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Make Inspection and MissionTask not owned entities #1155

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merged 9 commits into from
Nov 10, 2023
Merged

Make Inspection and MissionTask not owned entities #1155

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32e9c6d
Set unchanged for mission run updates
aeshub Nov 9, 2023
059997a
Reformat FlotillaDbContext
aeshub Nov 9, 2023
53b13af
Make Inspection not owned entity
aeshub Nov 9, 2023
209c469
Reformat MissionTask
aeshub Nov 9, 2023
dded3d0
Fix typos for controller
aeshub Nov 9, 2023
856b5bb
Make mission task not owned
aeshub Nov 9, 2023
00b4554
Use exception handling for updating mission
aeshub Nov 9, 2023
fc3f891
Add suppress warning for ordinal string comparison
aeshub Nov 9, 2023
304a45a
Send SignalR updates on changes to task and step
aeshub Nov 10, 2023
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4 changes: 2 additions & 2 deletions backend/api/Controllers/MissionDefinitionController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -71,10 +71,10 @@ [FromQuery] MissionDefinitionQueryStringParameters parameters
}

/// <summary>
/// List all consended mission definitions in the Flotilla database
/// List all condensed mission definitions in the Flotilla database
/// </summary>
/// <remarks>
/// <para> This query gets all consended mission definitions </para>
/// <para> This query gets all condensed mission definitions </para>
/// </remarks>
[HttpGet("condensed")]
[Authorize(Roles = Role.Any)]
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227 changes: 97 additions & 130 deletions backend/api/Database/Context/FlotillaDbContext.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,153 +2,120 @@
using Microsoft.EntityFrameworkCore;
using Microsoft.EntityFrameworkCore.Metadata.Builders;
using Microsoft.EntityFrameworkCore.Storage.ValueConversion;

namespace Api.Database.Context;

public class FlotillaDbContext : DbContext
namespace Api.Database.Context
{
public DbSet<Robot> Robots => Set<Robot>();
public DbSet<RobotModel> RobotModels => Set<RobotModel>();
public DbSet<MissionRun> MissionRuns => Set<MissionRun>();
public DbSet<MissionDefinition> MissionDefinitions => Set<MissionDefinition>();
public DbSet<Plant> Plants => Set<Plant>();
public DbSet<Installation> Installations => Set<Installation>();
public DbSet<Deck> Decks => Set<Deck>();
public DbSet<Area> Areas => Set<Area>();

public DbSet<Source> Sources => Set<Source>();
public DbSet<SafePosition> SafePositions => Set<SafePosition>();
public DbSet<DefaultLocalizationPose> DefaultLocalizationPoses => Set<DefaultLocalizationPose>();

// Timeseries:
public DbSet<RobotPressureTimeseries> RobotPressureTimeseries => Set<RobotPressureTimeseries>();
public DbSet<RobotBatteryTimeseries> RobotBatteryTimeseries => Set<RobotBatteryTimeseries>();
public DbSet<RobotPoseTimeseries> RobotPoseTimeseries => Set<RobotPoseTimeseries>();

public FlotillaDbContext(DbContextOptions options) : base(options) { }

protected override void OnModelCreating(ModelBuilder modelBuilder)
public class FlotillaDbContext : DbContext
{
bool isSqlLite = Database.ProviderName == "Microsoft.EntityFrameworkCore.Sqlite";
public FlotillaDbContext(DbContextOptions options) : base(options) { }
public DbSet<Robot> Robots => Set<Robot>();
public DbSet<RobotModel> RobotModels => Set<RobotModel>();
public DbSet<MissionRun> MissionRuns => Set<MissionRun>();
public DbSet<MissionTask> MissionTasks => Set<MissionTask>();
public DbSet<Inspection> Inspections => Set<Inspection>();
public DbSet<MissionDefinition> MissionDefinitions => Set<MissionDefinition>();
public DbSet<Plant> Plants => Set<Plant>();
public DbSet<Installation> Installations => Set<Installation>();
public DbSet<Deck> Decks => Set<Deck>();
public DbSet<Area> Areas => Set<Area>();
public DbSet<Source> Sources => Set<Source>();
public DbSet<SafePosition> SafePositions => Set<SafePosition>();
public DbSet<DefaultLocalizationPose> DefaultLocalizationPoses => Set<DefaultLocalizationPose>();

// Timeseries:
public DbSet<RobotPressureTimeseries> RobotPressureTimeseries => Set<RobotPressureTimeseries>();
public DbSet<RobotBatteryTimeseries> RobotBatteryTimeseries => Set<RobotBatteryTimeseries>();
public DbSet<RobotPoseTimeseries> RobotPoseTimeseries => Set<RobotPoseTimeseries>();

protected override void OnModelCreating(ModelBuilder modelBuilder)
{
bool isSqlLite = Database.ProviderName == "Microsoft.EntityFrameworkCore.Sqlite";

// https://docs.microsoft.com/en-us/ef/core/modeling/owned-entities
// https://docs.microsoft.com/en-us/ef/core/modeling/owned-entities#collections-of-owned-types
modelBuilder.Entity<MissionRun>(
missionRunEntity =>
// https://docs.microsoft.com/en-us/ef/core/modeling/owned-entities
// https://docs.microsoft.com/en-us/ef/core/modeling/owned-entities#collections-of-owned-types
modelBuilder.Entity<MissionRun>(missionRunEntity =>
{
if (isSqlLite) { AddConverterForDateTimeOffsets(ref missionRunEntity); }
});
modelBuilder.Entity<MissionTask>(missionTaskEntity =>
{
if (isSqlLite)
AddConverterForDateTimeOffsets(ref missionRunEntity);
missionRunEntity.OwnsMany(
missionRun => missionRun.Tasks,
taskEntity =>
if (isSqlLite) { AddConverterForDateTimeOffsets(ref missionTaskEntity); }
missionTaskEntity.OwnsOne(task => task.InspectionTarget);
missionTaskEntity.OwnsOne(
task => task.RobotPose,
poseEntity =>
{
if (isSqlLite)
AddConverterForDateTimeOffsets(ref taskEntity);
taskEntity.OwnsMany(
task => task.Inspections,
inspectionEntity =>
{
if (isSqlLite)
AddConverterForDateTimeOffsets(ref inspectionEntity);

inspectionEntity.OwnsMany(i => i.InspectionFindings);

}

);
taskEntity.OwnsOne(task => task.InspectionTarget);
taskEntity.OwnsOne(
task => task.RobotPose,
poseEntity =>
{
poseEntity.OwnsOne(pose => pose.Position);
poseEntity.OwnsOne(pose => pose.Orientation);
}
);
poseEntity.OwnsOne(pose => pose.Position);
poseEntity.OwnsOne(pose => pose.Orientation);
}
);
}
);

modelBuilder.Entity<MissionDefinition>()
.Property(m => m.InspectionFrequency)
.HasConversion(new TimeSpanToTicksConverter());
});
modelBuilder.Entity<Inspection>(inspectionEntity =>
{
if (isSqlLite) { AddConverterForDateTimeOffsets(ref inspectionEntity); }
inspectionEntity.OwnsMany(i => i.InspectionFindings);
});

modelBuilder.Entity<MissionRun>().OwnsOne(m => m.Map).OwnsOne(t => t.TransformationMatrices);
modelBuilder.Entity<MissionRun>().OwnsOne(m => m.Map).OwnsOne(b => b.Boundary);
modelBuilder.Entity<Robot>().OwnsOne(r => r.Pose).OwnsOne(p => p.Orientation);
modelBuilder.Entity<Robot>().OwnsOne(r => r.Pose).OwnsOne(p => p.Position);
modelBuilder.Entity<Robot>().OwnsMany(r => r.VideoStreams);
modelBuilder.Entity<MissionDefinition>()
.Property(m => m.InspectionFrequency)
.HasConversion(new TimeSpanToTicksConverter());

modelBuilder.Entity<SafePosition>().OwnsOne(s => s.Pose, poseBuilder =>
{
poseBuilder.OwnsOne(pose => pose.Position);
poseBuilder.OwnsOne(pose => pose.Orientation);
});
modelBuilder.Entity<DefaultLocalizationPose>().OwnsOne(d => d.Pose, poseBuilder =>
{
poseBuilder.OwnsOne(pose => pose.Position);
poseBuilder.OwnsOne(pose => pose.Orientation);
});
modelBuilder.Entity<MissionRun>().OwnsOne(m => m.Map).OwnsOne(t => t.TransformationMatrices);
modelBuilder.Entity<MissionRun>().OwnsOne(m => m.Map).OwnsOne(b => b.Boundary);
modelBuilder.Entity<Robot>().OwnsOne(r => r.Pose).OwnsOne(p => p.Orientation);
modelBuilder.Entity<Robot>().OwnsOne(r => r.Pose).OwnsOne(p => p.Position);
modelBuilder.Entity<Robot>().OwnsMany(r => r.VideoStreams);

// There can only be one robot model per robot type
modelBuilder.Entity<RobotModel>().HasIndex(model => model.Type).IsUnique();

// There can only be one unique installation and plant shortname
modelBuilder.Entity<Installation>().HasIndex(a => new { a.InstallationCode }).IsUnique();
modelBuilder.Entity<Plant>().HasIndex(a => new { a.PlantCode }).IsUnique();
modelBuilder.Entity<SafePosition>().OwnsOne(s => s.Pose, poseBuilder =>
{
poseBuilder.OwnsOne(pose => pose.Position);
poseBuilder.OwnsOne(pose => pose.Orientation);
});
modelBuilder.Entity<DefaultLocalizationPose>().OwnsOne(d => d.Pose, poseBuilder =>
{
poseBuilder.OwnsOne(pose => pose.Position);
poseBuilder.OwnsOne(pose => pose.Orientation);
});

modelBuilder.Entity<Area>().HasOne(a => a.Deck).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Area>().HasOne(a => a.Plant).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Area>().HasOne(a => a.Installation).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Deck>().HasOne(d => d.Plant).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Deck>().HasOne(d => d.Installation).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Plant>().HasOne(p => p.Installation).WithMany().OnDelete(DeleteBehavior.Restrict);
}
// There can only be one robot model per robot type
modelBuilder.Entity<RobotModel>().HasIndex(model => model.Type).IsUnique();

protected override void ConfigureConventions(ModelConfigurationBuilder configurationBuilder)
{
configurationBuilder.Properties(typeof(Enum)).HaveConversion<string>();
}
// There can only be one unique installation and plant shortname
modelBuilder.Entity<Installation>().HasIndex(a => new
{
a.InstallationCode
}).IsUnique();
modelBuilder.Entity<Plant>().HasIndex(a => new
{
a.PlantCode
}).IsUnique();

modelBuilder.Entity<Area>().HasOne(a => a.Deck).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Area>().HasOne(a => a.Plant).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Area>().HasOne(a => a.Installation).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Deck>().HasOne(d => d.Plant).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Deck>().HasOne(d => d.Installation).WithMany().OnDelete(DeleteBehavior.Restrict);
modelBuilder.Entity<Plant>().HasOne(p => p.Installation).WithMany().OnDelete(DeleteBehavior.Restrict);
}

// SQLite does not have proper support for DateTimeOffset via Entity Framework Core, see the limitations
// here: https://docs.microsoft.com/en-us/ef/core/providers/sqlite/limitations#query-limitations
// To work around this, when the Sqlite database provider is used, all model properties of type DateTimeOffset
// use the DateTimeOffsetToBinaryConverter
// Based on: https://github.com/aspnet/EntityFrameworkCore/issues/10784#issuecomment-415769754
// This only supports millisecond precision, but should be sufficient for most use cases.
private static void AddConverterForDateTimeOffsets<TOwnerEntity, TDependentEntity>(
ref OwnedNavigationBuilder<TOwnerEntity, TDependentEntity> entity
)
where TOwnerEntity : class
where TDependentEntity : class
{
var properties = entity.OwnedEntityType.ClrType
.GetProperties()
.Where(
p =>
p.PropertyType == typeof(DateTimeOffset)
|| p.PropertyType == typeof(DateTimeOffset?)
);
foreach (var property in properties)
protected override void ConfigureConventions(ModelConfigurationBuilder configurationBuilder)
{
entity.Property(property.Name).HasConversion(new DateTimeOffsetToBinaryConverter());
configurationBuilder.Properties(typeof(Enum)).HaveConversion<string>();
}
}

private static void AddConverterForDateTimeOffsets<T>(ref EntityTypeBuilder<T> entity)
where T : class
{
var properties = entity.Metadata.ClrType
.GetProperties()
.Where(
p =>
p.PropertyType == typeof(DateTimeOffset)
|| p.PropertyType == typeof(DateTimeOffset?)
);
foreach (var property in properties)
private static void AddConverterForDateTimeOffsets<T>(ref EntityTypeBuilder<T> entity)
where T : class
{
entity.Property(property.Name).HasConversion(new DateTimeOffsetToBinaryConverter());
var properties = entity.Metadata.ClrType
.GetProperties()
.Where(
p =>
p.PropertyType == typeof(DateTimeOffset)
|| p.PropertyType == typeof(DateTimeOffset?)
);
foreach (var property in properties)
{
entity.Property(property.Name).HasConversion(new DateTimeOffsetToBinaryConverter());
}
}
}
}
2 changes: 0 additions & 2 deletions backend/api/Database/Models/Inspection.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,11 +2,9 @@
using System.ComponentModel.DataAnnotations.Schema;
using Api.Controllers.Models;
using Api.Services.Models;
using Microsoft.EntityFrameworkCore;
#pragma warning disable CS8618
namespace Api.Database.Models
{
[Owned]
public class Inspection
{

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