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Add exception handling in event handlers
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@andchiind
andchiind committed Jun 11, 2024
1 parent 5cec114 commit 8871e41
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Showing 7 changed files with 116 additions and 16 deletions.
2 changes: 1 addition & 1 deletion backend/api/Database/Models/MissionRun.cs
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Expand Up @@ -114,7 +114,7 @@ public void UpdateWithIsarInfo(IsarMission isarMission)
);
}

public static MissionStatus MissionStatusFromString(string status)
public static MissionStatus GetMissionStatusFromString(string status)
{
return status switch
{
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15 changes: 14 additions & 1 deletion backend/api/EventHandlers/IsarConnectionEventHandler.cs
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Expand Up @@ -83,7 +83,20 @@ private async void OnIsarRobotHeartbeat(object? sender, MqttReceivedArgs mqttArg
_isarConnectionTimers[robot.IsarId].Reset();

if (robot.IsarConnected) { return; }
await RobotService.UpdateRobotIsarConnected(robot.Id, true);
try
{
await RobotService.UpdateRobotIsarConnected(robot.Id, true);
}
catch (Exception e)
{
_logger.LogWarning(
"Failed to set robot to ISAR connected for ISAR ID '{IsarId}' ('{RobotName}')'. Exception: {Message} ",
isarRobotHeartbeat.IsarId,
isarRobotHeartbeat.RobotName,
e.Message
);
return;
}
}

private void AddTimerForRobot(IsarRobotHeartbeatMessage isarRobotHeartbeat, Robot robot)
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46 changes: 41 additions & 5 deletions backend/api/EventHandlers/MissionEventHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ or IsarCommunicationException
}
}

await CancellReturnToHomeOnNewMissionSchedule(missionRun);
await CancelReturnToHomeOnNewMissionSchedule(missionRun);

_startMissionSemaphore.WaitOne();
try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(missionRun.Robot.Id); }
Expand Down Expand Up @@ -198,7 +198,21 @@ private async void OnEmergencyButtonPressedForRobot(object? sender, EmergencyBut
try { await MissionScheduling.FreezeMissionRunQueueForRobot(e.RobotId); }
catch (RobotNotFoundException) { return; }

var area = await FindRelevantRobotAreaForSafePositionMission(robot.Id);

Area? area;
try
{
area = await FindRelevantRobotAreaForSafePositionMission(robot.Id);
}
catch (RobotNotFoundException)
{
_logger.LogWarning(
"Failed to see if robot was localised. Could not find robot with ID '{RobotId}'",
e.RobotId
);
return;
}

if (area == null) { return; }

try { await MissionScheduling.ScheduleMissionToDriveToSafePosition(e.RobotId, area.Id); }
Expand Down Expand Up @@ -302,7 +316,7 @@ private async void OnEmergencyButtonDepressedForRobot(object? sender, EmergencyB
return area;
}

public async Task CancellReturnToHomeOnNewMissionSchedule(MissionRun missionRun)
public async Task CancelReturnToHomeOnNewMissionSchedule(MissionRun missionRun)
{
IList<MissionStatus> missionStatuses = [MissionStatus.Ongoing, MissionStatus.Pending, MissionStatus.Paused];
var existingReturnToHomeMissions = await MissionService.ReadMissionRuns(missionRun.Robot.Id, MissionRunType.ReturnHome, missionStatuses);
Expand All @@ -311,11 +325,33 @@ public async Task CancellReturnToHomeOnNewMissionSchedule(MissionRun missionRun)
{
var returnToHomeMission = existingReturnToHomeMissions[0];

if (!await LocalizationService.RobotIsOnSameDeckAsMission(missionRun.Robot.Id, missionRun.Area.Id))
try
{
_logger.LogWarning($"The robot {missionRun.Robot.Name} is localized on a different deck so the mission was not scheduled.");
if (!await LocalizationService.RobotIsOnSameDeckAsMission(missionRun.Robot.Id, missionRun.Area.Id))
{
_logger.LogWarning($"The robot {missionRun.Robot.Name} is localized on a different deck so the mission was not scheduled.");
return;
}
}
catch (RobotNotFoundException)
{
string errorMessage = $"Could not cancel return to home mission on new mission schedule since {missionRun.Robot.Id} was not found";
_logger.LogWarning("{Message}", errorMessage);
return;
}
catch (RobotCurrentAreaMissingException)
{
string errorMessage = $"Could not cancel return to home mission on new mission schedule since {missionRun.Robot.Id} did not have an Area associated with it";
_logger.LogWarning("{Message}", errorMessage);
return;
}
catch (AreaNotFoundException)
{
string errorMessage = $"Could not cancel return to home mission on new mission schedule since {missionRun.Robot.Id} had Area with ID {missionRun.Area.Id} which could not be found";
_logger.LogWarning("{Message}", errorMessage);
return;
}


if (returnToHomeMission.Status != MissionStatus.Pending)
{
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38 changes: 32 additions & 6 deletions backend/api/EventHandlers/MqttEventHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -131,8 +131,16 @@ private async void OnIsarRobotInfo(object? sender, MqttReceivedArgs mqttArgs)
Status = RobotStatus.Available,
};

var newRobot = await robotService.CreateFromQuery(robotQuery);
_logger.LogInformation("Added robot '{RobotName}' with ISAR id '{IsarId}' to database", newRobot.Name, newRobot.IsarId);
try
{
var newRobot = await robotService.CreateFromQuery(robotQuery);
_logger.LogInformation("Added robot '{RobotName}' with ISAR id '{IsarId}' to database", newRobot.Name, newRobot.IsarId);
}
catch (DbUpdateException)
{
_logger.LogError($"Failed to add robot {robotQuery.Name} with to the database");
return;
}

return;
}
Expand Down Expand Up @@ -226,7 +234,7 @@ private async void OnIsarMissionUpdate(object? sender, MqttReceivedArgs mqttArgs
var isarMission = (IsarMissionMessage)mqttArgs.Message;

MissionStatus status;
try { status = MissionRun.MissionStatusFromString(isarMission.Status); }
try { status = MissionRun.GetMissionStatusFromString(isarMission.Status); }
catch (ArgumentException e)
{
_logger.LogError(e, "Failed to parse mission status from MQTT message. Mission with ISARMissionId '{IsarMissionId}' was not updated", isarMission.MissionId);
Expand Down Expand Up @@ -255,12 +263,31 @@ private async void OnIsarMissionUpdate(object? sender, MqttReceivedArgs mqttArgs
{
if (flotillaMissionRun.Status != MissionStatus.Successful)
{
await robotService.UpdateCurrentArea(robot.Id, null);
try
{
await robotService.UpdateCurrentArea(robot.Id, null);
}
catch (RobotNotFoundException)
{
_logger.LogError("Could not find robot '{RobotName}' with ID '{Id}'", robot.Name, robot.Id);
return;
}

signalRService.ReportGeneralFailToSignalR(robot, "Failed Localization Mission", $"Failed localization mission for robot {robot.Name}.");
_logger.LogError("Localization mission for robot '{RobotName}' failed.", isarMission.RobotName);
}
else { await robotService.UpdateCurrentArea(robot.Id, flotillaMissionRun.Area); }
else
{
try
{
await robotService.UpdateCurrentArea(robot.Id, flotillaMissionRun.Area);
}
catch (RobotNotFoundException)
{
_logger.LogError("Could not find robot '{RobotName}' with ID '{Id}'", robot.Name, robot.Id);
return;
}
}
}

try { await robotService.UpdateCurrentMissionId(robot.Id, null); }
Expand Down Expand Up @@ -400,7 +427,6 @@ private async void OnIsarCloudHealthUpdate(object? sender, MqttReceivedArgs mqtt
signalRService.ReportGeneralFailToSignalR(robot, messageTitle, message);

teamsMessageService.TriggerTeamsMessageReceived(new TeamsMessageEventArgs(message));

}
}
}
10 changes: 9 additions & 1 deletion backend/api/Services/ActionServices/BatteryTimeseriesService.cs
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Expand Up @@ -18,7 +18,15 @@ public async Task AddBatteryEntry(float batteryLevel, string isarId)
return;
}

if (Math.Abs(batteryLevel - robot.BatteryLevel) > Tolerance) await robotService.UpdateRobotBatteryLevel(robot.Id, batteryLevel);
try
{
if (Math.Abs(batteryLevel - robot.BatteryLevel) > Tolerance) await robotService.UpdateRobotBatteryLevel(robot.Id, batteryLevel);
}
catch (Exception e)
{
logger.LogWarning("Failed to update robot battery value for robot with ID '{isarId}'. Exception: {message}", isarId, e.Message);
return;
}

logger.LogDebug("Updated battery on robot '{RobotName}' with ISAR id '{IsarId}'", robot.Name, robot.IsarId);
}
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11 changes: 10 additions & 1 deletion backend/api/Services/ActionServices/PoseTimeseriesService.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,16 @@ public async Task AddPoseEntry(Pose pose, string isarId)
return;
}

await robotService.UpdateRobotPose(robot.Id, pose);
try
{
await robotService.UpdateRobotPose(robot.Id, pose);
}
catch (Exception e)
{
logger.LogWarning("Failed to update robot pose value for robot with ID '{isarId}'. Exception: {message}", isarId, e.Message);
return;
}

logger.LogDebug("Updated pose on robot '{RobotName}' with ISAR id '{IsarId}'", robot.Name, robot.IsarId);
}
}
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10 changes: 9 additions & 1 deletion backend/api/Services/ActionServices/PressureTimeseriesService.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,15 @@ public async Task AddPressureEntry(float pressureLevel, string isarId)
return;
}

if (robot.PressureLevel is null || Math.Abs(pressureLevel - (float)robot.PressureLevel) > Tolerance) await robotService.UpdateRobotPressureLevel(robot.Id, pressureLevel);
try
{
if (robot.PressureLevel is null || Math.Abs(pressureLevel - (float)robot.PressureLevel) > Tolerance) await robotService.UpdateRobotPressureLevel(robot.Id, pressureLevel);
}
catch (Exception e)
{
logger.LogWarning("Failed to update robot pressure value for robot with ID '{isarId}'. Exception: {message}", isarId, e.Message);
return;
}

logger.LogDebug("Updated pressure on robot '{RobotName}' with ISAR id '{IsarId}'", robot.Name, robot.IsarId);
}
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