From 6c663f484fa24f7f3210cc8c59af7a435775d51b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Chirico=20Indreb=C3=B8?= <ACIN@equinor.com>
Date: Mon, 16 Dec 2024 17:15:54 +0100
Subject: [PATCH] Handle missions being scheduled at the same time

---
 backend/api/EventHandlers/MqttEventHandler.cs    | 9 +++++----
 backend/api/Services/IsarService.cs              | 3 +++
 backend/api/Services/MissionSchedulingService.cs | 5 ++++-
 backend/api/Utilities/Exceptions.cs              | 4 ++++
 4 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/backend/api/EventHandlers/MqttEventHandler.cs b/backend/api/EventHandlers/MqttEventHandler.cs
index cbfe42986..6974167fe 100644
--- a/backend/api/EventHandlers/MqttEventHandler.cs
+++ b/backend/api/EventHandlers/MqttEventHandler.cs
@@ -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;
 
             _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)
             {
@@ -118,6 +119,7 @@ private async void OnIsarStatus(object? sender, MqttReceivedArgs mqttArgs)
                     _logger.LogDebug("Semaphore acquired for updating robot current mission id");
 
                     await RobotService.UpdateCurrentMissionId(robot.Id, null);
+                    await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot);
                 }
                 catch (RobotNotFoundException)
                 {
@@ -129,7 +131,6 @@ private async void OnIsarStatus(object? sender, MqttReceivedArgs mqttArgs)
                     _updateRobotSemaphore.Release();
                     _logger.LogDebug("Semaphore released after updating robot current mission id");
                 }
-                await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(robot);
             }
         }
 
diff --git a/backend/api/Services/IsarService.cs b/backend/api/Services/IsarService.cs
index 37caef005..039592144 100644
--- a/backend/api/Services/IsarService.cs
+++ b/backend/api/Services/IsarService.cs
@@ -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);
diff --git a/backend/api/Services/MissionSchedulingService.cs b/backend/api/Services/MissionSchedulingService.cs
index cf1546dfe..181703803 100644
--- a/backend/api/Services/MissionSchedulingService.cs
+++ b/backend/api/Services/MissionSchedulingService.cs
@@ -114,6 +114,9 @@ or MissionRunNotFoundException
                 );
                 await missionRunService.SetMissionRunToFailed(missionRun.Id, $"Mission run '{missionRun.Id}' was not started successfully. '{ex.Message}'");
             }
+            catch (RobotBusyException)
+            {
+            }
         }
 
         public async Task<MissionRun?> HandleBatteryAndPressureLevel(Robot robot)
@@ -388,7 +391,7 @@ private async Task StartMissionRun(MissionRun queuedMissionRun)
             {
                 string errorMessage = $"Robot {robotId} has status {robot.Status} and is not available";
                 logger.LogError("{Message}", errorMessage);
-                throw new RobotNotAvailableException(errorMessage);
+                throw new RobotBusyException(errorMessage);
             }
 
             if (robot.Deprecated)
diff --git a/backend/api/Utilities/Exceptions.cs b/backend/api/Utilities/Exceptions.cs
index df3b5a085..1d929616f 100644
--- a/backend/api/Utilities/Exceptions.cs
+++ b/backend/api/Utilities/Exceptions.cs
@@ -91,6 +91,10 @@ public class RobotNotAvailableException(string message) : Exception(message)
     {
     }
 
+    public class RobotBusyException(string message) : Exception(message)
+    {
+    }
+
     public class RobotNotInSameInstallationAsMissionException(string message) : Exception(message)
     {
     }