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Remove isar steps in flotilla #1753

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merged 6 commits into from
Oct 17, 2024
Merged

Remove isar steps in flotilla #1753

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4ed2ca6
Remove isar steps
mrica-equinor Oct 3, 2024
347b596
Fix tests
mrica-equinor Oct 10, 2024
0e3a7dd
Change to only one inspection per task
mrica-equinor Oct 14, 2024
ea9030b
Remove csharpier format
mrica-equinor Oct 14, 2024
b8e6176
Adress requested changes
mrica-equinor Oct 15, 2024
6416bb4
Update migrations
mrica-equinor Oct 17, 2024
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13 changes: 5 additions & 8 deletions backend/api.test/Client/AreaTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -168,20 +168,17 @@ public async Task MissionIsCreatedInArea()

string testMissionName = "testMissionInAreaTest";

var inspections = new List<CustomInspectionQuery>
var inspection = new CustomInspectionQuery
{
new()
{
AnalysisType = AnalysisType.CarSeal,
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
}
AnalysisType = AnalysisType.CarSeal,
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
};
var tasks = new List<CustomTaskQuery>
{
new()
{
Inspections = inspections,
Inspection = inspection,
TagId = "test",
RobotPose = new Pose(),
TaskOrder = 0
Expand Down
52 changes: 40 additions & 12 deletions backend/api.test/Client/MissionTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -471,9 +471,9 @@ public async Task ScheduleDuplicateCustomMissionDefinitions()
Port = 3000,
CurrentInstallationCode = installationCode,
CurrentAreaName = null,
RobotCapabilities = [],
VideoStreams = new List<CreateVideoStreamQuery>(),
Documentation = new List<CreateDocumentationQuery>()
Documentation = new List<CreateDocumentationQuery>(),
RobotCapabilities = [RobotCapabilitiesEnum.take_image]
};

string robotUrl = "/robots";
Expand All @@ -493,13 +493,21 @@ public async Task ScheduleDuplicateCustomMissionDefinitions()
new()
{
RobotPose = new Pose(new Position(23, 14, 4), new Orientation()),
Inspections = [],
Inspection = new CustomInspectionQuery
{
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
},
TaskOrder = 0
},
new()
{
RobotPose = new Pose(1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f),
Inspections = [],
Inspection = new CustomInspectionQuery
{
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
},
TaskOrder = 1
}
]
Expand Down Expand Up @@ -555,7 +563,7 @@ public async Task GetNextRun()
Port = 3000,
CurrentInstallationCode = installation.InstallationCode,
CurrentAreaName = areaName,
RobotCapabilities = [],
RobotCapabilities = [RobotCapabilitiesEnum.take_image],
VideoStreams = new List<CreateVideoStreamQuery>(),
Documentation = new List<CreateDocumentationQuery>()
};
Expand All @@ -578,7 +586,11 @@ public async Task GetNextRun()
new()
{
RobotPose = new Pose(),
Inspections = [],
Inspection = new CustomInspectionQuery
{
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
},
TaskOrder = 0
}
]
Expand Down Expand Up @@ -738,7 +750,7 @@ public async Task MissionDoesNotStartIfRobotIsNotInSameInstallationAsMission()
Port = 3000,
CurrentInstallationCode = otherInstallation.InstallationCode,
CurrentAreaName = null,
RobotCapabilities = [],
RobotCapabilities = [RobotCapabilitiesEnum.take_image],
VideoStreams = new List<CreateVideoStreamQuery>(),
Documentation = new List<CreateDocumentationQuery>()
};
Expand All @@ -760,13 +772,21 @@ public async Task MissionDoesNotStartIfRobotIsNotInSameInstallationAsMission()
new()
{
RobotPose = new Pose(),
Inspections = [],
Inspection = new CustomInspectionQuery
{
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
},
TaskOrder = 0
},
new()
{
RobotPose = new Pose(1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f),
Inspections = [],
Inspection = new CustomInspectionQuery
{
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
},
TaskOrder = 1
}
]
Expand Down Expand Up @@ -810,7 +830,7 @@ public async Task MissionFailsIfRobotIsNotInSameDeckAsMission()
Port = 3000,
CurrentInstallationCode = installation.InstallationCode,
CurrentAreaName = area1.AreaName,
RobotCapabilities = [],
RobotCapabilities = [RobotCapabilitiesEnum.take_image],
VideoStreams = new List<CreateVideoStreamQuery>(),
Documentation = new List<CreateDocumentationQuery>()
};
Expand All @@ -832,13 +852,21 @@ public async Task MissionFailsIfRobotIsNotInSameDeckAsMission()
new()
{
RobotPose = new Pose(new Position(1, 9, 4), new Orientation()),
Inspections = [],
Inspection = new CustomInspectionQuery
{
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
},
TaskOrder = 0
},
new()
{
RobotPose = new Pose(1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f),
Inspections = [],
Inspection = new CustomInspectionQuery
{
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
},
TaskOrder = 1
}
]
Expand Down
2 changes: 1 addition & 1 deletion backend/api.test/Database/DatabaseUtilities.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,7 @@ public async Task<Robot> NewRobot(RobotStatus status, Installation installation,
Host = "localhost",
Port = 3000,
Status = status,
RobotCapabilities = [RobotCapabilitiesEnum.drive_to_pose, RobotCapabilitiesEnum.take_image, RobotCapabilitiesEnum.return_to_home, RobotCapabilitiesEnum.localize]
RobotCapabilities = [RobotCapabilitiesEnum.take_image, RobotCapabilitiesEnum.return_to_home, RobotCapabilitiesEnum.localize]
};

var robotModel = await _robotModelService.ReadByRobotType(createRobotQuery.RobotType, readOnly: true);
Expand Down
4 changes: 2 additions & 2 deletions backend/api.test/Mocks/MissionLoaderMock.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ public class MockMissionLoader() : IMissionLoader

private readonly List<MissionTask> _mockMissionTasks = [
new MissionTask(
inspections: [],
inspection: new Inspection(),
taskOrder: 0,
tagId: "1",
tagLink: new Uri("https://testurl.com"),
Expand All @@ -37,7 +37,7 @@ public class MockMissionLoader() : IMissionLoader
}
),
new MissionTask(
inspections: [],
inspection: new Inspection(),
taskOrder: 0,
tagId: "2",
tagLink: new Uri("https://testurl.com"),
Expand Down
18 changes: 9 additions & 9 deletions backend/api/Controllers/InspectionFindingController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -14,25 +14,25 @@ IInspectionService inspectionService
) : ControllerBase
{
/// <summary>
/// Associate a new inspection finding with the inspection corresponding to isarStepId
/// Associate a new inspection finding with the inspection corresponding to isarTaskId
/// </summary>
/// <remarks>
/// </remarks>
[HttpPost]
[Authorize(Roles = Role.Admin)]
[Route("{isarStepId}")]
[Route("{isarTaskId}")]
[ProducesResponseType(typeof(InspectionFinding), StatusCodes.Status200OK)]
[ProducesResponseType(StatusCodes.Status400BadRequest)]
[ProducesResponseType(StatusCodes.Status409Conflict)]
[ProducesResponseType(StatusCodes.Status401Unauthorized)]
[ProducesResponseType(StatusCodes.Status403Forbidden)]
[ProducesResponseType(StatusCodes.Status500InternalServerError)]
public async Task<ActionResult<InspectionFinding>> AddFinding([FromBody] InspectionFindingQuery inspectionFinding, [FromRoute] string isarStepId)
public async Task<ActionResult<InspectionFinding>> AddFinding([FromBody] InspectionFindingQuery inspectionFinding, [FromRoute] string isarTaskId)
{
logger.LogInformation("Add inspection finding for inspection with isarStepId '{Id}'", isarStepId);
logger.LogInformation("Add inspection finding for inspection with isarTaskId '{Id}'", isarTaskId);
try
{
var inspection = await inspectionService.AddFinding(inspectionFinding, isarStepId);
var inspection = await inspectionService.AddFinding(inspectionFinding, isarTaskId);

if (inspection != null)
{
Expand All @@ -42,14 +42,14 @@ public async Task<ActionResult<InspectionFinding>> AddFinding([FromBody] Inspect
}
catch (Exception e)
{
logger.LogError(e, "Error while adding inspection finding to inspection with IsarStepId '{Id}'", isarStepId);
logger.LogError(e, "Error while adding inspection finding to inspection with IsarTaskId '{Id}'", isarTaskId);
return StatusCode(StatusCodes.Status500InternalServerError);
}
return NotFound($"Could not find any inspection with the provided '{isarStepId}'");
return NotFound($"Could not find any inspection with the provided '{isarTaskId}'");
}

/// <summary>
/// Get the full inspection against an isarStepId
/// Get the full inspection against an isarTaskId
/// </summary>
/// <remarks>
/// </remarks>
Expand All @@ -67,7 +67,7 @@ public async Task<ActionResult<Inspection>> GetInspections([FromRoute] string id
logger.LogInformation("Get inspection by ID '{id}'", id);
try
{
var inspection = await inspectionService.ReadByIsarStepId(id, readOnly: true);
var inspection = await inspectionService.ReadByIsarTaskId(id, readOnly: true);
if (inspection != null)
{
return Ok(inspection);
Expand Down
5 changes: 1 addition & 4 deletions backend/api/Controllers/MissionSchedulingController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -62,10 +62,7 @@ [FromBody] ScheduleMissionQuery scheduledMissionQuery
foreach (var task in missionTasks)
{
task.Id = Guid.NewGuid().ToString();
foreach (var inspection in task.Inspections)
{
inspection.Id = Guid.NewGuid().ToString();
}
if (task.Inspection != null) task.Inspection.Id = Guid.NewGuid().ToString();
}

var newMissionRun = new MissionRun
Expand Down
2 changes: 1 addition & 1 deletion backend/api/Controllers/Models/CustomMissionQuery.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ public struct CustomTaskQuery

public Pose RobotPose { get; set; }

public List<CustomInspectionQuery> Inspections { get; set; }
public CustomInspectionQuery? Inspection { get; set; }
}

public struct CustomMissionQuery
Expand Down
18 changes: 8 additions & 10 deletions backend/api/Database/Context/InitDb.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -416,12 +416,11 @@ private static List<MissionDefinition> GetMissionDefinitions()

private static List<MissionTask> GetMissionTasks()
{
var inspections = new List<Inspection> { new() };
var url = new Uri(
"https://stid.equinor.com/hua/tag?tagNo=ABCD"
);
var task1 = new MissionTask(
inspections: inspections,
inspection: new Inspection(),
robotPose: new Pose(300.0f, 50.0f, 200.0f, 0.0f, 0.0f, 0.0f, 1.0f),
taskOrder: 0,
tagLink: url,
Expand All @@ -431,7 +430,7 @@ private static List<MissionTask> GetMissionTasks()
);

var task2 = new MissionTask(
inspections: inspections,
inspection: new Inspection(),
robotPose: new Pose(300.0f, 50.0f, 200.0f, 0.0f, 0.0f, 0.0f, 1.0f),
taskOrder: 0,
tagLink: url,
Expand All @@ -441,7 +440,7 @@ private static List<MissionTask> GetMissionTasks()
);

var task3 = new MissionTask(
inspections: inspections,
inspection: new Inspection(),
robotPose: new Pose(300.0f, 50.0f, 200.0f, 0.0f, 0.0f, 0.0f, 1.0f),
taskOrder: 0,
tagLink: url,
Expand All @@ -451,7 +450,7 @@ private static List<MissionTask> GetMissionTasks()
);

var task4 = new MissionTask(
inspections: inspections,
inspection: new Inspection(),
robotPose: new Pose(300.0f, 50.0f, 200.0f, 0.0f, 0.0f, 0.0f, 1.0f),
taskOrder: 0,
tagLink: url,
Expand All @@ -461,7 +460,7 @@ private static List<MissionTask> GetMissionTasks()
);

var task5 = new MissionTask(
inspections: inspections,
inspection: new Inspection(),
robotPose: new Pose(300.0f, 50.0f, 200.0f, 0.0f, 0.0f, 0.0f, 1.0f),
taskOrder: 0,
tagLink: url,
Expand All @@ -471,7 +470,7 @@ private static List<MissionTask> GetMissionTasks()
);

var task6 = new MissionTask(
inspections: inspections,
inspection: new Inspection(),
robotPose: new Pose(300.0f, 50.0f, 200.0f, 0.0f, 0.0f, 0.0f, 1.0f),
taskOrder: 0,
tagLink: url,
Expand All @@ -481,7 +480,7 @@ private static List<MissionTask> GetMissionTasks()
);

var task7 = new MissionTask(
inspections: inspections,
inspection: new Inspection(),
robotPose: new Pose(300.0f, 50.0f, 200.0f, 0.0f, 0.0f, 0.0f, 1.0f),
taskOrder: 0,
tagLink: url,
Expand Down Expand Up @@ -668,8 +667,7 @@ public static void PopulateDb(FlotillaDbContext context)
var tasks = GetMissionTasks();
foreach (var task in tasks)
{
task.Inspections.Add(inspections[0]);
task.Inspections.Add(inspections[1]);
task.Inspection = inspections[0];
}
context.AddRange(tasks);
context.AddRange(missionDefinitions);
Expand Down
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