Implement localization as part of a mission

backend/api.test/Client/AreaTests.cs

@@ -138,7 +138,7 @@ public async Task AreaTest()
         }
 
         [Fact]
-        public async Task GetMissionsInAreaTest()
+        public async Task MissionIsCreatedInArea()
         {
             // Arrange
             // Robot
@@ -156,15 +156,15 @@ public async Task GetMissionsInAreaTest()
             Assert.True(installationResponse.IsSuccessStatusCode);
             var installations = await installationResponse.Content.ReadFromJsonAsync<List<Installation>>(_serializerOptions);
             Assert.True(installations != null);
-            var installation = installations[0];
+            var installation = installations.Where(installation => installation.InstallationCode == robot.CurrentInstallation?.InstallationCode).First();
 
             // Area
             string areaUrl = "/areas";
             var areaResponse = await _client.GetAsync(areaUrl);
             Assert.True(areaResponse.IsSuccessStatusCode);
             var areas = await areaResponse.Content.ReadFromJsonAsync<List<AreaResponse>>(_serializerOptions);
             Assert.True(areas != null);
-            var area = areas[0];
+            var area = areas.Where(area => area.InstallationCode == installation.InstallationCode).First();
             string areaId = area.Id;
 
             string testMissionName = "testMissionInAreaTest";
@@ -272,6 +272,9 @@ public async Task SafePositionTest()
             // Assert
             Assert.True(missionResponse.IsSuccessStatusCode);
 
+            // The endpoint posted to above triggers an event and returns a successful response.
+            // The test finishes and disposes of objects, but the operations of that event handler are still running, leading to a crash.
+            await Task.Delay(5000);
         }
 
         [Fact]

backend/api.test/Database/DatabaseUtilities.cs

@@ -32,7 +32,7 @@ public DatabaseUtilities(FlotillaDbContext context)
             _areaService = new AreaService(context, _installationService, _plantService, _deckService, defaultLocalizationPoseService, _accessRoleService);
             _missionRunService = new MissionRunService(context, new MockSignalRService(), new Mock<ILogger<MissionRunService>>().Object, _accessRoleService);
             _robotModelService = new RobotModelService(context);
-            _robotService = new RobotService(context, new Mock<ILogger<RobotService>>().Object, _robotModelService, new MockSignalRService(), _accessRoleService, _installationService);
+            _robotService = new RobotService(context, new Mock<ILogger<RobotService>>().Object, _robotModelService, new MockSignalRService(), _accessRoleService, _installationService, _areaService);
         }
 
         public void Dispose()
@@ -116,7 +116,7 @@ public async Task<Area> NewArea(string installationCode, string plantCode, strin
             return await _areaService.Create(createAreaQuery);
         }
 
-        public async Task<Robot> NewRobot(RobotStatus status, Installation installation)
+        public async Task<Robot> NewRobot(RobotStatus status, Installation installation, Area? area = null)
         {
             var createRobotQuery = new CreateRobotQuery
             {
@@ -125,6 +125,7 @@ public async Task<Robot> NewRobot(RobotStatus status, Installation installation)
                 RobotType = RobotType.Robot,
                 SerialNumber = "0001",
                 CurrentInstallationCode = installation.InstallationCode,
+                CurrentAreaName = area?.Name,
                 VideoStreams = new List<CreateVideoStreamQuery>(),
                 Host = "localhost",
                 Port = 3000,
@@ -133,7 +134,7 @@ public async Task<Robot> NewRobot(RobotStatus status, Installation installation)
             };
 
             var robotModel = await _robotModelService.ReadByRobotType(createRobotQuery.RobotType);
-            var robot = new Robot(createRobotQuery, installation)
+            var robot = new Robot(createRobotQuery, installation, area)
             {
                 Model = robotModel!
             };

backend/api.test/EventHandlers/TestMissionEventHandler.cs

@@ -35,17 +35,14 @@ public class TestMissionEventHandler : IDisposable
         private readonly MissionEventHandler _missionEventHandler;
         private readonly MissionRunService _missionRunService;
         private readonly IMissionSchedulingService _missionSchedulingService;
-
-#pragma warning disable IDE0052
         private readonly MqttEventHandler _mqttEventHandler;
-#pragma warning restore IDE0052
-
         private readonly MqttService _mqttService;
         private readonly PlantService _plantService;
         private readonly RobotControllerMock _robotControllerMock;
         private readonly RobotModelService _robotModelService;
         private readonly RobotService _robotService;
         private readonly ISignalRService _signalRService;
+        private readonly LocalizationService _localizationService;
         private readonly DatabaseUtilities _databaseUtilities;
         private readonly AccessRoleService _accessRoleService;
 
@@ -57,6 +54,7 @@ public TestMissionEventHandler(DatabaseFixture fixture)
             var missionLogger = new Mock<ILogger<MissionRunService>>().Object;
             var missionSchedulingServiceLogger = new Mock<ILogger<MissionSchedulingService>>().Object;
             var robotServiceLogger = new Mock<ILogger<RobotService>>().Object;
+            var localizationServiceLogger = new Mock<ILogger<LocalizationService>>().Object;
 
             var configuration = WebApplication.CreateBuilder().Configuration;
 
@@ -75,9 +73,10 @@ public TestMissionEventHandler(DatabaseFixture fixture)
             _plantService = new PlantService(_context, _installationService, _accessRoleService);
             _deckService = new DeckService(_context, _defaultLocalisationPoseService, _installationService, _plantService, _accessRoleService);
             _areaService = new AreaService(_context, _installationService, _plantService, _deckService, _defaultLocalisationPoseService, _accessRoleService);
-            _robotService = new RobotService(_context, robotServiceLogger, _robotModelService, _signalRService, _accessRoleService, _installationService);
+            _robotService = new RobotService(_context, robotServiceLogger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
             _missionSchedulingService = new MissionSchedulingService(missionSchedulingServiceLogger, _missionRunService, _robotService, _robotControllerMock.Mock.Object, _areaService,
                 _isarServiceMock);
+            _localizationService = new LocalizationService(localizationServiceLogger, _robotService, _missionRunService, _installationService, _areaService);
 
             _databaseUtilities = new DatabaseUtilities(_context);
 
@@ -99,6 +98,9 @@ public TestMissionEventHandler(DatabaseFixture fixture)
             mockServiceProvider
                 .Setup(p => p.GetService(typeof(FlotillaDbContext)))
                 .Returns(_context);
+            mockServiceProvider
+                .Setup(p => p.GetService(typeof(ILocalizationService)))
+                .Returns(_localizationService);
 
             // Mock service injector
             var mockScope = new Mock<IServiceScope>();
@@ -125,7 +127,7 @@ public async void ScheduledMissionStartedWhenSystemIsAvailable()
             var plant = await _databaseUtilities.NewPlant(installation.InstallationCode);
             var deck = await _databaseUtilities.NewDeck(installation.InstallationCode, plant.PlantCode);
             var area = await _databaseUtilities.NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
-            var robot = await _databaseUtilities.NewRobot(RobotStatus.Available, installation);
+            var robot = await _databaseUtilities.NewRobot(RobotStatus.Available, installation, area);
             var missionRun = await _databaseUtilities.NewMissionRun(installation.InstallationCode, robot, area, false);
 
             SetupMocksForRobotController(robot, missionRun);
@@ -146,7 +148,7 @@ public async void SecondScheduledMissionQueuedIfRobotIsBusy()
             var plant = await _databaseUtilities.NewPlant(installation.InstallationCode);
             var deck = await _databaseUtilities.NewDeck(installation.InstallationCode, plant.PlantCode);
             var area = await _databaseUtilities.NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
-            var robot = await _databaseUtilities.NewRobot(RobotStatus.Available, installation);
+            var robot = await _databaseUtilities.NewRobot(RobotStatus.Available, installation, area);
             var missionRunOne = await _databaseUtilities.NewMissionRun(installation.InstallationCode, robot, area, false);
             var missionRunTwo = await _databaseUtilities.NewMissionRun(installation.InstallationCode, robot, area, false);
 
@@ -171,7 +173,7 @@ public async void NewMissionIsStartedWhenRobotBecomesAvailable()
             var plant = await _databaseUtilities.NewPlant(installation.InstallationCode);
             var deck = await _databaseUtilities.NewDeck(installation.InstallationCode, plant.PlantCode);
             var area = await _databaseUtilities.NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
-            var robot = await _databaseUtilities.NewRobot(RobotStatus.Busy, installation);
+            var robot = await _databaseUtilities.NewRobot(RobotStatus.Busy, installation, area);
             var missionRun = await _databaseUtilities.NewMissionRun(installation.InstallationCode, robot, area, false);
 
             SetupMocksForRobotController(robot, missionRun);
@@ -248,8 +250,8 @@ public async void MissionRunIsStartedForOtherAvailableRobotIfOneRobotHasAnOngoin
             var plant = await _databaseUtilities.NewPlant(installation.InstallationCode);
             var deck = await _databaseUtilities.NewDeck(installation.InstallationCode, plant.PlantCode);
             var area = await _databaseUtilities.NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
-            var robotOne = await _databaseUtilities.NewRobot(RobotStatus.Available, installation);
-            var robotTwo = await _databaseUtilities.NewRobot(RobotStatus.Available, installation);
+            var robotOne = await _databaseUtilities.NewRobot(RobotStatus.Available, installation, area);
+            var robotTwo = await _databaseUtilities.NewRobot(RobotStatus.Available, installation, area);
             var missionRunOne = await _databaseUtilities.NewMissionRun(installation.InstallationCode, robotOne, area, false);
             var missionRunTwo = await _databaseUtilities.NewMissionRun(installation.InstallationCode, robotTwo, area, false);
 

backend/api.test/Mocks/CustomMissionServiceMock.cs

@@ -1,11 +1,12 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using System.Security.Cryptography;
 using System.Text;
 using System.Text.Json;
 using System.Threading.Tasks;
+using Api.Controllers.Models;
 using Api.Database.Models;
-
 namespace Api.Services
 {
     public class MockCustomMissionService : ICustomMissionService
@@ -36,16 +37,19 @@ public Task<string> UploadSource(List<MissionTask> tasks)
 
         public string CalculateHashFromTasks(IList<MissionTask> tasks)
         {
-            List<MissionTask> genericTasks = [];
-            foreach (var task in tasks)
-            {
-                var taskCopy = new MissionTask(task);
-                genericTasks.Add(taskCopy);
-            }
+            IList<MissionTask> genericTasks = tasks.Select(task => new MissionTask(task)).ToList();
 
             string json = JsonSerializer.Serialize(genericTasks);
             byte[] hash = SHA256.HashData(Encoding.UTF8.GetBytes(json));
             return BitConverter.ToString(hash).Replace("-", "", StringComparison.CurrentCulture).ToUpperInvariant();
         }
+
+#pragma warning disable IDE0060, CA1822 // Remove unused parameter
+        public async Task<MissionRun> QueueCustomMissionRun(CustomMissionQuery customMissionQuery, MissionDefinition customMissionDefinition, Robot robot, IList<MissionTask> missionTasks)
+        {
+            await Task.CompletedTask;
+            return new MissionRun();
+        }
+#pragma warning restore IDE0060, CA1822 // Remove unused parameter
     }
 }

backend/api.test/Services/RobotService.cs

@@ -21,6 +21,10 @@ public class RobotServiceTest : IDisposable
         private readonly ISignalRService _signalRService;
         private readonly IAccessRoleService _accessRoleService;
         private readonly IInstallationService _installationService;
+        private readonly IPlantService _plantService;
+        private readonly IDefaultLocalizationPoseService _defaultLocalizationPoseService;
+        private readonly IDeckService _deckService;
+        private readonly IAreaService _areaService;
 
         public RobotServiceTest(DatabaseFixture fixture)
         {
@@ -30,6 +34,10 @@ public RobotServiceTest(DatabaseFixture fixture)
             _signalRService = new MockSignalRService();
             _accessRoleService = new AccessRoleService(_context, new HttpContextAccessor());
             _installationService = new InstallationService(_context, _accessRoleService);
+            _plantService = new PlantService(_context, _installationService, _accessRoleService);
+            _defaultLocalizationPoseService = new DefaultLocalizationPoseService(_context);
+            _deckService = new DeckService(_context, _defaultLocalizationPoseService, _installationService, _plantService, _accessRoleService);
+            _areaService = new AreaService(_context, _installationService, _plantService, _deckService, _defaultLocalizationPoseService, _accessRoleService);
         }
 
         public void Dispose()
@@ -41,7 +49,7 @@ public void Dispose()
         [Fact]
         public async Task ReadAll()
         {
-            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService);
+            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
             var robots = await robotService.ReadAll();
 
             Assert.True(robots.Any());
@@ -50,7 +58,7 @@ public async Task ReadAll()
         [Fact]
         public async Task Read()
         {
-            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService);
+            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
             var robots = await robotService.ReadAll();
             var firstRobot = robots.First();
             var robotById = await robotService.ReadById(firstRobot.Id);
@@ -61,15 +69,15 @@ public async Task Read()
         [Fact]
         public async Task ReadIdDoesNotExist()
         {
-            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService);
+            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
             var robot = await robotService.ReadById("some_id_that_does_not_exist");
             Assert.Null(robot);
         }
 
         [Fact]
         public async Task Create()
         {
-            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService);
+            var robotService = new RobotService(_context, _logger, _robotModelService, _signalRService, _accessRoleService, _installationService, _areaService);
             var installationService = new InstallationService(_context, _accessRoleService);
 
             var installation = await installationService.Create(new CreateInstallationQuery

backend/api/Controllers/MissionSchedulingController.cs

@@ -12,17 +12,19 @@ namespace Api.Controllers
     [Route("missions")]
     public class MissionSchedulingController(
             IMissionDefinitionService missionDefinitionService,
+            ICustomMissionSchedulingService customMissionSchedulingService,
             IMissionRunService missionRunService,
             IInstallationService installationService,
             IRobotService robotService,
             IEchoService echoService,
             ILogger<MissionSchedulingController> logger,
             IMapService mapService,
             IStidService stidService,
-            ISourceService sourceService,
-            ICustomMissionSchedulingService customMissionSchedulingService
+            ILocalizationService localizationService,
+            ISourceService sourceService
         ) : ControllerBase
     {
+
         /// <summary>
         ///     Schedule an existing mission definition
         /// </summary>
@@ -42,24 +44,17 @@ [FromBody] ScheduleMissionQuery scheduledMissionQuery
         )
         {
             var robot = await robotService.ReadById(scheduledMissionQuery.RobotId);
-            if (robot is null)
-            {
-                return NotFound($"Could not find robot with id {scheduledMissionQuery.RobotId}");
-            }
+            if (robot is null) { return NotFound($"Could not find robot with id {scheduledMissionQuery.RobotId}"); }
 
             var missionDefinition = await missionDefinitionService.ReadById(scheduledMissionQuery.MissionDefinitionId);
-            if (missionDefinition == null)
-            {
-                return NotFound("Mission definition not found");
-            }
+            if (missionDefinition == null) { return NotFound("Mission definition not found"); }
 
-            List<MissionTask>? missionTasks;
-            missionTasks = await missionDefinitionService.GetTasksFromSource(missionDefinition.Source, missionDefinition.InstallationCode);
+            try { await localizationService.EnsureRobotIsOnSameInstallationAsMission(robot, missionDefinition); }
+            catch (InstallationNotFoundException e) { return NotFound(e.Message); }
+            catch (RobotNotInSameInstallationAsMissionException e) { return Conflict(e.Message); }
 
-            if (missionTasks == null)
-            {
-                return NotFound("No mission tasks were found for the requested mission");
-            }
+            var missionTasks = await missionDefinitionService.GetTasksFromSource(missionDefinition.Source, missionDefinition.InstallationCode);
+            if (missionTasks == null) return NotFound("No mission tasks were found for the requested mission");
 
             var missionRun = new MissionRun
             {
@@ -72,7 +67,7 @@ [FromBody] ScheduleMissionQuery scheduledMissionQuery
                 Tasks = missionTasks,
                 InstallationCode = missionDefinition.InstallationCode,
                 Area = missionDefinition.Area,
-                Map = new MapMetadata()
+                Map = missionDefinition.Area?.MapMetadata ?? new MapMetadata()
             };
 
             await mapService.AssignMapToMission(missionRun);
@@ -270,6 +265,10 @@ [FromBody] CustomMissionQuery customMissionQuery
             try { customMissionDefinition = await customMissionSchedulingService.FindExistingOrCreateCustomMissionDefinition(customMissionQuery, missionTasks); }
             catch (SourceException e) { return StatusCode(StatusCodes.Status502BadGateway, e.Message); }
 
+            try { await localizationService.EnsureRobotIsOnSameInstallationAsMission(robot, customMissionDefinition); }
+            catch (InstallationNotFoundException e) { return NotFound(e.Message); }
+            catch (RobotNotInSameInstallationAsMissionException e) { return Conflict(e.Message); }
+
             MissionRun? newMissionRun;
             try { newMissionRun = await customMissionSchedulingService.QueueCustomMissionRun(customMissionQuery, customMissionDefinition.Id, robot.Id, missionTasks); }
             catch (Exception e) when (e is RobotNotFoundException or MissionNotFoundException) { return NotFound(e.Message); }

backend/api/Controllers/Models/CreateRobotQuery.cs

@@ -14,6 +14,8 @@ public struct CreateRobotQuery
 
         public string CurrentInstallationCode { get; set; }
 
+        public string? CurrentAreaName { get; set; }
+
         public IList<CreateVideoStreamQuery> VideoStreams { get; set; }
 
         public string Host { get; set; }