b/backend/api/EventHandlers/MqttEventHandler.cs
@@ -129,7 +129,7 @@ private async void OnIsarStatus(object? sender, MqttReceivedArgs mqttArgs)
                     _updateRobotSemaphore.Release();
                     _logger.LogDebug("Semaphore released after updating robot current mission id");
                 }
-                await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot.Id);
+                await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot);
             }
         }
 

diff --git a/backend/api/Services/MissionRunService.cs b/backend/api/Services/MissionRunService.cs
@@ -252,6 +252,13 @@ private IQueryable<MissionRun> GetMissionRunsWithSubModels(bool readOnly = true)
                 .ThenInclude(defaultLocalizationPose => defaultLocalizationPose != null ? defaultLocalizationPose.Pose : null)
                 .Include(missionRun => missionRun.Robot)
                 .Include(missionRun => missionRun.Robot)
+                .ThenInclude(robot => robot.CurrentInspectionArea)
+                .ThenInclude(a => a != null ? a.Installation : null)
+                .Include(missionRun => missionRun.Robot)
+                .ThenInclude(robot => robot.CurrentInspectionArea)
+                .ThenInclude(a => a != null ? a.Plant : null)
+                .ThenInclude(p => p != null ? p.Installation : null)
+                .Include(missionRun => missionRun.Robot)
                 .ThenInclude(robot => robot.Model)
                 .Include(missionRun => missionRun.Tasks)
                 .ThenInclude(task => task.Inspection)

diff --git a/backend/api/Services/MissionSchedulingService.cs b/backend/api/Services/MissionSchedulingService.cs
@@ -8,7 +8,7 @@ namespace Api.Services
 {
     public interface IMissionSchedulingService
     {
-        public Task StartNextMissionRunIfSystemIsAvailable(string robotId);
+        public Task StartNextMissionRunIfSystemIsAvailable(Robot robot);
 
         public Task<bool> OngoingMission(string robotId);
 
@@ -33,23 +33,15 @@ public interface IMissionSchedulingService
     public class MissionSchedulingService(ILogger<MissionSchedulingService> logger, IMissionRunService missionRunService, IRobotService robotService,
             IIsarService isarService, ILocalizationService localizationService, IReturnToHomeService returnToHomeService, ISignalRService signalRService, IErrorHandlingService errorHandlingService) : IMissionSchedulingService
     {
-        public async Task StartNextMissionRunIfSystemIsAvailable(string robotId)
+        public async Task StartNextMissionRunIfSystemIsAvailable(Robot robot)
         {
-            logger.LogInformation("Starting next mission run if system is available for robot ID: {RobotId}", robotId);
-            var robot = await robotService.ReadById(robotId, readOnly: true);
-            if (robot == null)
-            {
-                logger.LogError("Robot with ID: {RobotId} was not found in the database", robotId);
-                return;
-            }
-
             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); }
             catch (RobotNotFoundException)
             {
-                logger.LogError("Robot with ID: {RobotId} was not found in the database", robotId);
+                logger.LogError("Robot with ID: {RobotId} was not found in the database", robot.Id);
                 return;
             }
 

diff --git a/backend/api/Services/ReturnToHomeService.cs b/backend/api/Services/ReturnToHomeService.cs
@@ -15,7 +15,7 @@ public class ReturnToHomeService(ILogger<ReturnToHomeService> logger, IRobotServ
             logger.LogInformation("Scheduling return to home mission if not already scheduled or the robot is home for robot {RobotId}", robotId);
             var lastMissionRun = await missionRunService.ReadLastExecutedMissionRunByRobot(robotId);
 
-            if (await IsReturnToHomeMissionAlreadyScheduled(robotId) || (lastMissionRun != null && lastMissionRun.IsReturnHomeMission()))
+            if (await IsReturnToHomeMissionAlreadyScheduled(robotId) || (lastMissionRun != null && (lastMissionRun.IsReturnHomeMission() || lastMissionRun.IsEmergencyMission())))
             {
                 logger.LogInformation("ReturnToHomeMission is already scheduled for Robot {RobotId}", robotId);
                 return null;