Move OnIsarUnavailable to RobotService and rename

equinor · Dec 28, 2023 · 979a43f · 979a43f
1 parent fa88584
commit 979a43f
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Showing 6 changed files with 51 additions and 66 deletions.
diff --git a/backend/api.test/Database/DatabaseUtilities.cs b/backend/api.test/Database/DatabaseUtilities.cs
@@ -32,7 +32,7 @@ public DatabaseUtilities(FlotillaDbContext context)
             _areaService = new AreaService(context, _installationService, _plantService, _deckService, defaultLocalizationPoseService, _accessRoleService);
             _missionRunService = new MissionRunService(context, new MockSignalRService(), new Mock<ILogger<MissionRunService>>().Object, _accessRoleService);
             _robotModelService = new RobotModelService(context);
-            _robotService = new RobotService(context, new Mock<ILogger<RobotService>>().Object, _robotModelService, new MockSignalRService(), _accessRoleService, _installationService, _areaService);
+            _robotService = new RobotService(context, new Mock<ILogger<RobotService>>().Object, _robotModelService, new MockSignalRService(), _accessRoleService, _installationService, _areaService, _missionRunService);
         }
 
         public void Dispose()

diff --git a/backend/api.test/EventHandlers/TestMissionEventHandler.cs b/backend/api.test/EventHandlers/TestMissionEventHandler.cs
@@ -73,7 +73,7 @@ public TestMissionEventHandler(DatabaseFixture fixture)
             _plantService = new PlantService(_context, _installationService, _accessRoleService);
             _deckService = new DeckService(_context, _defaultLocalisationPoseService, _installationService, _plantService, _accessRoleService);
             _areaService = new AreaService(_context, _installationService, _plantService, _deckService, _defaultLocalisationPoseService, _accessRoleService);
-            _robotService = new RobotService(_context, robotServiceLogger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
+            _robotService = new RobotService(_context, robotServiceLogger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService, _missionRunService);
             _missionSchedulingService = new MissionSchedulingService(missionSchedulingServiceLogger, _missionRunService, _robotService, _robotControllerMock.Mock.Object, _areaService,
                 _isarServiceMock);
             _localizationService = new LocalizationService(localizationServiceLogger, _robotService, _missionRunService, _installationService, _areaService);

diff --git a/backend/api.test/Services/RobotService.cs b/backend/api.test/Services/RobotService.cs
@@ -25,6 +25,7 @@ public class RobotServiceTest : IDisposable
         private readonly IDefaultLocalizationPoseService _defaultLocalizationPoseService;
         private readonly IDeckService _deckService;
         private readonly IAreaService _areaService;
+        private readonly IMissionRunService _missionRunService;
 
         public RobotServiceTest(DatabaseFixture fixture)
         {
@@ -38,6 +39,7 @@ public RobotServiceTest(DatabaseFixture fixture)
             _defaultLocalizationPoseService = new DefaultLocalizationPoseService(_context);
             _deckService = new DeckService(_context, _defaultLocalizationPoseService, _installationService, _plantService, _accessRoleService);
             _areaService = new AreaService(_context, _installationService, _plantService, _deckService, _defaultLocalizationPoseService, _accessRoleService);
+            _missionRunService = new MissionRunService(_context, _signalRService, new Mock<ILogger<MissionRunService>>().Object, _accessRoleService);
         }
 
         public void Dispose()
@@ -49,7 +51,7 @@ public void Dispose()
         [Fact]
         public async Task ReadAll()
         {
-            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
+            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService, _missionRunService);
             var robots = await robotService.ReadAll();
 
             Assert.True(robots.Any());
@@ -58,7 +60,7 @@ public async Task ReadAll()
         [Fact]
         public async Task Read()
         {
-            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
+            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService, _missionRunService);
             var robots = await robotService.ReadAll();
             var firstRobot = robots.First();
             var robotById = await robotService.ReadById(firstRobot.Id);
@@ -69,15 +71,15 @@ public async Task Read()
         [Fact]
         public async Task ReadIdDoesNotExist()
         {
-            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
+            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService, _missionRunService);
             var robot = await robotService.ReadById("some_id_that_does_not_exist");
             Assert.Null(robot);
         }
 
         [Fact]
         public async Task Create()
         {
-            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
+            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService, _missionRunService);
             var installationService = new InstallationService(_context, _accessRoleService);
 
             var installation = await installationService.Create(new CreateInstallationQuery

diff --git a/backend/api/Controllers/RobotController.cs b/backend/api/Controllers/RobotController.cs
@@ -384,7 +384,7 @@ [FromRoute] string missionRunId
             {
                 string errorMessage = $"Could not reach ISAR at {robot.IsarUri}";
                 logger.LogError(e, "{Message}", errorMessage);
-                await OnIsarUnavailable(robot);
+                await robotService.SetRobotOffline(robot.Id);
                 return StatusCode(StatusCodes.Status502BadGateway, errorMessage);
             }
             catch (MissionException e)
@@ -451,7 +451,7 @@ public async Task<ActionResult> StopMission([FromRoute] string robotId)
             {
                 const string Message = "Error connecting to ISAR while stopping mission";
                 logger.LogError(e, "{Message}", Message);
-                await OnIsarUnavailable(robot);
+                await robotService.SetRobotOffline(robot.Id);
                 return StatusCode(StatusCodes.Status502BadGateway, Message);
             }
             catch (MissionException e)
@@ -510,7 +510,7 @@ public async Task<ActionResult> PauseMission([FromRoute] string robotId)
             {
                 const string Message = "Error connecting to ISAR while pausing mission";
                 logger.LogError(e, "{Message}", Message);
-                await OnIsarUnavailable(robot);
+                await robotService.SetRobotOffline(robot.Id);
                 return StatusCode(StatusCodes.Status502BadGateway, Message);
             }
             catch (MissionException e)
@@ -560,7 +560,7 @@ public async Task<ActionResult> ResumeMission([FromRoute] string robotId)
             {
                 const string Message = "Error connecting to ISAR while resuming mission";
                 logger.LogError(e, "{Message}", Message);
-                await OnIsarUnavailable(robot);
+                await robotService.SetRobotOffline(robot.Id);
                 return StatusCode(StatusCodes.Status502BadGateway, Message);
             }
             catch (MissionException e)
@@ -618,7 +618,7 @@ [FromRoute] string armPosition
             {
                 string errorMessage = $"Error connecting to ISAR at {robot.IsarUri}";
                 logger.LogError(e, "{Message}", errorMessage);
-                await OnIsarUnavailable(robot);
+                await robotService.SetRobotOffline(robot.Id);
                 return StatusCode(StatusCodes.Status502BadGateway, errorMessage);
             }
             catch (MissionException e)
@@ -703,7 +703,7 @@ [FromBody] ScheduleLocalizationMissionQuery scheduleLocalizationMissionQuery
             {
                 string message = $"Could not reach ISAR at {robot.IsarUri}";
                 logger.LogError(e, "{Message}", message);
-                await OnIsarUnavailable(robot);
+                await robotService.SetRobotOffline(robot.Id);
                 return StatusCode(StatusCodes.Status502BadGateway, message);
             }
             catch (MissionException e)
@@ -734,25 +734,5 @@ [FromBody] ScheduleLocalizationMissionQuery scheduleLocalizationMissionQuery
             return Ok(missionRun);
         }
 
-        private async Task OnIsarUnavailable(Robot robot)
-        {
-            robot.Enabled = false;
-            robot.Status = RobotStatus.Offline;
-            if (robot.CurrentMissionId != null)
-            {
-                var missionRun = await missionRunService.ReadById(robot.CurrentMissionId);
-                if (missionRun != null)
-                {
-                    missionRun.SetToFailed();
-                    await missionRunService.Update(missionRun);
-                    logger.LogWarning(
-                        "Mission '{Id}' failed because ISAR could not be reached",
-                        missionRun.Id
-                    );
-                }
-            }
-
-            await robotService.UpdateCurrentMissionId(robot.Id, null);
-        }
     }
 }
diff --git a/backend/api/Services/MissionSchedulingService.cs b/backend/api/Services/MissionSchedulingService.cs
@@ -107,7 +107,7 @@ public async Task StopCurrentMissionRun(string robotId)
             {
                 const string Message = "Error connecting to ISAR while stopping mission";
                 logger.LogError(e, "{Message}", Message);
-                await OnIsarUnavailable(robot.Id);
+                await robotService.SetRobotOffline(robot.Id);
                 throw new MissionException(Message, (int)e.StatusCode!);
             }
             catch (MissionException e)
@@ -257,38 +257,6 @@ private async Task StartMissionRun(MissionRun queuedMissionRun)
             logger.LogInformation("Started mission run '{Id}'", queuedMissionRun.Id);
         }
 
-        private async Task OnIsarUnavailable(string robotId)
-        {
-            var robot = await robotService.ReadById(robotId);
-            if (robot == null)
-            {
-                logger.LogError("Robot with ID: {RobotId} was not found in the database", robotId);
-                return;
-            }
-
-            if (robot.CurrentMissionId != null)
-            {
-                var missionRun = await missionRunService.ReadById(robot.CurrentMissionId);
-                if (missionRun != null)
-                {
-                    missionRun.SetToFailed();
-                    await missionRunService.Update(missionRun);
-                    logger.LogWarning(
-                        "Mission '{Id}' failed because ISAR could not be reached",
-                        missionRun.Id
-                    );
-                }
-            }
-
-            try
-            {
-                await robotService.UpdateRobotStatus(robot.Id, RobotStatus.Offline);
-                await robotService.UpdateCurrentMissionId(robot.Id, null);
-                await robotService.UpdateRobotEnabled(robot.Id, false);
-            }
-            catch (RobotNotFoundException) { }
-        }
-
         private static Pose ClosestSafePosition(Pose robotPose, IList<SafePosition> safePositions)
         {
             if (safePositions == null || !safePositions.Any())

diff --git a/backend/api/Services/RobotService.cs b/backend/api/Services/RobotService.cs
@@ -26,6 +26,7 @@ public interface IRobotService
         public Task<Robot> UpdateCurrentArea(string robotId, Area? area);
         public Task<Robot> UpdateMissionQueueFrozen(string robotId, bool missionQueueFrozen);
         public Task<Robot?> Delete(string id);
+        public Task SetRobotOffline(string robotId);
     }
 
     [SuppressMessage(
@@ -39,7 +40,8 @@ public class RobotService(FlotillaDbContext context,
         ISignalRService signalRService,
         IAccessRoleService accessRoleService,
         IInstallationService installationService,
-        IAreaService areaService) : IRobotService, IDisposable
+        IAreaService areaService,
+        IMissionRunService missionRunService) : IRobotService, IDisposable
     {
         private readonly Semaphore _robotSemaphore = new(1, 1);
 
@@ -163,6 +165,39 @@ public async Task<IList<Robot>> ReadLocalizedRobotsForInstallation(string instal
                 .ToListAsync();
         }
 
+        public async Task SetRobotOffline(string robotId)
+        {
+            var robot = await ReadById(robotId);
+            if (robot == null)
+            {
+                logger.LogError("Robot with ID: {RobotId} was not found in the database", robotId);
+                return;
+            }
+
+            if (robot.CurrentMissionId != null)
+            {
+                var missionRun = await missionRunService.ReadById(robot.CurrentMissionId);
+                if (missionRun != null)
+                {
+                    missionRun.SetToFailed();
+                    await missionRunService.Update(missionRun);
+                    logger.LogWarning(
+                        "Mission '{Id}' failed because ISAR could not be reached",
+                        missionRun.Id
+                    );
+                }
+            }
+
+            try
+            {
+                await UpdateRobotStatus(robot.Id, RobotStatus.Offline);
+                await UpdateCurrentMissionId(robot.Id, null);
+                await UpdateRobotEnabled(robot.Id, false);
+                await UpdateCurrentArea(robot.Id, null);
+            }
+            catch (RobotNotFoundException) { }
+        }
+
         private async Task<Robot> UpdateRobotProperty(string robotId, string propertyName, object? value)
         {
             _robotSemaphore.WaitOne();