Add stop all robots button

backend/api.test/EndpointTest.cs

@@ -558,27 +558,13 @@ public async Task SafePositionTest()
             var area = await areaResponse.Content.ReadFromJsonAsync<Area>(_serializerOptions);
             Assert.True(area != null);
 
-            // Arrange - Get a Robot
-            string url = "/robots";
-            var robotResponse = await _client.GetAsync(url);
-            Assert.True(robotResponse.IsSuccessStatusCode);
-            var robots = await robotResponse.Content.ReadFromJsonAsync<List<Robot>>(_serializerOptions);
-            Assert.True(robots != null);
-            var robot = robots[0];
-            string robotId = robot.Id;
-
             // Act
-            string goToSafePositionUrl = $"/robots/{robotId}/{testInstallation}/{testArea}/go-to-safe-position";
+            string goToSafePositionUrl = $"/emergency-action/{testInstallation}/abort-current-missions-and-send-all-robots-to-safe-zone";
             var missionResponse = await _client.PostAsync(goToSafePositionUrl, null);
 
             // Assert
             Assert.True(missionResponse.IsSuccessStatusCode);
-            var missionRun = await missionResponse.Content.ReadFromJsonAsync<MissionRun>(_serializerOptions);
-            Assert.True(missionRun != null);
-            Assert.True(
-                JsonSerializer.Serialize(missionRun.Tasks[0].RobotPose.Position) ==
-                JsonSerializer.Serialize(testPosition)
-            );
+
         }
 
         [Fact]

backend/api.test/EventHandlers/TestMissionEventHandler.cs

@@ -47,13 +47,23 @@ public class TestMissionEventHandler : IDisposable
         private readonly RobotControllerMock _robotControllerMock;
         private readonly IRobotModelService _robotModelService;
         private readonly IRobotService _robotService;
+        private readonly IMissionScheduling _missionScheduling;
+        private readonly IIsarService _isarServiceMock;
+        private readonly IInstallationService _installationService;
+        private readonly IDefaultLocalizationPoseService _defaultLocalisationPoseService;
+        private readonly IPlantService _plantService;
+        private readonly IDeckService _deckService;
+        private readonly IAreaService _areaService;
+        private readonly IMissionSchedulingService _missionSchedulingService;
 
         public TestMissionEventHandler(DatabaseFixture fixture)
         {
             var missionEventHandlerLogger = new Mock<ILogger<MissionEventHandler>>().Object;
             var mqttServiceLogger = new Mock<ILogger<MqttService>>().Object;
             var mqttEventHandlerLogger = new Mock<ILogger<MqttEventHandler>>().Object;
             var missionLogger = new Mock<ILogger<MissionRunService>>().Object;
+            var missionSchedulingLogger = new Mock<ILogger<MissionScheduling>>().Object;
+            var missionSchedulingServiceLogger = new Mock<ILogger<MissionSchedulingService>>().Object;
 
             var configuration = WebApplication.CreateBuilder().Configuration;
 
@@ -65,6 +75,14 @@ public TestMissionEventHandler(DatabaseFixture fixture)
             _robotService = new RobotService(_context, _robotModelService);
             _robotModelService = new RobotModelService(_context);
             _robotControllerMock = new RobotControllerMock();
+            _isarServiceMock = new MockIsarService();
+            _installationService = new InstallationService(_context);
+            _defaultLocalisationPoseService = new DefaultLocalizationPoseService(_context);
+            _plantService = new PlantService(_context, _installationService);
+            _deckService = new DeckService(_context, _defaultLocalisationPoseService, _installationService, _plantService);
+            _areaService = new AreaService(_context, _installationService, _plantService, _deckService, _defaultLocalisationPoseService);
+            _missionSchedulingService = new MissionSchedulingService(missionSchedulingServiceLogger, _missionRunService, _robotService, _robotControllerMock.Mock.Object);
+            _missionScheduling = new MissionScheduling(missionSchedulingLogger, _missionRunService, _isarServiceMock, _robotService, _areaService, _missionSchedulingService);
 
             var mockServiceProvider = new Mock<IServiceProvider>();
 
@@ -75,6 +93,9 @@ public TestMissionEventHandler(DatabaseFixture fixture)
             mockServiceProvider
                 .Setup(p => p.GetService(typeof(IRobotService)))
                 .Returns(_robotService);
+            mockServiceProvider
+                .Setup(p => p.GetService(typeof(IMissionScheduling)))
+                .Returns(_missionScheduling);
             mockServiceProvider
                 .Setup(p => p.GetService(typeof(RobotController)))
                 .Returns(_robotControllerMock.Mock.Object);
@@ -119,6 +140,7 @@ public TestMissionEventHandler(DatabaseFixture fixture)
             {
                 Name = "testMission",
                 MissionId = Guid.NewGuid().ToString(),
+                MissionRunPriority = MissionRunPriority.Normal,
                 Status = MissionStatus.Pending,
                 DesiredStartTime = DateTimeOffset.Now,
                 Area = NewArea,

backend/api.test/Mocks/RobotControllerMock.cs

@@ -13,7 +13,6 @@ internal class RobotControllerMock
         public Mock<IMissionRunService> MissionServiceMock;
         public Mock<RobotController> Mock;
         public Mock<IAreaService> AreaServiceMock;
-        public Mock<IEchoService> EchoServiceMock;
 
         public RobotControllerMock()
         {
@@ -22,7 +21,6 @@ public RobotControllerMock()
             RobotServiceMock = new Mock<IRobotService>();
             RobotModelServiceMock = new Mock<IRobotModelService>();
             AreaServiceMock = new Mock<IAreaService>();
-            EchoServiceMock = new Mock<IEchoService>();
 
             var mockLoggerController = new Mock<ILogger<RobotController>>();
 
@@ -32,8 +30,7 @@ public RobotControllerMock()
                 IsarServiceMock.Object,
                 MissionServiceMock.Object,
                 RobotModelServiceMock.Object,
-                AreaServiceMock.Object,
-                EchoServiceMock.Object
+                AreaServiceMock.Object
             )
             {
                 CallBase = true

backend/api/Controllers/EmergencyActionController.cs

@@ -0,0 +1,85 @@
+using System.Globalization;
+using Api.Controllers.Models;
+using Api.Services;
+using Api.Services.Events;
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+namespace Api.Controllers
+{
+    [ApiController]
+    [Route("emergency-action")]
+    public class EmergencyActionController : ControllerBase
+    {
+        private readonly IEmergencyActionService _emergencyActionService;
+        private readonly IRobotService _robotService;
+
+        public EmergencyActionController(IRobotService robotService, IEmergencyActionService emergencyActionService)
+        {
+            _robotService = robotService;
+            _emergencyActionService = emergencyActionService;
+        }
+
+        /// <summary>
+        ///     This endpoint will abort the current running mission run and attempt to return the robot to a safe position in the
+        ///     area. The mission run queue for the robot will be frozen and no further missions will run until the emergency
+        ///     action has been reversed.
+        /// </summary>
+        /// <remarks>
+        ///     <para> The endpoint fires an event which is then processed to stop the robot and schedule the next mission </para>
+        /// </remarks>
+        [HttpPost]
+        [Route("{installationCode}/abort-current-missions-and-send-all-robots-to-safe-zone")]
+        [Authorize(Roles = Role.User)]
+        [ProducesResponseType(StatusCodes.Status204NoContent)]
+        [ProducesResponseType(StatusCodes.Status400BadRequest)]
+        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+        [ProducesResponseType(StatusCodes.Status403Forbidden)]
+        [ProducesResponseType(StatusCodes.Status404NotFound)]
+        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+        public ActionResult<string> AbortCurrentMissionAndSendAllRobotsToSafeZone(
+            [FromRoute] string installationCode)
+        {
+
+            var robots = _robotService.ReadAll().Result.ToList().FindAll(a =>
+                            a.CurrentInstallation.ToLower(CultureInfo.CurrentCulture).Equals(installationCode.ToLower(CultureInfo.CurrentCulture), StringComparison.Ordinal) &&
+                            a.CurrentArea != null);
+
+            foreach (var robot in robots)
+            {
+                _emergencyActionService.TriggerEmergencyButtonPressedForRobot(new EmergencyButtonPressedForRobotEventArgs(robot.Id));
+
+            }
+
+            return NoContent();
+
+        }
+
+        /// <summary>
+        ///     This query will clear the emergency state that is introduced by aborting the current mission and returning to a
+        ///     safe zone. Clearing the emergency state means that mission runs that may be in the robots queue will start."
+        /// </summary>
+        [HttpPost]
+        [Route("{installationCode}/clear-emergency-state")]
+        [Authorize(Roles = Role.User)]
+        [ProducesResponseType(StatusCodes.Status204NoContent)]
+        [ProducesResponseType(StatusCodes.Status400BadRequest)]
+        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+        [ProducesResponseType(StatusCodes.Status403Forbidden)]
+        [ProducesResponseType(StatusCodes.Status404NotFound)]
+        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+        public ActionResult<string> ClearEmergencyStateForAllRobots(
+            [FromRoute] string installationCode)
+        {
+            var robots = _robotService.ReadAll().Result.ToList().FindAll(a =>
+                            a.CurrentInstallation.ToLower(CultureInfo.CurrentCulture).Equals(installationCode.ToLower(CultureInfo.CurrentCulture), StringComparison.Ordinal) &&
+                            a.CurrentArea != null);
+
+            foreach (var robot in robots)
+            {
+                _emergencyActionService.TriggerEmergencyButtonDepressedForRobot(new EmergencyButtonPressedForRobotEventArgs(robot.Id));
+            }
+
+            return NoContent();
+        }
+    }
+}

backend/api/Controllers/MissionSchedulingController.cs

@@ -19,7 +19,7 @@ public class MissionSchedulingController : ControllerBase
         private readonly IMapService _mapService;
         private readonly IMissionDefinitionService _missionDefinitionService;
         private readonly IMissionRunService _missionRunService;
-        private readonly IMissionSchedulingService _missionSchedulingService;
+        private readonly ICustomMissionSchedulingService _customMissionSchedulingService;
         private readonly IRobotService _robotService;
         private readonly ISourceService _sourceService;
         private readonly IStidService _stidService;
@@ -35,7 +35,7 @@ public MissionSchedulingController(
             IMapService mapService,
             IStidService stidService,
             ISourceService sourceService,
-            IMissionSchedulingService missionSchedulingService
+            ICustomMissionSchedulingService customMissionSchedulingService
         )
         {
             _missionDefinitionService = missionDefinitionService;
@@ -48,7 +48,7 @@ IMissionSchedulingService missionSchedulingService
             _stidService = stidService;
             _sourceService = sourceService;
             _missionDefinitionService = missionDefinitionService;
-            _missionSchedulingService = missionSchedulingService;
+            _customMissionSchedulingService = customMissionSchedulingService;
             _logger = logger;
         }
 
@@ -96,6 +96,7 @@ [FromBody] ScheduleMissionQuery scheduledMissionQuery
                 Robot = robot,
                 MissionId = missionDefinition.Id,
                 Status = MissionStatus.Pending,
+                MissionRunPriority = MissionRunPriority.Normal,
                 DesiredStartTime = scheduledMissionQuery.DesiredStartTime,
                 Tasks = missionTasks,
                 InstallationCode = missionDefinition.InstallationCode,
@@ -228,6 +229,7 @@ [FromBody] ScheduledMissionQuery scheduledMissionQuery
                 Robot = robot,
                 MissionId = scheduledMissionDefinition.Id,
                 Status = MissionStatus.Pending,
+                MissionRunPriority = MissionRunPriority.Normal,
                 DesiredStartTime = scheduledMissionQuery.DesiredStartTime,
                 Tasks = missionTasks,
                 InstallationCode = scheduledMissionQuery.InstallationCode,
@@ -287,11 +289,11 @@ [FromBody] CustomMissionQuery customMissionQuery
             var missionTasks = customMissionQuery.Tasks.Select(task => new MissionTask(task)).ToList();
 
             MissionDefinition? customMissionDefinition;
-            try { customMissionDefinition = await _missionSchedulingService.FindExistingOrCreateCustomMissionDefinition(customMissionQuery, missionTasks); }
+            try { customMissionDefinition = await _customMissionSchedulingService.FindExistingOrCreateCustomMissionDefinition(customMissionQuery, missionTasks); }
             catch (SourceException e) { return StatusCode(StatusCodes.Status502BadGateway, e.Message); }
 
             MissionRun? newMissionRun;
-            try { newMissionRun = await _missionSchedulingService.QueueCustomMissionRun(customMissionQuery, customMissionDefinition.Id, robot.Id, missionTasks); }
+            try { newMissionRun = await _customMissionSchedulingService.QueueCustomMissionRun(customMissionQuery, customMissionDefinition.Id, robot.Id, missionTasks); }
             catch (Exception e) when (e is RobotNotFoundException or MissionNotFoundException) { return NotFound(e.Message); }
 
             return CreatedAtAction(nameof(Create), new