Only schedule return home if supported by robot

equinor · Jul 24, 2024 · 5ab0e57 · 5ab0e57
1 parent 3b2af29
commit 5ab0e57
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Showing 3 changed files with 65 additions and 14 deletions.
diff --git a/backend/api.test/Database/DatabaseUtilities.cs b/backend/api.test/Database/DatabaseUtilities.cs
@@ -155,7 +155,8 @@ public async Task<Robot> NewRobot(RobotStatus status, Installation installation,
                 VideoStreams = new List<CreateVideoStreamQuery>(),
                 Host = "localhost",
                 Port = 3000,
-                Status = status
+                Status = status,
+                RobotCapabilities = [RobotCapabilitiesEnum.drive_to_pose, RobotCapabilitiesEnum.take_image, RobotCapabilitiesEnum.return_to_home, RobotCapabilitiesEnum.localize]
             };
 
             var robotModel = await _robotModelService.ReadByRobotType(createRobotQuery.RobotType);

diff --git a/backend/api.test/EventHandlers/TestMissionEventHandler.cs b/backend/api.test/EventHandlers/TestMissionEventHandler.cs
@@ -260,6 +260,43 @@ public async Task ReturnToHomeMissionIsStartedIfQueueIsEmptyWhenRobotBecomesAvai
             Assert.True(ongoingMission.Any());
         }
 
+        [Fact]
+        public async Task ReturnToHomeMissionIsNotStartedIfReturnToHomeIsNotSupported()
+        {
+            // Arrange
+            var installation = await _databaseUtilities.NewInstallation();
+            var plant = await _databaseUtilities.NewPlant(installation.InstallationCode);
+            var deck = await _databaseUtilities.NewDeck(installation.InstallationCode, plant.PlantCode);
+            var area = await _databaseUtilities.NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
+            var robot = await _databaseUtilities.NewRobot(RobotStatus.Busy, installation, area);
+            robot.RobotCapabilities!.Remove(RobotCapabilitiesEnum.return_to_home);
+
+            var mqttEventArgs = new MqttReceivedArgs(
+                new IsarStatusMessage
+                {
+                    RobotName = robot.Name,
+                    IsarId = robot.IsarId,
+                    Status = RobotStatus.Available,
+                    Timestamp = DateTime.UtcNow
+                });
+
+            // Act
+            _mqttService.RaiseEvent(nameof(MqttService.MqttIsarStatusReceived), mqttEventArgs);
+
+            // Assert
+            Thread.Sleep(1000);
+            var ongoingMission = await _missionRunService.ReadAll(
+                new MissionRunQueryStringParameters
+                {
+                    Statuses = [
+                        MissionStatus.Ongoing
+                    ],
+                    OrderBy = "DesiredStartTime",
+                    PageSize = 100
+                });
+            Assert.False(ongoingMission.Any());
+        }
+
         [Fact]
         public async Task MissionRunIsStartedForOtherAvailableRobotIfOneRobotHasAnOngoingMissionRun()
         {

diff --git a/backend/api/Services/MissionSchedulingService.cs b/backend/api/Services/MissionSchedulingService.cs
@@ -65,24 +65,37 @@ public async Task StartNextMissionRunIfSystemIsAvailable(string robotId)
                     return;
                 }
 
-                try { missionRun = await returnToHomeService.ScheduleReturnToHomeMissionRunIfNotAlreadyScheduledOrRobotIsHome(robot.Id); }
-                catch (ReturnToHomeMissionFailedToScheduleException)
+                if (robot.RobotCapabilities == null || !robot.RobotCapabilities.Contains(RobotCapabilitiesEnum.return_to_home))
                 {
-                    signalRService.ReportGeneralFailToSignalR(robot, $"Failed to schedule return to home for robot {robot.Name}", "");
-                    logger.LogError("Failed to schedule a return to home mission for robot {RobotId}", robot.Id);
                     await robotService.UpdateCurrentArea(robot.Id, null);
+                    return;
                 }
-
-                if (missionRun == null) { return; }  // The robot is already home
-
-                var postReturnToHomeMissionCreatedRobot = await robotService.ReadById(missionRun.Robot.Id);
-                if (postReturnToHomeMissionCreatedRobot == null)
+                else
                 {
-                    logger.LogInformation("Could not find robot {Name}", missionRun.Robot.Name);
-                    return;
+                    try { missionRun = await returnToHomeService.ScheduleReturnToHomeMissionRunIfNotAlreadyScheduledOrRobotIsHome(robot.Id); }
+                    catch (ReturnToHomeMissionFailedToScheduleException)
+                    {
+                        signalRService.ReportGeneralFailToSignalR(robot, $"Failed to schedule return to home for robot {robot.Name}", "");
+                        logger.LogError("Failed to schedule a return to home mission for robot {RobotId}", robot.Id);
+                        await robotService.UpdateCurrentArea(robot.Id, null);
+                    }
+
+                    if (missionRun == null) { return; }  // The robot is already home
+
+                    var postReturnToHomeMissionCreatedRobot = await robotService.ReadById(missionRun.Robot.Id);
+                    if (postReturnToHomeMissionCreatedRobot == null)
+                    {
+                        logger.LogInformation("Could not find robot {Name}", missionRun.Robot.Name);
+                        return;
+                    }
+
+                    logger.LogInformation(
+                        "Post return to home mission created: Robot {robotName} has status {robotStatus} and current area {areaName}",
+                        postReturnToHomeMissionCreatedRobot.Name,
+                        postReturnToHomeMissionCreatedRobot.Status,
+                        postReturnToHomeMissionCreatedRobot.CurrentArea?.Name
+                    );
                 }
-
-                logger.LogInformation("Post return to home mission created: Robot {robotName} has status {robotStatus} and current area {areaName}", postReturnToHomeMissionCreatedRobot.Name, postReturnToHomeMissionCreatedRobot.Status, postReturnToHomeMissionCreatedRobot.CurrentArea?.Name);
             }
 
             if (!await TheSystemIsAvailableToRunAMission(robot.Id, missionRun.Id))