Improve start missions with pressure/battery value

equinor · May 2, 2024 · 3732f20 · 3732f20
1 parent 573e8f0
commit 3732f20
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Showing 3 changed files with 42 additions and 13 deletions.
diff --git a/backend/api/Controllers/MissionSchedulingController.cs b/backend/api/Controllers/MissionSchedulingController.cs
@@ -49,12 +49,11 @@ [FromBody] ScheduleMissionQuery scheduledMissionQuery
 
             if (!robot.IsRobotPressureHighEnoughToStartMission())
             {
-                return BadRequest($"The robot pressure on {robot.Name} is too low to start a mission");
+                return BadRequest($"Low pressure value for robot {robot.Name}, Pressure value is too low to start a mission.");
             }
-
             if (!robot.IsRobotBatteryLevelHighEnoughToStartMissions())
             {
-                return BadRequest($"The robot battery level on {robot.Name} is too low to start a mission");
+                return BadRequest($"Low battery value for robot {robot.Name}. Battery value is too low to start a mission.");
             }
 
             var missionRun = await missionRunService.ReadById(missionRunId);
@@ -134,15 +133,13 @@ [FromBody] ScheduleMissionQuery scheduledMissionQuery
             {
                 return NotFound($"Could not find robot with id {scheduledMissionQuery.RobotId}");
             }
-
             if (!robot.IsRobotPressureHighEnoughToStartMission())
             {
-                return BadRequest($"The robot pressure on {robot.Name} is too low to start a mission");
+                return BadRequest($"Low pressure value for robot {robot.Name}, Pressure value is too low to start a mission.");
             }
-
             if (!robot.IsRobotBatteryLevelHighEnoughToStartMissions())
             {
-                return BadRequest($"The robot battery level on {robot.Name} is too low to start a mission");
+                return BadRequest($"Low battery value for robot {robot.Name}. Battery value is too low to start a mission.");
             }
 
             var missionDefinition = await missionDefinitionService.ReadById(missionDefinitionId);
@@ -221,12 +218,11 @@ [FromBody] ScheduledMissionQuery scheduledMissionQuery
 
             if (!robot.IsRobotPressureHighEnoughToStartMission())
             {
-                return BadRequest($"The robot pressure on {robot.Name} is too low to start a mission");
+                return BadRequest($"Low pressure value for robot {robot.Name}, Pressure value is too low to start a mission.");
             }
-
             if (!robot.IsRobotBatteryLevelHighEnoughToStartMissions())
             {
-                return BadRequest($"The robot battery level on {robot.Name} is too low to start a mission");
+                return BadRequest($"Low battery value for robot {robot.Name}. Battery value is too low to start a mission.");
             }
 
             EchoMission? echoMission;
@@ -394,12 +390,11 @@ [FromBody] CustomMissionQuery customMissionQuery
 
             if (!robot.IsRobotPressureHighEnoughToStartMission())
             {
-                return BadRequest($"The robot pressure on {robot.Name} is too low to start a mission");
+                return BadRequest($"Low pressure value for robot {robot.Name}, Pressure value is too low to start a mission.");
             }
-
             if (!robot.IsRobotBatteryLevelHighEnoughToStartMissions())
             {
-                return BadRequest($"The robot battery level on {robot.Name} is too low to start a mission");
+                return BadRequest($"Low battery value for robot {robot.Name}. Battery value is too low to start a mission.");
             }
 
             var installation = await installationService.ReadByName(customMissionQuery.InstallationCode);

diff --git a/backend/api/Services/MissionSchedulingService.cs b/backend/api/Services/MissionSchedulingService.cs
@@ -102,6 +102,12 @@ public async Task StartNextMissionRunIfSystemIsAvailable(string robotId)
                 return;
             }
 
+            if ((!robot.IsRobotPressureHighEnoughToStartMission() || !robot.IsRobotBatteryLevelHighEnoughToStartMissions()) && !missionRun.IsReturnHomeMission())
+            {
+                missionRun = await HandleBatteryAndPressureLevel(robot);
+                if (missionRun == null) { return; }
+            }
+
             try { await StartMissionRun(missionRun); }
             catch (Exception ex) when (
                 ex is MissionException
@@ -123,6 +129,33 @@ or MissionRunNotFoundException
             }
         }
 
+        public async Task<MissionRun?> HandleBatteryAndPressureLevel(Robot robot)
+        {
+            if (!robot.IsRobotPressureHighEnoughToStartMission())
+            {
+                logger.LogError("Robot with ID: {RobotId} cannot start missions because pressure value is too low.", robot.Id);
+                signalRService.ReportGeneralFailToSignalR(robot, $"Low pressure value for robot {robot.Name}", "Pressure value is too low to start a mission.");
+            }
+            if (!robot.IsRobotBatteryLevelHighEnoughToStartMissions())
+            {
+                logger.LogError("Robot with ID: {RobotId} cannot start missions because battery value is too low.", robot.Id);
+                signalRService.ReportGeneralFailToSignalR(robot, $"Low battery value for robot {robot.Name}", "Battery value is too low to start a mission.");
+            }
+
+            try { await AbortAllScheduledMissions(robot.Id, "Aborted: Robot pressure or battery values are too low."); }
+            catch (RobotNotFoundException) { logger.LogError("Failed to abort scheduled missions for robot {RobotId}", robot.Id); }
+
+            MissionRun? missionRun;
+            try { missionRun = await returnToHomeService.ScheduleReturnToHomeMissionRunIfNotAlreadyScheduledOrRobotIsHome(robot.Id); }
+            catch (ReturnToHomeMissionFailedToScheduleException)
+            {
+                logger.LogError("Failed to schedule a return to home mission for robot {RobotId}", robot.Id);
+                await robotService.UpdateCurrentArea(robot.Id, null);
+                return null;
+            }
+            return missionRun;
+        }
+
         public async Task<bool> OngoingMission(string robotId)
         {
             var ongoingMissions = await GetOngoingMissions(robotId);

diff --git a/backend/api/Services/RobotService.cs b/backend/api/Services/RobotService.cs
@@ -373,5 +373,6 @@ private void NotifySignalROfUpdatedRobot(Robot robot, Installation installation)
         {
             _ = signalRService.SendMessageAsync("Robot updated", installation, robot != null ? new RobotResponse(robot) : null);
         }
+
     }
 }
-Original file line number
+Diff line change
@@ Expand Up @@
             {
                 _ = signalRService.SendMessageAsync("Robot updated", installation, robot != null ? new RobotResponse(robot) : null);
             }
         }
     }