Add LocalizationPose to Deck

backend/api.test/EndpointTest.cs

@@ -127,6 +127,7 @@ public void Dispose()
                 }
             };
 
+
             var installationQuery = new CreateInstallationQuery
             {
                 InstallationCode = installationCode,
@@ -144,7 +145,8 @@ public void Dispose()
             {
                 InstallationCode = installationCode,
                 PlantCode = plantCode,
-                Name = deckName
+                Name = deckName,
+                LocalizationPose = testPose
             };
 
             var areaQuery = new CreateAreaQuery
@@ -217,9 +219,9 @@ public async Task MissionsTest()
             Assert.True(robots != null);
             var robot = robots[0];
             string robotId = robot.Id;
-            string testInstallation = "TestInstallationStartMissionTest";
-            string testPlant = "TestPlantStartMissionTest";
-            string testDeck = "TestDeckStartMissionTest";
+            string testInstallation = "testInstallationStartMissionTest";
+            string testPlant = "testPlantStartMissionTest";
+            string testDeck = "testDeckStartMissionTest";
             string testArea = "testAreaStartMissionTest";
 
             await PopulateAreaDb(testInstallation, testPlant, testDeck, testArea);
@@ -327,7 +329,7 @@ public async Task StartMissionTest()
             Assert.True(robots != null);
             var robot = robots[0];
             string robotId = robot.Id;
-            string testInstallation = "TestInstallationStartMissionTest";
+            string testInstallation = "testInstallationStartMissionTest";
             string testArea = "testAreaStartMissionTest";
             int echoMissionId = 95;
 
@@ -359,8 +361,8 @@ public async Task StartMissionTest()
         public async Task AreaTest()
         {
             // Arrange
-            string testInstallation = "TestInstallationAreaTest";
-            string testPlant = "TestPlantAreaTest";
+            string testInstallation = "testInstallationAreaTest";
+            string testPlant = "testPlantAreaTest";
             string testDeck = "testDeckAreaTest";
             string testArea = "testAreaAreaTest";
             string installationUrl = $"/installations";
@@ -383,7 +385,23 @@ public async Task AreaTest()
                     W = 1
                 }
             };
+            var testLocalizationPose = new Pose
+            {
+                Position = new Position
+                {
+                    X = 1,
+                    Y = 2,
+                    Z = 3
+                },
+                Orientation = new Orientation
+                {
+                    X = 0,
+                    Y = 0,
+                    Z = 0,
+                    W = 1
+                }
 
+            };
             var installationQuery = new CreateInstallationQuery
             {
                 InstallationCode = testInstallation,
@@ -401,7 +419,8 @@ public async Task AreaTest()
             {
                 InstallationCode = testInstallation,
                 PlantCode = testPlant,
-                Name = testDeck
+                Name = testDeck,
+                LocalizationPose = testLocalizationPose
             };
 
             var areaQuery = new CreateAreaQuery
@@ -456,8 +475,8 @@ public async Task AreaTest()
         public async Task GetMissionsInAreaTest()
         {
             // Arrange
-            string testInstallation = "TestInstallationMissionsInAreaTest";
-            string testPlant = "TestPlantMissionsInAreaTest";
+            string testInstallation = "testInstallationMissionsInAreaTest";
+            string testPlant = "testPlantMissionsInAreaTest";
             string testDeck = "testDeckMissionsInAreaTest";
             string testArea = "testAreaMissionsInAreaTest";
             string testMissionName = "testMissionInAreaTest";

backend/api.test/Services/MissionService.cs

@@ -72,7 +72,8 @@ public async Task Create()
                         {
                             Plant = testPlant,
                             Installation = testInstallation,
-                            Name = "testDeck"
+                            Name = "testDeck",
+                            LocalizationPose = new LocalizationPose()
                         },
                         Installation = testInstallation,
                         Plant = testPlant,

backend/api/Controllers/DeckController.cs

@@ -13,6 +13,7 @@ public class DeckController : ControllerBase
         private readonly IDeckService _deckService;
         private readonly IInstallationService _installationService;
         private readonly IPlantService _plantService;
+        private readonly ILocalizationPoseService _localizationPoseService;
 
         private readonly IMapService _mapService;
 
@@ -23,14 +24,16 @@ public DeckController(
             IMapService mapService,
             IDeckService deckService,
             IInstallationService installationService,
-            IPlantService plantService
+            IPlantService plantService,
+            ILocalizationPoseService localizationPoseService
         )
         {
             _logger = logger;
             _mapService = mapService;
             _deckService = deckService;
             _installationService = installationService;
             _plantService = plantService;
+            _localizationPoseService = localizationPoseService;
         }
 
         /// <summary>
@@ -88,6 +91,60 @@ public async Task<ActionResult<Deck>> GetDeckById([FromRoute] string id)
 
         }
 
+        /// <summary>
+        /// Add or update the localization pose to a deck
+        /// </summary>
+        /// <remarks>
+        /// <para> This query updates an existing deck with a new localization pose </para>
+        /// </remarks>
+        [HttpPut]
+        [Route("add-localization-pose/{deckId}")]
+        [Authorize(Roles = Role.Admin)]
+        [ProducesResponseType(typeof(Deck), StatusCodes.Status201Created)]
+        [ProducesResponseType(StatusCodes.Status400BadRequest)]
+        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+        [ProducesResponseType(StatusCodes.Status403Forbidden)]
+        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+        public async Task<ActionResult<Deck>> AddLocalizationPoseToDeck([FromRoute] string deckId, [FromBody] Pose localizationPose)
+        {
+            _logger.LogInformation("Updating localization pose to an existing deck");
+            try
+            {
+
+                var existingDeck = await _deckService.ReadById(deckId);
+                if (existingDeck == null)
+                {
+                    _logger.LogInformation("Could not find the deck");
+                    return BadRequest($"Deck already exists");
+                }
+
+
+                if (existingDeck.LocalizationPose != null)
+                {
+                    _logger.LogInformation("Removing old localization pose");
+                    var oldLocalizationPose = await _localizationPoseService.Delete(existingDeck.LocalizationPose.Id);
+                }
+
+                var newLocalizationPose = await _localizationPoseService.Create(localizationPose);
+                existingDeck.LocalizationPose = newLocalizationPose;
+                var updateDeck = await _deckService.Update(existingDeck);
+                _logger.LogInformation(
+                    "Succesfully created new deck with id '{deckId}'",
+                    updateDeck.Id
+                );
+                return CreatedAtAction(
+                    nameof(GetDeckById),
+                    new { id = updateDeck.Id },
+                    updateDeck
+                );
+            }
+            catch (Exception e)
+            {
+                _logger.LogError(e, "Error while adding a localization pose to deck");
+                throw;
+            }
+        }
+
         /// <summary>
         /// Add a new deck
         /// </summary>

backend/api/Controllers/LocalizationPoseController.cs

@@ -0,0 +1,146 @@
+using Api.Controllers.Models;
+using Api.Database.Models;
+using Api.Services;
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+
+namespace Api.Controllers
+{
+    [ApiController]
+    [Route("localization-pose")]
+    public class LocalizationPoseController : ControllerBase
+    {
+        private readonly ILocalizationPoseService _localizationPoseService;
+        private readonly IInstallationService _installationService;
+        private readonly IPlantService _plantService;
+
+        private readonly IMapService _mapService;
+
+        private readonly ILogger<LocalizationPoseController> _logger;
+
+        public LocalizationPoseController(
+            ILogger<LocalizationPoseController> logger,
+            IMapService mapService,
+            ILocalizationPoseService localizationPoseService,
+            IInstallationService installationService,
+            IPlantService plantService
+        )
+        {
+            _logger = logger;
+            _mapService = mapService;
+            _localizationPoseService = localizationPoseService;
+            _installationService = installationService;
+            _plantService = plantService;
+        }
+
+        /// <summary>
+        /// List all decks in the Flotilla database
+        /// </summary>
+        /// <remarks>
+        /// <para> This query gets all decks </para>
+        /// </remarks>
+        [HttpGet]
+        [Authorize(Roles = Role.Any)]
+        [ProducesResponseType(typeof(IList<LocalizationPose>), StatusCodes.Status200OK)]
+        [ProducesResponseType(StatusCodes.Status400BadRequest)]
+        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+        [ProducesResponseType(StatusCodes.Status403Forbidden)]
+        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+        public async Task<ActionResult<IList<LocalizationPose>>> GetLocalizationPoses()
+        {
+            try
+            {
+                var decks = await _localizationPoseService.ReadAll();
+                return Ok(decks);
+            }
+            catch (Exception e)
+            {
+                _logger.LogError(e, "Error during GET of decks from database");
+                throw;
+            }
+        }
+
+        /// <summary>
+        /// Lookup localization pose by specified id.
+        /// </summary>
+        [HttpGet]
+        [Authorize(Roles = Role.Any)]
+        [Route("{id}")]
+        [ProducesResponseType(typeof(LocalizationPose), StatusCodes.Status200OK)]
+        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+        [ProducesResponseType(StatusCodes.Status403Forbidden)]
+        [ProducesResponseType(StatusCodes.Status404NotFound)]
+        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+        public async Task<ActionResult<LocalizationPose>> GetLocalizationPoseById([FromRoute] string id)
+        {
+            try
+            {
+                var localizationPose = await _localizationPoseService.ReadById(id);
+                if (localizationPose == null)
+                    return NotFound($"Could not find localization pose with id {id}");
+                return Ok(localizationPose);
+            }
+            catch (Exception e)
+            {
+                _logger.LogError(e, "Error during GET of localization pose from database");
+                throw;
+            }
+
+        }
+
+        /// <summary>
+        /// Add a new localization pose
+        /// </summary>
+        /// <remarks>
+        /// <para> This query adds a new localization pose to the database </para>
+        /// </remarks>
+        [HttpPost]
+        [Authorize(Roles = Role.Admin)]
+        [ProducesResponseType(typeof(LocalizationPose), StatusCodes.Status201Created)]
+        [ProducesResponseType(StatusCodes.Status400BadRequest)]
+        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+        [ProducesResponseType(StatusCodes.Status403Forbidden)]
+        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+        public async Task<ActionResult<LocalizationPose>> Create([FromBody] CreateLocalizationPoseQuery localizationPoseQuery)
+        {
+            _logger.LogInformation("Creating new localization pose");
+            try
+            {
+                var newLocalizationPose = await _localizationPoseService.Create(localizationPoseQuery.Pose);
+                _logger.LogInformation(
+                    "Succesfully created new localization pose with id '{deckId}'",
+                    newLocalizationPose.Id
+                );
+                return CreatedAtAction(
+                    nameof(GetLocalizationPoseById),
+                    new { id = newLocalizationPose.Id },
+                    newLocalizationPose
+                );
+            }
+            catch (Exception e)
+            {
+                _logger.LogError(e, "Error while creating new localization pose");
+                throw;
+            }
+        }
+
+        /// <summary>
+        /// Deletes the localization pose with the specified id from the database.
+        /// </summary>
+        [HttpDelete]
+        [Authorize(Roles = Role.Admin)]
+        [Route("{id}")]
+        [ProducesResponseType(typeof(LocalizationPose), StatusCodes.Status200OK)]
+        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+        [ProducesResponseType(StatusCodes.Status403Forbidden)]
+        [ProducesResponseType(StatusCodes.Status404NotFound)]
+        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+        public async Task<ActionResult<LocalizationPose>> DeleteLocalizationPose([FromRoute] string id)
+        {
+            var localizationPose = await _localizationPoseService.Delete(id);
+            if (localizationPose is null)
+                return NotFound($"LocalizationPose with id {id} not found");
+            return Ok(localizationPose);
+        }
+    }
+}

backend/api/Controllers/Models/AddLocalizationPoseToDeckQuery.cs

@@ -0,0 +1,10 @@
+using Api.Database.Models;
+
+namespace Api.Controllers.Models
+{
+    public struct AddLocalizationPoseToDeckQuery
+    {
+        public string DeckId { get; set; }
+        public Pose LocalizationPose { get; set; }
+    }
+}

backend/api/Controllers/Models/CreateDeckQuery.cs

@@ -1,9 +1,12 @@
-namespace Api.Controllers.Models
+using Api.Database.Models;
+
+namespace Api.Controllers.Models
 {
     public struct CreateDeckQuery
     {
         public string InstallationCode { get; set; }
         public string PlantCode { get; set; }
         public string Name { get; set; }
+        public Pose? LocalizationPose { get; set; }
     }
 }

backend/api/Controllers/Models/CreateLocalizationPoseQuery.cs

@@ -0,0 +1,9 @@
+using Api.Database.Models;
+
+namespace Api.Controllers.Models
+{
+    public struct CreateLocalizationPoseQuery
+    {
+        public Pose Pose { get; set; }
+    }
+}

backend/api/Database/Context/FlotillaDbContext.cs

@@ -17,6 +17,7 @@ public class FlotillaDbContext : DbContext
     public DbSet<Area> Areas => Set<Area>();
     public DbSet<Source> Sources => Set<Source>();
     public DbSet<SafePosition> SafePositions => Set<SafePosition>();
+    public DbSet<LocalizationPose> LocalizationPoses => Set<LocalizationPose>();
 
     public FlotillaDbContext(DbContextOptions options) : base(options) { }
 
@@ -75,6 +76,11 @@ protected override void OnModelCreating(ModelBuilder modelBuilder)
         modelBuilder.Entity<Deck>().HasOne(d => d.Plant).WithMany();
         modelBuilder.Entity<Deck>().HasOne(d => d.Installation).WithMany();
         modelBuilder.Entity<Plant>().HasOne(a => a.Installation).WithMany();
+        modelBuilder.Entity<LocalizationPose>().OwnsOne(s => s.Pose, poseBuilder =>
+        {
+            poseBuilder.OwnsOne(pose => pose.Position);
+            poseBuilder.OwnsOne(pose => pose.Orientation);
+        });
 
         modelBuilder.Entity<SafePosition>().OwnsOne(s => s.Pose, poseBuilder =>
         {