Implement undocking

backend/api.test/Client/AreaTests.cs

@@ -287,20 +287,23 @@ public async Task UpdateDefaultLocalizationPoseOnDeck()
             string deckId = deck.Id;
 
             string url = $"/decks/{deckId}/update-default-localization-pose";
-            var query = new Pose
+            var query = new CreateDefaultLocalizationPose
             {
-                Position = new Position
+                Pose = new Pose
                 {
-                    X = 1,
-                    Y = 2,
-                    Z = 3
-                },
-                Orientation = new Orientation
-                {
-                    X = 0,
-                    Y = 0,
-                    Z = 0,
-                    W = 1
+                    Position = new Position
+                    {
+                        X = 1,
+                        Y = 2,
+                        Z = 3
+                    },
+                    Orientation = new Orientation
+                    {
+                        X = 0,
+                        Y = 0,
+                        Z = 0,
+                        W = 1
+                    }
                 }
             };
             var content = new StringContent(
@@ -313,8 +316,8 @@ public async Task UpdateDefaultLocalizationPoseOnDeck()
             var putDeck = await putResponse.Content.ReadFromJsonAsync<DeckResponse>(_serializerOptions);
             Assert.True(putDeck != null);
             Assert.True(putDeck.DefaultLocalizationPose != null);
-            Assert.True(putDeck.DefaultLocalizationPose.Position.Z.Equals(query.Position.Z));
-            Assert.True(putDeck.DefaultLocalizationPose.Orientation.W.Equals(query.Orientation.W));
+            Assert.True(putDeck.DefaultLocalizationPose.Position.Z.Equals(query.Pose.Position.Z));
+            Assert.True(putDeck.DefaultLocalizationPose.Orientation.W.Equals(query.Pose.Orientation.W));
         }
     }
 }

backend/api.test/Client/MissionTests.cs

@@ -165,7 +165,11 @@ private static (StringContent installationContent, StringContent plantContent, S
                 InstallationCode = installationCode,
                 PlantCode = plantCode,
                 Name = deckName,
-                DefaultLocalizationPose = testPose
+                DefaultLocalizationPose = new CreateDefaultLocalizationPose()
+                {
+                    Pose = testPose,
+                    IsDockingStation = false
+                }
             };
 
             var areaQuery = new CreateAreaQuery

backend/api.test/Database/DatabaseUtilities.cs

@@ -110,7 +110,10 @@ public async Task<Deck> NewDeck(string installationCode, string plantCode, strin
                 InstallationCode = installationCode,
                 PlantCode = plantCode,
                 Name = deckName,
-                DefaultLocalizationPose = new Pose()
+                DefaultLocalizationPose = new CreateDefaultLocalizationPose()
+                {
+                    Pose = new Pose()
+                }
             };
 
             return await _deckService.Create(createDeckQuery);

backend/api/Controllers/DeckController.cs

@@ -199,7 +199,7 @@ public async Task<ActionResult<DeckResponse>> Create([FromBody] CreateDeckQuery
         [ProducesResponseType(StatusCodes.Status401Unauthorized)]
         [ProducesResponseType(StatusCodes.Status403Forbidden)]
         [ProducesResponseType(StatusCodes.Status500InternalServerError)]
-        public async Task<ActionResult<DeckResponse>> UpdateDefaultLocalizationPose([FromRoute] string deckId, [FromBody] Pose newDefaultLocalizationPose)
+        public async Task<ActionResult<DeckResponse>> UpdateDefaultLocalizationPose([FromRoute] string deckId, [FromBody] CreateDefaultLocalizationPose newDefaultLocalizationPose)
         {
             logger.LogInformation("Updating default localization pose on deck '{deckId}'", deckId);
             try
@@ -213,16 +213,16 @@ public async Task<ActionResult<DeckResponse>> UpdateDefaultLocalizationPose([Fro
 
                 if (deck.DefaultLocalizationPose != null)
                 {
-                    deck.DefaultLocalizationPose.Pose = newDefaultLocalizationPose;
+                    deck.DefaultLocalizationPose.Pose = newDefaultLocalizationPose.Pose;
+                    deck.DefaultLocalizationPose.DockingEnabled = newDefaultLocalizationPose.IsDockingStation;
                     _ = await defaultLocalizationPoseService.Update(deck.DefaultLocalizationPose);
                 }
                 else
                 {
-                    deck.DefaultLocalizationPose = new DefaultLocalizationPose(newDefaultLocalizationPose);
+                    deck.DefaultLocalizationPose = new DefaultLocalizationPose(newDefaultLocalizationPose.Pose, newDefaultLocalizationPose.IsDockingStation);
                     deck = await deckService.Update(deck);
                 }
 
-
                 return Ok(new DeckResponse(deck));
             }
             catch (Exception e)

backend/api/Controllers/Models/CreateDeckQuery.cs

@@ -1,13 +1,11 @@
-using Api.Database.Models;
-
-namespace Api.Controllers.Models
+namespace Api.Controllers.Models
 {
     public struct CreateDeckQuery
     {
         public string InstallationCode { get; set; }
         public string PlantCode { get; set; }
         public string Name { get; set; }
 
-        public Pose? DefaultLocalizationPose { get; set; }
+        public CreateDefaultLocalizationPose? DefaultLocalizationPose { get; set; }
     }
 }

backend/api/Controllers/Models/CreateDefaultLocalizationPose.cs

@@ -0,0 +1,15 @@
+using Api.Database.Models;
+
+namespace Api.Controllers.Models
+{
+    public struct CreateDefaultLocalizationPose
+    {
+        public CreateDefaultLocalizationPose()
+        {
+            Pose = new Pose();
+        }
+
+        public Pose Pose { get; set; }
+        public bool IsDockingStation { get; set; } = false;
+    }
+}

backend/api/Database/Models/DefaultLocalizationPose.cs

@@ -13,6 +13,9 @@ public class DefaultLocalizationPose
         [Required]
         public Pose Pose { get; set; }
 
+        [Required]
+        public bool DockingEnabled { get; set; } = false;
+
         public DefaultLocalizationPose()
         {
             Pose = new Pose();
@@ -22,5 +25,11 @@ public DefaultLocalizationPose(Pose pose)
         {
             Pose = pose;
         }
+
+        public DefaultLocalizationPose(Pose pose, bool dockingEnabled)
+        {
+            Pose = pose;
+            DockingEnabled = dockingEnabled;
+        }
     }
 }

backend/api/Services/DeckService.cs

@@ -96,7 +96,7 @@ public async Task<Deck> Create(CreateDeckQuery newDeckQuery)
             DefaultLocalizationPose? defaultLocalizationPose = null;
             if (newDeckQuery.DefaultLocalizationPose != null)
             {
-                defaultLocalizationPose = await defaultLocalizationPoseService.Create(new DefaultLocalizationPose(newDeckQuery.DefaultLocalizationPose));
+                defaultLocalizationPose = await defaultLocalizationPoseService.Create(new DefaultLocalizationPose(newDeckQuery.DefaultLocalizationPose.Value.Pose, newDeckQuery.DefaultLocalizationPose.Value.IsDockingStation));
             }
 
             var deck = new Deck

backend/api/Services/Models/IsarMissionDefinition.cs

@@ -20,6 +20,12 @@ public struct IsarMissionDefinition
         [JsonPropertyName("start_pose")]
         public IsarPose? StartPose { get; set; } = null;
 
+        [JsonPropertyName("dock")]
+        public bool? Dock { get; set; } = null;
+
+        [JsonPropertyName("undock")]
+        public bool? Undock { get; set; } = null;
+
         public IsarMissionDefinition(List<IsarTaskDefinition> tasks)
         {
             Id = null;
@@ -33,6 +39,8 @@ public IsarMissionDefinition(MissionRun missionRun, bool includeStartPose = fals
             Name = missionRun.Name;
             Tasks = missionRun.Tasks.Select(task => new IsarTaskDefinition(task, missionRun)).ToList();
             StartPose = includeStartPose && missionRun.Area.Deck.DefaultLocalizationPose != null ? new IsarPose(missionRun.Area.Deck.DefaultLocalizationPose.Pose) : null;
+            Undock = includeStartPose && missionRun.Area.Deck.DefaultLocalizationPose != null && missionRun.Area.Deck.DefaultLocalizationPose.DockingEnabled;
+            Dock = missionRun.Area.Deck.DefaultLocalizationPose != null && missionRun.Area.Deck.DefaultLocalizationPose.DockingEnabled && missionRun.IsReturnHomeMission();
         }
     }