From b98b1232fa2e8c698113eb8274dd4712aa2ed977 Mon Sep 17 00:00:00 2001 From: andchiind Date: Tue, 15 Oct 2024 09:05:46 +0200 Subject: [PATCH] Use robot batteryStartMissionThreshold --- .../Models/UpdateRobotModelQuery.cs | 5 + backend/api/Database/Models/Robot.cs | 7 + backend/api/Database/Models/RobotModel.cs | 6 + backend/api/EventHandlers/MqttEventHandler.cs | 4 +- ...otMissionStartBatteryThreshold.Designer.cs | 1410 +++++++++++++++++ ...06_AddRobotMissionStartBatteryThreshold.cs | 28 + .../FlotillaDbContextModelSnapshot.cs | 3 + 7 files changed, 1461 insertions(+), 2 deletions(-) create mode 100644 backend/api/Migrations/20241015070506_AddRobotMissionStartBatteryThreshold.Designer.cs create mode 100644 backend/api/Migrations/20241015070506_AddRobotMissionStartBatteryThreshold.cs diff --git a/backend/api/Controllers/Models/UpdateRobotModelQuery.cs b/backend/api/Controllers/Models/UpdateRobotModelQuery.cs index 4fe777e01..ef2ce7ee7 100644 --- a/backend/api/Controllers/Models/UpdateRobotModelQuery.cs +++ b/backend/api/Controllers/Models/UpdateRobotModelQuery.cs @@ -16,5 +16,10 @@ public struct UpdateRobotModelQuery /// Lower pressure warning threshold in Bar /// public float? LowerPressureWarningThreshold { get; set; } + + /// + /// Lower battery threshold at which to allow missions to be scheduled, in percentage + /// + public float? BatteryMissionStartThreshold { get; set; } } } diff --git a/backend/api/Database/Models/Robot.cs b/backend/api/Database/Models/Robot.cs index 81bf5304e..e31b7115d 100644 --- a/backend/api/Database/Models/Robot.cs +++ b/backend/api/Database/Models/Robot.cs @@ -108,6 +108,13 @@ public bool IsRobotBatteryTooLow() return Model.BatteryWarningThreshold >= BatteryLevel; } + public bool IsRobotReadyToStartMissions() + { + if (IsRobotBatteryTooLow()) return false; + if (Model.BatteryMissionStartThreshold != null && Model.BatteryMissionStartThreshold > BatteryLevel) return false; + return !IsRobotPressureTooHigh() && !IsRobotPressureTooLow(); + } + public IList Documentation { get; set; } public IList VideoStreams { get; set; } diff --git a/backend/api/Database/Models/RobotModel.cs b/backend/api/Database/Models/RobotModel.cs index 8c0c9f2ff..09d61b4a2 100644 --- a/backend/api/Database/Models/RobotModel.cs +++ b/backend/api/Database/Models/RobotModel.cs @@ -59,6 +59,11 @@ public RobotModel(CreateRobotModelQuery query) /// public float? LowerPressureWarningThreshold { get; set; } + /// + /// Lower battery threshold at which to allow missions to be scheduled, in percentage + /// + public float? BatteryMissionStartThreshold { get; set; } + /// /// The average time in seconds spent by this model on a single tag (excluding recording duration for video/audio) /// @@ -69,6 +74,7 @@ public void Update(UpdateRobotModelQuery updateQuery) BatteryWarningThreshold = updateQuery.BatteryWarningThreshold; UpperPressureWarningThreshold = updateQuery.UpperPressureWarningThreshold; LowerPressureWarningThreshold = updateQuery.LowerPressureWarningThreshold; + BatteryMissionStartThreshold = updateQuery.BatteryMissionStartThreshold; } } } diff --git a/backend/api/EventHandlers/MqttEventHandler.cs b/backend/api/EventHandlers/MqttEventHandler.cs index 4d8bbf273..da69a1b82 100644 --- a/backend/api/EventHandlers/MqttEventHandler.cs +++ b/backend/api/EventHandlers/MqttEventHandler.cs @@ -412,7 +412,7 @@ private async void OnIsarBatteryUpdate(object? sender, MqttReceivedArgs mqttArgs _logger.LogInformation("Sending robot '{RobotName}' to its safe zone as its battery level is too low.", robot.Name); EmergencyActionService.SendRobotToSafezone(new RobotEmergencyEventArgs(robot.Id, RobotFlotillaStatus.Recharging)); } - else if (robot.FlotillaStatus == RobotFlotillaStatus.Recharging && !(robot.IsRobotBatteryTooLow() || robot.IsRobotPressureTooHigh() || robot.IsRobotPressureTooLow())) + else if (robot.FlotillaStatus == RobotFlotillaStatus.Recharging && robot.IsRobotReadyToStartMissions()) { _logger.LogInformation("Releasing robot '{RobotName}' from its safe zone as its battery and pressure levels are good enough to run missions.", robot.Name); EmergencyActionService.ReleaseRobotFromSafezone(new RobotEmergencyEventArgs(robot.Id, RobotFlotillaStatus.Normal)); @@ -431,7 +431,7 @@ private async void OnIsarPressureUpdate(object? sender, MqttReceivedArgs mqttArg _logger.LogInformation("Sending robot '{RobotName}' to its safe zone as its pressure is too low or high.", robot.Name); EmergencyActionService.SendRobotToSafezone(new RobotEmergencyEventArgs(robot.Id, RobotFlotillaStatus.Recharging)); } - else if (robot.FlotillaStatus == RobotFlotillaStatus.Recharging && !(robot.IsRobotBatteryTooLow() || robot.IsRobotPressureTooHigh() || robot.IsRobotPressureTooLow())) + else if (robot.FlotillaStatus == RobotFlotillaStatus.Recharging && robot.IsRobotReadyToStartMissions()) { _logger.LogInformation("Releasing robot '{RobotName}' from its safe zone as its battery and pressure levels are good enough to run missions.", robot.Name); EmergencyActionService.ReleaseRobotFromSafezone(new RobotEmergencyEventArgs(robot.Id, RobotFlotillaStatus.Normal)); diff --git a/backend/api/Migrations/20241015070506_AddRobotMissionStartBatteryThreshold.Designer.cs b/backend/api/Migrations/20241015070506_AddRobotMissionStartBatteryThreshold.Designer.cs new file mode 100644 index 000000000..cdcd14651 --- /dev/null +++ b/backend/api/Migrations/20241015070506_AddRobotMissionStartBatteryThreshold.Designer.cs @@ -0,0 +1,1410 @@ +// +using System; +using Api.Database.Context; +using Microsoft.EntityFrameworkCore; +using Microsoft.EntityFrameworkCore.Infrastructure; +using Microsoft.EntityFrameworkCore.Migrations; +using Microsoft.EntityFrameworkCore.Storage.ValueConversion; +using Npgsql.EntityFrameworkCore.PostgreSQL.Metadata; + +#nullable disable + +namespace Api.Migrations +{ + [DbContext(typeof(FlotillaDbContext))] + [Migration("20241015070506_AddRobotMissionStartBatteryThreshold")] + partial class AddRobotMissionStartBatteryThreshold + { + /// + protected override void BuildTargetModel(ModelBuilder modelBuilder) + { +#pragma warning disable 612, 618 + modelBuilder + .HasAnnotation("ProductVersion", "8.0.7") + .HasAnnotation("Relational:MaxIdentifierLength", 63); + + NpgsqlModelBuilderExtensions.UseIdentityByDefaultColumns(modelBuilder); + + modelBuilder.Entity("Api.Database.Models.AccessRole", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("AccessLevel") + .IsRequired() + .HasColumnType("text"); + + b.Property("InstallationId") + .HasColumnType("text"); + + b.Property("RoleName") + .IsRequired() + .HasColumnType("text"); + + b.HasKey("Id"); + + b.HasIndex("InstallationId"); + + b.ToTable("AccessRoles"); + }); + + modelBuilder.Entity("Api.Database.Models.Area", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("DeckId") + .IsRequired() + .HasColumnType("text"); + + b.Property("DefaultLocalizationPoseId") + .HasColumnType("text"); + + b.Property("InstallationId") + .IsRequired() + .HasColumnType("text"); + + b.Property("Name") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("PlantId") + .IsRequired() + .HasColumnType("text"); + + b.HasKey("Id"); + + b.HasIndex("DeckId"); + + b.HasIndex("DefaultLocalizationPoseId"); + + b.HasIndex("InstallationId"); + + b.HasIndex("PlantId"); + + b.ToTable("Areas"); + }); + + modelBuilder.Entity("Api.Database.Models.Deck", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("DefaultLocalizationPoseId") + .HasColumnType("text"); + + b.Property("InstallationId") + .IsRequired() + .HasColumnType("text"); + + b.Property("Name") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("PlantId") + .IsRequired() + .HasColumnType("text"); + + b.HasKey("Id"); + + b.HasIndex("DefaultLocalizationPoseId"); + + b.HasIndex("InstallationId"); + + b.HasIndex("PlantId"); + + b.ToTable("Decks"); + }); + + modelBuilder.Entity("Api.Database.Models.DefaultLocalizationPose", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("DockingEnabled") + .HasColumnType("boolean"); + + b.HasKey("Id"); + + b.ToTable("DefaultLocalizationPoses"); + }); + + modelBuilder.Entity("Api.Database.Models.Inspection", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("AnalysisType") + .HasColumnType("text"); + + b.Property("EndTime") + .HasColumnType("timestamp with time zone"); + + b.Property("InspectionType") + .IsRequired() + .HasColumnType("text"); + + b.Property("InspectionUrl") + .HasMaxLength(250) + .HasColumnType("character varying(250)"); + + b.Property("IsarStepId") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("MissionTaskId") + .HasColumnType("text"); + + b.Property("StartTime") + .HasColumnType("timestamp with time zone"); + + b.Property("Status") + .IsRequired() + .HasColumnType("text"); + + b.Property("VideoDuration") + .HasColumnType("real"); + + b.HasKey("Id"); + + b.HasIndex("MissionTaskId"); + + b.ToTable("Inspections"); + }); + + modelBuilder.Entity("Api.Database.Models.InspectionFinding", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("Finding") + .IsRequired() + .HasColumnType("text"); + + b.Property("InspectionDate") + .HasColumnType("timestamp with time zone"); + + b.Property("InspectionId") + .HasColumnType("text"); + + b.Property("IsarStepId") + .IsRequired() + .HasColumnType("text"); + + b.HasKey("Id"); + + b.HasIndex("InspectionId"); + + b.ToTable("InspectionFindings"); + }); + + modelBuilder.Entity("Api.Database.Models.Installation", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("InstallationCode") + .IsRequired() + .HasMaxLength(10) + .HasColumnType("character varying(10)"); + + b.Property("Name") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.HasKey("Id"); + + b.HasIndex("InstallationCode") + .IsUnique(); + + b.ToTable("Installations"); + }); + + modelBuilder.Entity("Api.Database.Models.MissionDefinition", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("AreaId") + .IsRequired() + .HasColumnType("text"); + + b.Property("Comment") + .HasMaxLength(1000) + .HasColumnType("character varying(1000)"); + + b.Property("InspectionFrequency") + .HasColumnType("bigint"); + + b.Property("InstallationCode") + .IsRequired() + .HasColumnType("text"); + + b.Property("IsDeprecated") + .HasColumnType("boolean"); + + b.Property("LastSuccessfulRunId") + .HasColumnType("text"); + + b.Property("Name") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("SourceId") + .IsRequired() + .HasColumnType("text"); + + b.HasKey("Id"); + + b.HasIndex("AreaId"); + + b.HasIndex("LastSuccessfulRunId"); + + b.HasIndex("SourceId"); + + b.ToTable("MissionDefinitions"); + }); + + modelBuilder.Entity("Api.Database.Models.MissionRun", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("AreaId") + .IsRequired() + .HasColumnType("text"); + + b.Property("Comment") + .HasMaxLength(1000) + .HasColumnType("character varying(1000)"); + + b.Property("Description") + .HasMaxLength(450) + .HasColumnType("character varying(450)"); + + b.Property("DesiredStartTime") + .HasColumnType("timestamp with time zone"); + + b.Property("EndTime") + .HasColumnType("timestamp with time zone"); + + b.Property("EstimatedDuration") + .HasColumnType("bigint"); + + b.Property("InstallationCode") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("IsDeprecated") + .HasColumnType("boolean"); + + b.Property("IsarMissionId") + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("MissionId") + .HasColumnType("text"); + + b.Property("MissionRunType") + .IsRequired() + .HasColumnType("text"); + + b.Property("Name") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("RobotId") + .IsRequired() + .HasColumnType("text"); + + b.Property("StartTime") + .HasColumnType("timestamp with time zone"); + + b.Property("Status") + .IsRequired() + .HasColumnType("text"); + + b.Property("StatusReason") + .HasMaxLength(450) + .HasColumnType("character varying(450)"); + + b.HasKey("Id"); + + b.HasIndex("AreaId"); + + b.HasIndex("RobotId"); + + b.ToTable("MissionRuns"); + }); + + modelBuilder.Entity("Api.Database.Models.MissionTask", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("Description") + .HasMaxLength(500) + .HasColumnType("character varying(500)"); + + b.Property("EndTime") + .HasColumnType("timestamp with time zone"); + + b.Property("IsarTaskId") + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("MissionRunId") + .HasColumnType("text"); + + b.Property("PoseId") + .HasColumnType("integer"); + + b.Property("StartTime") + .HasColumnType("timestamp with time zone"); + + b.Property("Status") + .IsRequired() + .HasColumnType("text"); + + b.Property("TagId") + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("TagLink") + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("TaskOrder") + .HasColumnType("integer"); + + b.Property("Type") + .IsRequired() + .HasColumnType("text"); + + b.HasKey("Id"); + + b.HasIndex("MissionRunId"); + + b.ToTable("MissionTasks"); + }); + + modelBuilder.Entity("Api.Database.Models.Plant", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("InstallationId") + .IsRequired() + .HasColumnType("text"); + + b.Property("Name") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("PlantCode") + .IsRequired() + .HasMaxLength(10) + .HasColumnType("character varying(10)"); + + b.HasKey("Id"); + + b.HasIndex("InstallationId"); + + b.HasIndex("PlantCode") + .IsUnique(); + + b.ToTable("Plants"); + }); + + modelBuilder.Entity("Api.Database.Models.Robot", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("BatteryLevel") + .HasColumnType("real"); + + b.Property("CurrentAreaId") + .HasColumnType("text"); + + b.Property("CurrentInstallationId") + .IsRequired() + .HasColumnType("text"); + + b.Property("CurrentMissionId") + .HasColumnType("text"); + + b.Property("Deprecated") + .HasColumnType("boolean"); + + b.Property("FlotillaStatus") + .IsRequired() + .HasColumnType("text"); + + b.Property("Host") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("IsarConnected") + .HasColumnType("boolean"); + + b.Property("IsarId") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("MissionQueueFrozen") + .HasColumnType("boolean"); + + b.Property("ModelId") + .IsRequired() + .HasColumnType("text"); + + b.Property("Name") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("Port") + .HasColumnType("integer"); + + b.Property("PressureLevel") + .HasColumnType("real"); + + b.Property("RobotCapabilities") + .HasColumnType("text"); + + b.Property("SerialNumber") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b.Property("Status") + .IsRequired() + .HasColumnType("text"); + + b.HasKey("Id"); + + b.HasIndex("CurrentAreaId"); + + b.HasIndex("CurrentInstallationId"); + + b.HasIndex("ModelId"); + + b.ToTable("Robots"); + }); + + modelBuilder.Entity("Api.Database.Models.RobotBatteryTimeseries", b => + { + b.Property("BatteryLevel") + .HasColumnType("real"); + + b.Property("MissionId") + .HasColumnType("text"); + + b.Property("RobotId") + .IsRequired() + .HasColumnType("text"); + + b.Property("Time") + .HasColumnType("timestamp with time zone"); + + b.ToTable("RobotBatteryTimeseries"); + }); + + modelBuilder.Entity("Api.Database.Models.RobotModel", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("AverageDurationPerTag") + .HasColumnType("real"); + + b.Property("BatteryMissionStartThreshold") + .HasColumnType("real"); + + b.Property("BatteryWarningThreshold") + .HasColumnType("real"); + + b.Property("LowerPressureWarningThreshold") + .HasColumnType("real"); + + b.Property("Type") + .IsRequired() + .HasColumnType("text"); + + b.Property("UpperPressureWarningThreshold") + .HasColumnType("real"); + + b.HasKey("Id"); + + b.HasIndex("Type") + .IsUnique(); + + b.ToTable("RobotModels"); + }); + + modelBuilder.Entity("Api.Database.Models.RobotPoseTimeseries", b => + { + b.Property("MissionId") + .HasColumnType("text"); + + b.Property("OrientationW") + .HasColumnType("real"); + + b.Property("OrientationX") + .HasColumnType("real"); + + b.Property("OrientationY") + .HasColumnType("real"); + + b.Property("OrientationZ") + .HasColumnType("real"); + + b.Property("PositionX") + .HasColumnType("real"); + + b.Property("PositionY") + .HasColumnType("real"); + + b.Property("PositionZ") + .HasColumnType("real"); + + b.Property("RobotId") + .IsRequired() + .HasColumnType("text"); + + b.Property("Time") + .HasColumnType("timestamp with time zone"); + + b.ToTable("RobotPoseTimeseries"); + }); + + modelBuilder.Entity("Api.Database.Models.RobotPressureTimeseries", b => + { + b.Property("MissionId") + .HasColumnType("text"); + + b.Property("Pressure") + .HasColumnType("real"); + + b.Property("RobotId") + .IsRequired() + .HasColumnType("text"); + + b.Property("Time") + .HasColumnType("timestamp with time zone"); + + b.ToTable("RobotPressureTimeseries"); + }); + + modelBuilder.Entity("Api.Database.Models.SafePosition", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("AreaId") + .HasColumnType("text"); + + b.HasKey("Id"); + + b.HasIndex("AreaId"); + + b.ToTable("SafePositions"); + }); + + modelBuilder.Entity("Api.Database.Models.Source", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("CustomMissionTasks") + .HasColumnType("text"); + + b.Property("SourceId") + .IsRequired() + .HasColumnType("text"); + + b.HasKey("Id"); + + b.ToTable("Sources"); + }); + + modelBuilder.Entity("Api.Database.Models.UserInfo", b => + { + b.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b.Property("Oid") + .IsRequired() + .HasColumnType("text"); + + b.HasKey("Id"); + + b.ToTable("UserInfos"); + }); + + modelBuilder.Entity("Api.Database.Models.AccessRole", b => + { + b.HasOne("Api.Database.Models.Installation", "Installation") + .WithMany() + .HasForeignKey("InstallationId"); + + b.Navigation("Installation"); + }); + + modelBuilder.Entity("Api.Database.Models.Area", b => + { + b.HasOne("Api.Database.Models.Deck", "Deck") + .WithMany() + .HasForeignKey("DeckId") + .OnDelete(DeleteBehavior.Restrict) + .IsRequired(); + + b.HasOne("Api.Database.Models.DefaultLocalizationPose", "DefaultLocalizationPose") + .WithMany() + .HasForeignKey("DefaultLocalizationPoseId"); + + b.HasOne("Api.Database.Models.Installation", "Installation") + .WithMany() + .HasForeignKey("InstallationId") + .OnDelete(DeleteBehavior.Restrict) + .IsRequired(); + + b.HasOne("Api.Database.Models.Plant", "Plant") + .WithMany() + .HasForeignKey("PlantId") + .OnDelete(DeleteBehavior.Restrict) + .IsRequired(); + + b.OwnsOne("Api.Database.Models.MapMetadata", "MapMetadata", b1 => + { + b1.Property("AreaId") + .HasColumnType("text"); + + b1.Property("MapName") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b1.HasKey("AreaId"); + + b1.ToTable("Areas"); + + b1.WithOwner() + .HasForeignKey("AreaId"); + + b1.OwnsOne("Api.Database.Models.Boundary", "Boundary", b2 => + { + b2.Property("MapMetadataAreaId") + .HasColumnType("text"); + + b2.Property("X1") + .HasColumnType("double precision"); + + b2.Property("X2") + .HasColumnType("double precision"); + + b2.Property("Y1") + .HasColumnType("double precision"); + + b2.Property("Y2") + .HasColumnType("double precision"); + + b2.Property("Z1") + .HasColumnType("double precision"); + + b2.Property("Z2") + .HasColumnType("double precision"); + + b2.HasKey("MapMetadataAreaId"); + + b2.ToTable("Areas"); + + b2.WithOwner() + .HasForeignKey("MapMetadataAreaId"); + }); + + b1.OwnsOne("Api.Database.Models.TransformationMatrices", "TransformationMatrices", b2 => + { + b2.Property("MapMetadataAreaId") + .HasColumnType("text"); + + b2.Property("C1") + .HasColumnType("double precision"); + + b2.Property("C2") + .HasColumnType("double precision"); + + b2.Property("D1") + .HasColumnType("double precision"); + + b2.Property("D2") + .HasColumnType("double precision"); + + b2.HasKey("MapMetadataAreaId"); + + b2.ToTable("Areas"); + + b2.WithOwner() + .HasForeignKey("MapMetadataAreaId"); + }); + + b1.Navigation("Boundary") + .IsRequired(); + + b1.Navigation("TransformationMatrices") + .IsRequired(); + }); + + b.Navigation("Deck"); + + b.Navigation("DefaultLocalizationPose"); + + b.Navigation("Installation"); + + b.Navigation("MapMetadata") + .IsRequired(); + + b.Navigation("Plant"); + }); + + modelBuilder.Entity("Api.Database.Models.Deck", b => + { + b.HasOne("Api.Database.Models.DefaultLocalizationPose", "DefaultLocalizationPose") + .WithMany() + .HasForeignKey("DefaultLocalizationPoseId"); + + b.HasOne("Api.Database.Models.Installation", "Installation") + .WithMany() + .HasForeignKey("InstallationId") + .OnDelete(DeleteBehavior.Restrict) + .IsRequired(); + + b.HasOne("Api.Database.Models.Plant", "Plant") + .WithMany() + .HasForeignKey("PlantId") + .OnDelete(DeleteBehavior.Restrict) + .IsRequired(); + + b.Navigation("DefaultLocalizationPose"); + + b.Navigation("Installation"); + + b.Navigation("Plant"); + }); + + modelBuilder.Entity("Api.Database.Models.DefaultLocalizationPose", b => + { + b.OwnsOne("Api.Database.Models.Pose", "Pose", b1 => + { + b1.Property("DefaultLocalizationPoseId") + .HasColumnType("text"); + + b1.HasKey("DefaultLocalizationPoseId"); + + b1.ToTable("DefaultLocalizationPoses"); + + b1.WithOwner() + .HasForeignKey("DefaultLocalizationPoseId"); + + b1.OwnsOne("Api.Database.Models.Orientation", "Orientation", b2 => + { + b2.Property("PoseDefaultLocalizationPoseId") + .HasColumnType("text"); + + b2.Property("W") + .HasColumnType("real"); + + b2.Property("X") + .HasColumnType("real"); + + b2.Property("Y") + .HasColumnType("real"); + + b2.Property("Z") + .HasColumnType("real"); + + b2.HasKey("PoseDefaultLocalizationPoseId"); + + b2.ToTable("DefaultLocalizationPoses"); + + b2.WithOwner() + .HasForeignKey("PoseDefaultLocalizationPoseId"); + }); + + b1.OwnsOne("Api.Database.Models.Position", "Position", b2 => + { + b2.Property("PoseDefaultLocalizationPoseId") + .HasColumnType("text"); + + b2.Property("X") + .HasColumnType("real"); + + b2.Property("Y") + .HasColumnType("real"); + + b2.Property("Z") + .HasColumnType("real"); + + b2.HasKey("PoseDefaultLocalizationPoseId"); + + b2.ToTable("DefaultLocalizationPoses"); + + b2.WithOwner() + .HasForeignKey("PoseDefaultLocalizationPoseId"); + }); + + b1.Navigation("Orientation") + .IsRequired(); + + b1.Navigation("Position") + .IsRequired(); + }); + + b.Navigation("Pose") + .IsRequired(); + }); + + modelBuilder.Entity("Api.Database.Models.Inspection", b => + { + b.HasOne("Api.Database.Models.MissionTask", null) + .WithMany("Inspections") + .HasForeignKey("MissionTaskId"); + + b.OwnsOne("Api.Database.Models.Position", "InspectionTarget", b1 => + { + b1.Property("InspectionId") + .HasColumnType("text"); + + b1.Property("X") + .HasColumnType("real"); + + b1.Property("Y") + .HasColumnType("real"); + + b1.Property("Z") + .HasColumnType("real"); + + b1.HasKey("InspectionId"); + + b1.ToTable("Inspections"); + + b1.WithOwner() + .HasForeignKey("InspectionId"); + }); + + b.Navigation("InspectionTarget") + .IsRequired(); + }); + + modelBuilder.Entity("Api.Database.Models.InspectionFinding", b => + { + b.HasOne("Api.Database.Models.Inspection", null) + .WithMany("InspectionFindings") + .HasForeignKey("InspectionId"); + }); + + modelBuilder.Entity("Api.Database.Models.MissionDefinition", b => + { + b.HasOne("Api.Database.Models.Area", "Area") + .WithMany() + .HasForeignKey("AreaId") + .OnDelete(DeleteBehavior.Cascade) + .IsRequired(); + + b.HasOne("Api.Database.Models.MissionRun", "LastSuccessfulRun") + .WithMany() + .HasForeignKey("LastSuccessfulRunId"); + + b.HasOne("Api.Database.Models.Source", "Source") + .WithMany() + .HasForeignKey("SourceId") + .OnDelete(DeleteBehavior.Cascade) + .IsRequired(); + + b.Navigation("Area"); + + b.Navigation("LastSuccessfulRun"); + + b.Navigation("Source"); + }); + + modelBuilder.Entity("Api.Database.Models.MissionRun", b => + { + b.HasOne("Api.Database.Models.Area", "Area") + .WithMany() + .HasForeignKey("AreaId") + .OnDelete(DeleteBehavior.Cascade) + .IsRequired(); + + b.HasOne("Api.Database.Models.Robot", "Robot") + .WithMany() + .HasForeignKey("RobotId") + .OnDelete(DeleteBehavior.Cascade) + .IsRequired(); + + b.OwnsOne("Api.Database.Models.MapMetadata", "Map", b1 => + { + b1.Property("MissionRunId") + .HasColumnType("text"); + + b1.Property("MapName") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b1.HasKey("MissionRunId"); + + b1.ToTable("MissionRuns"); + + b1.WithOwner() + .HasForeignKey("MissionRunId"); + + b1.OwnsOne("Api.Database.Models.Boundary", "Boundary", b2 => + { + b2.Property("MapMetadataMissionRunId") + .HasColumnType("text"); + + b2.Property("X1") + .HasColumnType("double precision"); + + b2.Property("X2") + .HasColumnType("double precision"); + + b2.Property("Y1") + .HasColumnType("double precision"); + + b2.Property("Y2") + .HasColumnType("double precision"); + + b2.Property("Z1") + .HasColumnType("double precision"); + + b2.Property("Z2") + .HasColumnType("double precision"); + + b2.HasKey("MapMetadataMissionRunId"); + + b2.ToTable("MissionRuns"); + + b2.WithOwner() + .HasForeignKey("MapMetadataMissionRunId"); + }); + + b1.OwnsOne("Api.Database.Models.TransformationMatrices", "TransformationMatrices", b2 => + { + b2.Property("MapMetadataMissionRunId") + .HasColumnType("text"); + + b2.Property("C1") + .HasColumnType("double precision"); + + b2.Property("C2") + .HasColumnType("double precision"); + + b2.Property("D1") + .HasColumnType("double precision"); + + b2.Property("D2") + .HasColumnType("double precision"); + + b2.HasKey("MapMetadataMissionRunId"); + + b2.ToTable("MissionRuns"); + + b2.WithOwner() + .HasForeignKey("MapMetadataMissionRunId"); + }); + + b1.Navigation("Boundary") + .IsRequired(); + + b1.Navigation("TransformationMatrices") + .IsRequired(); + }); + + b.Navigation("Area"); + + b.Navigation("Map"); + + b.Navigation("Robot"); + }); + + modelBuilder.Entity("Api.Database.Models.MissionTask", b => + { + b.HasOne("Api.Database.Models.MissionRun", null) + .WithMany("Tasks") + .HasForeignKey("MissionRunId"); + + b.OwnsOne("Api.Database.Models.Pose", "RobotPose", b1 => + { + b1.Property("MissionTaskId") + .HasColumnType("text"); + + b1.HasKey("MissionTaskId"); + + b1.ToTable("MissionTasks"); + + b1.WithOwner() + .HasForeignKey("MissionTaskId"); + + b1.OwnsOne("Api.Database.Models.Orientation", "Orientation", b2 => + { + b2.Property("PoseMissionTaskId") + .HasColumnType("text"); + + b2.Property("W") + .HasColumnType("real"); + + b2.Property("X") + .HasColumnType("real"); + + b2.Property("Y") + .HasColumnType("real"); + + b2.Property("Z") + .HasColumnType("real"); + + b2.HasKey("PoseMissionTaskId"); + + b2.ToTable("MissionTasks"); + + b2.WithOwner() + .HasForeignKey("PoseMissionTaskId"); + }); + + b1.OwnsOne("Api.Database.Models.Position", "Position", b2 => + { + b2.Property("PoseMissionTaskId") + .HasColumnType("text"); + + b2.Property("X") + .HasColumnType("real"); + + b2.Property("Y") + .HasColumnType("real"); + + b2.Property("Z") + .HasColumnType("real"); + + b2.HasKey("PoseMissionTaskId"); + + b2.ToTable("MissionTasks"); + + b2.WithOwner() + .HasForeignKey("PoseMissionTaskId"); + }); + + b1.Navigation("Orientation") + .IsRequired(); + + b1.Navigation("Position") + .IsRequired(); + }); + + b.Navigation("RobotPose") + .IsRequired(); + }); + + modelBuilder.Entity("Api.Database.Models.Plant", b => + { + b.HasOne("Api.Database.Models.Installation", "Installation") + .WithMany() + .HasForeignKey("InstallationId") + .OnDelete(DeleteBehavior.Restrict) + .IsRequired(); + + b.Navigation("Installation"); + }); + + modelBuilder.Entity("Api.Database.Models.Robot", b => + { + b.HasOne("Api.Database.Models.Area", "CurrentArea") + .WithMany() + .HasForeignKey("CurrentAreaId"); + + b.HasOne("Api.Database.Models.Installation", "CurrentInstallation") + .WithMany() + .HasForeignKey("CurrentInstallationId") + .OnDelete(DeleteBehavior.Cascade) + .IsRequired(); + + b.HasOne("Api.Database.Models.RobotModel", "Model") + .WithMany() + .HasForeignKey("ModelId") + .OnDelete(DeleteBehavior.Cascade) + .IsRequired(); + + b.OwnsMany("Api.Database.Models.DocumentInfo", "Documentation", b1 => + { + b1.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b1.Property("Name") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b1.Property("RobotId") + .IsRequired() + .HasColumnType("text"); + + b1.Property("Url") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b1.HasKey("Id"); + + b1.HasIndex("RobotId"); + + b1.ToTable("DocumentInfo"); + + b1.WithOwner() + .HasForeignKey("RobotId"); + }); + + b.OwnsOne("Api.Database.Models.Pose", "Pose", b1 => + { + b1.Property("RobotId") + .HasColumnType("text"); + + b1.HasKey("RobotId"); + + b1.ToTable("Robots"); + + b1.WithOwner() + .HasForeignKey("RobotId"); + + b1.OwnsOne("Api.Database.Models.Orientation", "Orientation", b2 => + { + b2.Property("PoseRobotId") + .HasColumnType("text"); + + b2.Property("W") + .HasColumnType("real"); + + b2.Property("X") + .HasColumnType("real"); + + b2.Property("Y") + .HasColumnType("real"); + + b2.Property("Z") + .HasColumnType("real"); + + b2.HasKey("PoseRobotId"); + + b2.ToTable("Robots"); + + b2.WithOwner() + .HasForeignKey("PoseRobotId"); + }); + + b1.OwnsOne("Api.Database.Models.Position", "Position", b2 => + { + b2.Property("PoseRobotId") + .HasColumnType("text"); + + b2.Property("X") + .HasColumnType("real"); + + b2.Property("Y") + .HasColumnType("real"); + + b2.Property("Z") + .HasColumnType("real"); + + b2.HasKey("PoseRobotId"); + + b2.ToTable("Robots"); + + b2.WithOwner() + .HasForeignKey("PoseRobotId"); + }); + + b1.Navigation("Orientation") + .IsRequired(); + + b1.Navigation("Position") + .IsRequired(); + }); + + b.OwnsMany("Api.Database.Models.VideoStream", "VideoStreams", b1 => + { + b1.Property("Id") + .ValueGeneratedOnAdd() + .HasColumnType("text"); + + b1.Property("Name") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b1.Property("RobotId") + .IsRequired() + .HasColumnType("text"); + + b1.Property("ShouldRotate270Clockwise") + .HasColumnType("boolean"); + + b1.Property("Type") + .IsRequired() + .HasMaxLength(64) + .HasColumnType("character varying(64)"); + + b1.Property("Url") + .IsRequired() + .HasMaxLength(200) + .HasColumnType("character varying(200)"); + + b1.HasKey("Id"); + + b1.HasIndex("RobotId"); + + b1.ToTable("VideoStream"); + + b1.WithOwner() + .HasForeignKey("RobotId"); + }); + + b.Navigation("CurrentArea"); + + b.Navigation("CurrentInstallation"); + + b.Navigation("Documentation"); + + b.Navigation("Model"); + + b.Navigation("Pose") + .IsRequired(); + + b.Navigation("VideoStreams"); + }); + + modelBuilder.Entity("Api.Database.Models.SafePosition", b => + { + b.HasOne("Api.Database.Models.Area", null) + .WithMany("SafePositions") + .HasForeignKey("AreaId"); + + b.OwnsOne("Api.Database.Models.Pose", "Pose", b1 => + { + b1.Property("SafePositionId") + .HasColumnType("text"); + + b1.HasKey("SafePositionId"); + + b1.ToTable("SafePositions"); + + b1.WithOwner() + .HasForeignKey("SafePositionId"); + + b1.OwnsOne("Api.Database.Models.Orientation", "Orientation", b2 => + { + b2.Property("PoseSafePositionId") + .HasColumnType("text"); + + b2.Property("W") + .HasColumnType("real"); + + b2.Property("X") + .HasColumnType("real"); + + b2.Property("Y") + .HasColumnType("real"); + + b2.Property("Z") + .HasColumnType("real"); + + b2.HasKey("PoseSafePositionId"); + + b2.ToTable("SafePositions"); + + b2.WithOwner() + .HasForeignKey("PoseSafePositionId"); + }); + + b1.OwnsOne("Api.Database.Models.Position", "Position", b2 => + { + b2.Property("PoseSafePositionId") + .HasColumnType("text"); + + b2.Property("X") + .HasColumnType("real"); + + b2.Property("Y") + .HasColumnType("real"); + + b2.Property("Z") + .HasColumnType("real"); + + b2.HasKey("PoseSafePositionId"); + + b2.ToTable("SafePositions"); + + b2.WithOwner() + .HasForeignKey("PoseSafePositionId"); + }); + + b1.Navigation("Orientation") + .IsRequired(); + + b1.Navigation("Position") + .IsRequired(); + }); + + b.Navigation("Pose") + .IsRequired(); + }); + + modelBuilder.Entity("Api.Database.Models.Area", b => + { + b.Navigation("SafePositions"); + }); + + modelBuilder.Entity("Api.Database.Models.Inspection", b => + { + b.Navigation("InspectionFindings"); + }); + + modelBuilder.Entity("Api.Database.Models.MissionRun", b => + { + b.Navigation("Tasks"); + }); + + modelBuilder.Entity("Api.Database.Models.MissionTask", b => + { + b.Navigation("Inspections"); + }); +#pragma warning restore 612, 618 + } + } +} diff --git a/backend/api/Migrations/20241015070506_AddRobotMissionStartBatteryThreshold.cs b/backend/api/Migrations/20241015070506_AddRobotMissionStartBatteryThreshold.cs new file mode 100644 index 000000000..dd799164a --- /dev/null +++ b/backend/api/Migrations/20241015070506_AddRobotMissionStartBatteryThreshold.cs @@ -0,0 +1,28 @@ +using Microsoft.EntityFrameworkCore.Migrations; + +#nullable disable + +namespace Api.Migrations +{ + /// + public partial class AddRobotMissionStartBatteryThreshold : Migration + { + /// + protected override void Up(MigrationBuilder migrationBuilder) + { + migrationBuilder.AddColumn( + name: "BatteryMissionStartThreshold", + table: "RobotModels", + type: "real", + nullable: true); + } + + /// + protected override void Down(MigrationBuilder migrationBuilder) + { + migrationBuilder.DropColumn( + name: "BatteryMissionStartThreshold", + table: "RobotModels"); + } + } +} diff --git a/backend/api/Migrations/FlotillaDbContextModelSnapshot.cs b/backend/api/Migrations/FlotillaDbContextModelSnapshot.cs index 6b30116c7..42f91af60 100644 --- a/backend/api/Migrations/FlotillaDbContextModelSnapshot.cs +++ b/backend/api/Migrations/FlotillaDbContextModelSnapshot.cs @@ -539,6 +539,9 @@ protected override void BuildModel(ModelBuilder modelBuilder) b.Property("AverageDurationPerTag") .HasColumnType("real"); + b.Property("BatteryMissionStartThreshold") + .HasColumnType("real"); + b.Property("BatteryWarningThreshold") .HasColumnType("real");