Add configurability for return to home missions

equinor · Apr 22, 2024 · afc4033 · afc4033
1 parent 9d167d1
commit afc4033
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Showing 3 changed files with 12 additions and 5 deletions.
diff --git a/backend/api/Database/Models/MissionTask.cs b/backend/api/Database/Models/MissionTask.cs
@@ -1,6 +1,5 @@
 using System.ComponentModel.DataAnnotations;
 using System.ComponentModel.DataAnnotations.Schema;
-using System.Globalization;
 using Api.Controllers.Models;
 using Api.Services.Models;
 using Api.Utilities;
@@ -175,8 +174,14 @@ public void UpdateStatus(IsarTaskStatus isarStatus)
 
         public static string ConvertMissionTaskTypeToIsarTaskType(MissionTaskType missionTaskType)
         {
-            if (missionTaskType == MissionTaskType.ReturnHome) { return "drive_to"; }
-            else { return missionTaskType.ToString().ToLower(CultureInfo.CurrentCulture); }
+            return missionTaskType switch
+            {
+                MissionTaskType.ReturnHome => "return_to_home",
+                MissionTaskType.Localization => "localization",
+                MissionTaskType.Inspection => "inspection",
+                _ => throw new ArgumentException($"ISAR Mission task type '{missionTaskType}' not supported"),
+            };
+            ;
         }
     }
 

diff --git a/backend/api/EventHandlers/MqttEventHandler.cs b/backend/api/EventHandlers/MqttEventHandler.cs
@@ -329,9 +329,9 @@ private async void OnIsarStepUpdate(object? sender, MqttReceivedArgs mqttArgs)
 
             var step = (IsarStepMessage)mqttArgs.Message;
 
-            // Flotilla does not care about DriveTo, Localization or MoveArm steps
+            // Flotilla does not care about DriveTo, Localization, MoveArm or ReturnToHome steps
             var stepType = IsarStep.StepTypeFromString(step.StepType);
-            if (stepType is IsarStepType.DriveToPose or IsarStepType.Localize or IsarStepType.MoveArm) return;
+            if (stepType is IsarStepType.DriveToPose or IsarStepType.Localize or IsarStepType.MoveArm or IsarStepType.ReturnToHome) return;
 
             IsarStepStatus status;
             try { status = IsarStep.StatusFromString(step.Status); }

diff --git a/backend/api/Services/Models/IsarStep.cs b/backend/api/Services/Models/IsarStep.cs
@@ -36,6 +36,7 @@ public static IsarStepType StepTypeFromString(string isarClassName)
                 "TakeThermalImage" => IsarStepType.TakeThermalImage,
                 "TakeThermalVideo" => IsarStepType.TakeThermalVideo,
                 "Localize" => IsarStepType.Localize,
+                "ReturnToHome" => IsarStepType.ReturnToHome,
                 "MoveArm" => IsarStepType.MoveArm,
                 _
                   => throw new ArgumentException(
@@ -58,6 +59,7 @@ public enum IsarStepType
     {
         DriveToPose,
         Localize,
+        ReturnToHome,
         TakeImage,
         TakeVideo,
         TakeThermalImage,