From afc40334b592f431c758df407f9146cb953aa557 Mon Sep 17 00:00:00 2001
From: haakonsf <hf@equinor.com>
Date: Wed, 10 Apr 2024 16:13:59 +0200
Subject: [PATCH] Add configurability for return to home missions

---
 backend/api/Database/Models/MissionTask.cs    | 11 ++++++++---
 backend/api/EventHandlers/MqttEventHandler.cs |  4 ++--
 backend/api/Services/Models/IsarStep.cs       |  2 ++
 3 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/backend/api/Database/Models/MissionTask.cs b/backend/api/Database/Models/MissionTask.cs
index 228a0c7f8..6fb0f5bd1 100644
--- 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
index a735cb27c..3be7d54a4 100644
--- 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
index 16ef16a40..0c19c7716 100644
--- 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,