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Fix Localization bug #1418

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merged 4 commits into from
Feb 16, 2024
Merged

Fix Localization bug #1418

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b1d7e23
Add Localization to MissionRunPriority
MuhammadUsama-afk-equinor Feb 14, 2024
a038177
Add read localization mission to MissionRunService
MuhammadUsama-afk-equinor Feb 14, 2024
0938c69
Run Localization missions prior to emergency and normal missions
MuhammadUsama-afk-equinor Feb 14, 2024
d9c2a1a
Refactor and add guard statement in MissionEventHandler
MuhammadUsama-afk-equinor Feb 15, 2024
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3 changes: 2 additions & 1 deletion backend/api/Database/Models/MissionRun.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -211,6 +211,7 @@ public enum MissionRunPriority
{
Normal,
Response,
Emergency
Emergency,
Localization
}
}
10 changes: 7 additions & 3 deletions backend/api/EventHandlers/MissionEventHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -148,9 +148,13 @@ private async void OnRobotAvailable(object? sender, RobotAvailableEventArgs e)
return;
}

MissionRun? missionRun;
if (robot.MissionQueueFrozen) { missionRun = await MissionService.ReadNextScheduledEmergencyMissionRun(robot.Id); }
else { missionRun = await MissionService.ReadNextScheduledMissionRun(robot.Id); }
var missionRun = await MissionService.ReadNextScheduledLocalizationMissionRun(robot.Id);

if (missionRun == null)
{
if (robot.MissionQueueFrozen) { missionRun = await MissionService.ReadNextScheduledEmergencyMissionRun(robot.Id); }
else { missionRun = await MissionService.ReadNextScheduledMissionRun(robot.Id); }
}

if (missionRun == null)
{
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1 change: 1 addition & 0 deletions backend/api/Services/LocalizationService.cs
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Expand Up @@ -191,6 +191,7 @@ private async Task<MissionRun> CreateLocalizationMissionInArea(string robotId, s
{
Name = "Localization mission",
Robot = robot,
MissionRunPriority = MissionRunPriority.Localization,
InstallationCode = area.Installation.InstallationCode,
Area = area,
Status = MissionStatus.Pending,
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11 changes: 11 additions & 0 deletions backend/api/Services/MissionRunService.cs
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Expand Up @@ -28,6 +28,8 @@ public interface IMissionRunService

public Task<MissionRun?> ReadNextScheduledEmergencyMissionRun(string robotId);

public Task<MissionRun?> ReadNextScheduledLocalizationMissionRun(string robotId);

public Task<MissionRun?> ReadLastExecutedMissionRunByRobot(string robotId);

public Task<MissionRun> Update(MissionRun mission);
Expand Down Expand Up @@ -127,6 +129,15 @@ public async Task<IList<MissionRun>> ReadMissionRunQueue(string robotId)
missionRun.Robot.Id == robotId && missionRun.MissionRunPriority == MissionRunPriority.Emergency && missionRun.Status == MissionStatus.Pending);
}

public async Task<MissionRun?> ReadNextScheduledLocalizationMissionRun(string robotId)
{
var nextScheduledMissionRun = await GetMissionRunsWithSubModels()
.OrderBy(missionRun => missionRun.DesiredStartTime)
.FirstOrDefaultAsync(missionRun => missionRun.Robot.Id == robotId && missionRun.Status == MissionStatus.Pending && missionRun.MissionRunPriority == MissionRunPriority.Localization);

return nextScheduledMissionRun;
}

public async Task<MissionRun?> ReadNextScheduledRunByMissionId(string missionId)
{
var test = GetMissionRunsWithSubModels().OrderBy(m => m.DesiredStartTime).ToList();
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