From bf5ae79fab155c7cd1a6d66a1c3b049289b2291e Mon Sep 17 00:00:00 2001
From: Afonso <avie@equinor.com>
Date: Thu, 9 Nov 2023 17:24:30 +0100
Subject: [PATCH] Stop mission if robot is idle

If the robot is reported as idle from ISAR, stopping a mission should not crash
---
 backend/api/Controllers/RobotController.cs       | 7 +++++++
 backend/api/Services/IsarService.cs              | 9 ++++++++-
 backend/api/Services/MissionSchedulingService.cs | 2 ++
 3 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/backend/api/Controllers/RobotController.cs b/backend/api/Controllers/RobotController.cs
index 4d4c327f1..11802d539 100644
--- a/backend/api/Controllers/RobotController.cs
+++ b/backend/api/Controllers/RobotController.cs
@@ -473,6 +473,13 @@ public async Task<ActionResult> StopMission([FromRoute] string robotId)
                 _logger.LogError(e, "{Message}", Message);
                 return StatusCode(StatusCodes.Status500InternalServerError, Message);
             }
+            catch (MissionNotFoundException)
+            {
+                _logger.LogWarning($"No mission was runnning for robot {robot.Id}");
+                robot.CurrentMissionId = null;
+                await _robotService.Update(robot);
+
+            }
 
             try { await _robotService.SetCurrentMissionId(robotId, null); }
             catch (RobotNotFoundException e) { return NotFound(e.Message); }
diff --git a/backend/api/Services/IsarService.cs b/backend/api/Services/IsarService.cs
index ce69bd7bc..1a16f5c82 100644
--- a/backend/api/Services/IsarService.cs
+++ b/backend/api/Services/IsarService.cs
@@ -1,4 +1,5 @@
-using System.Text.Json;
+using System.Net;
+using System.Text.Json;
 using Api.Database.Models;
 using Api.Services.Models;
 using Api.Utilities;
@@ -88,6 +89,12 @@ public async Task<IsarControlMissionResponse> StopMission(Robot robot)
             {
                 (string message, int statusCode) = GetErrorDescriptionFoFailedIsarRequest(response);
                 string errorResponse = await response.Content.ReadAsStringAsync();
+                if (response.StatusCode == HttpStatusCode.Conflict && errorResponse.Contains("idle", StringComparison.CurrentCultureIgnoreCase))
+                {
+                    _logger.LogError("No mission was running for robot '{Id}", robot.Id);
+                    throw new MissionNotFoundException($"No mission was running for robot {robot.Id}");
+                }
+
                 _logger.LogError("{Message}: {ErrorResponse}", message, errorResponse);
                 throw new MissionException(message, statusCode);
             }
diff --git a/backend/api/Services/MissionSchedulingService.cs b/backend/api/Services/MissionSchedulingService.cs
index 85f6facaf..6db345b3c 100644
--- a/backend/api/Services/MissionSchedulingService.cs
+++ b/backend/api/Services/MissionSchedulingService.cs
@@ -165,6 +165,8 @@ public async Task StopCurrentMissionRun(string robotId)
                 throw new MissionException(Message, 0);
             }
 
+            catch (MissionNotFoundException) { _logger.LogWarning($"No mission was running for robot {robot.Id}"); }
+
             robot.CurrentMissionId = null;
             await _robotService.Update(robot);
         }