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Mission run refactor #864

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Mission run refactor #864

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86008ab
Add MissionDefinition/MissionRun change
andchiind Jun 8, 2023
f23452d
Flatten areas nested objects, fix endpoint tests
andchiind Jun 20, 2023
7dba54e
Implement requests, clarify mission names
andchiind Jul 5, 2023
da01bf6
Move mission sorting to new class
andchiind Jul 5, 2023
6e05bb0
Use BlobService for custom mission source
andchiind Jul 5, 2023
2d1b01e
Map installation->plant, asset->installation
andchiind Jul 7, 2023
02a4772
Use ordinal string comparison
andchiind Jul 10, 2023
1843633
Add blob account name to appsettings
andchiind Jul 10, 2023
002ec8c
Remove unnecessary keywords
andchiind Jul 18, 2023
5a7eb15
Add entity framework migrations
andchiind Jul 18, 2023
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ frontend/build/
.idea
*.log
*.vs
*.code-workspace

# Environment variables
*.env
Expand Down
5 changes: 4 additions & 1 deletion backend/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -246,7 +246,10 @@ The access matrix looks like this:

| | **Read Only** | **User** | **Admin** |
| -------------------------- | ------------- | -------- | --------- |
| Asset Decks | Read | Read | CRUD |
| Area | Read | Read | CRUD |
| Deck | Read | Read | CRUD |
| Plant | Read | Read | CRUD |
| Installation | Read | Read | CRUD |
| Echo | Read | Read | CRUD |
| Missions | Read | Read | CRUD |
| Robots | Read | Read | CRUD |
Expand Down
226 changes: 185 additions & 41 deletions backend/api.test/EndpointTest.cs
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Expand Up @@ -102,24 +102,111 @@ public void Dispose()
GC.SuppressFinalize(this);
}

private async Task PopulateAreaDb(string installationCode, string plantCode, string deckName, string areaName)
{
string installationUrl = $"/installations";
string plantUrl = $"/plants";
string deckUrl = $"/decks";
string areaUrl = $"/areas";
var testPose = new Pose
{
Position = new Position
{
X = 1,
Y = 2,
Z = 2
},
Orientation = new Orientation
{
X = 0,
Y = 0,
Z = 0,
W = 1
}
};

var installationQuery = new CreateInstallationQuery
{
InstallationCode = installationCode,
Name = installationCode
};

var plantQuery = new CreatePlantQuery
{
InstallationCode = installationCode,
PlantCode = plantCode,
Name = plantCode
};

var deckQuery = new CreateDeckQuery
{
InstallationCode = installationCode,
PlantCode = plantCode,
Name = deckName
};

var areaQuery = new CreateAreaQuery
{
InstallationCode = installationCode,
PlantCode = plantCode,
DeckName = deckName,
AreaName = areaName,
DefaultLocalizationPose = testPose
};

var installationContent = new StringContent(
JsonSerializer.Serialize(installationQuery),
null,
"application/json"
);

var plantContent = new StringContent(
JsonSerializer.Serialize(plantQuery),
null,
"application/json"
);

var deckContent = new StringContent(
JsonSerializer.Serialize(deckQuery),
null,
"application/json"
);

var areaContent = new StringContent(
JsonSerializer.Serialize(areaQuery),
null,
"application/json"
);

// Act
var installationResponse = await _client.PostAsync(installationUrl, installationContent);
Assert.NotNull(installationResponse);
var plantResponse = await _client.PostAsync(plantUrl, plantContent);
Assert.NotNull(plantResponse);
var deckResponse = await _client.PostAsync(deckUrl, deckContent);
Assert.NotNull(deckResponse);
var areaResponse = await _client.PostAsync(areaUrl, areaContent);
Assert.NotNull(areaResponse);
}

#region MissionsController
[Fact]
public async Task MissionsTest()
{
string url = "/missions";
string url = "/missions/runs";
var response = await _client.GetAsync(url);
var missions = await response.Content.ReadFromJsonAsync<List<Mission>>(
var missionRuns = await response.Content.ReadFromJsonAsync<List<MissionRun>>(
_serializerOptions
);
Assert.True(response.IsSuccessStatusCode);
Assert.True(missions != null && missions.Count == 3);
Assert.True(missionRuns != null && missionRuns.Count == 3);
}

[Fact]
public async Task GetMissionById_ShouldReturnNotFound()
{
string missionId = "RandomString";
string url = "/missions/" + missionId;
string url = "/missions/runs/" + missionId;
var response = await _client.GetAsync(url);
Assert.Equal(HttpStatusCode.NotFound, response.StatusCode);
}
Expand All @@ -128,7 +215,7 @@ public async Task GetMissionById_ShouldReturnNotFound()
public async Task DeleteMission_ShouldReturnNotFound()
{
string missionId = "RandomString";
string url = "/missions/" + missionId;
string url = "/missions/runs/" + missionId;
var response = await _client.DeleteAsync(url);
Assert.Equal(HttpStatusCode.NotFound, response.StatusCode);
}
Expand Down Expand Up @@ -177,45 +264,54 @@ public async Task GetRobotById_ShouldReturnRobot()
public async Task StartMissionTest()
{
// Arrange
string url = "/robots";
var response = await _client.GetAsync(url);
string robotUrl = "/robots";
string missionsUrl = "/missions";
var response = await _client.GetAsync(robotUrl);
Assert.True(response.IsSuccessStatusCode);
var robots = await response.Content.ReadFromJsonAsync<List<Robot>>(_serializerOptions);
Assert.True(robots != null);
var robot = robots[0];
string robotId = robot.Id;
string testInstallation = "TestInstallation";
string testArea = "testArea";
int echoMissionId = 95;

// Act
url = "/missions";
var query = new ScheduledMissionQuery
{
RobotId = robotId,
AssetCode = "test",
EchoMissionId = 95,
InstallationCode = testInstallation,
AreaName = testArea,
EchoMissionId = echoMissionId,
DesiredStartTime = DateTimeOffset.UtcNow
};
var content = new StringContent(
JsonSerializer.Serialize(query),
null,
"application/json"
);
response = await _client.PostAsync(url, content);
response = await _client.PostAsync(missionsUrl, content);

// Assert
Assert.True(response.IsSuccessStatusCode);
var mission = await response.Content.ReadFromJsonAsync<Mission>(_serializerOptions);
Assert.True(mission != null);
Assert.True(mission.Id != null);
Assert.True(mission.Status == MissionStatus.Pending);
var missionRun = await response.Content.ReadFromJsonAsync<MissionRun>(_serializerOptions);
Assert.True(missionRun != null);
Assert.True(missionRun.Id != null);
Assert.True(missionRun.Status == MissionStatus.Pending);
}

[Fact]
public async Task AssetDeckTest()
public async Task AreaTest()
{
// Arrange
string testAsset = "testAsset";
string testDeck = "testDeck";
string assetDeckUrl = $"/asset-decks";
string testInstallation = "TestInstallation";
string testPlant = "TestPlant";
string testDeck = "testDeck2";
string testArea = "testArea";
string installationUrl = $"/installations";
string plantUrl = $"/plants";
string deckUrl = $"/decks";
string areaUrl = $"/areas";
var testPose = new Pose
{
Position = new Position
Expand All @@ -233,35 +329,81 @@ public async Task AssetDeckTest()
}
};

var query = new CreateAssetDeckQuery
var installationQuery = new CreateInstallationQuery
{
InstallationCode = testInstallation,
Name = testInstallation
};

var plantQuery = new CreatePlantQuery
{
AssetCode = testAsset,
InstallationCode = testInstallation,
PlantCode = testPlant,
Name = testPlant
};

var deckQuery = new CreateDeckQuery
{
InstallationCode = testInstallation,
PlantCode = testPlant,
Name = testDeck
};

var areaQuery = new CreateAreaQuery
{
InstallationCode = testInstallation,
PlantCode = testPlant,
DeckName = testDeck,
AreaName = testArea,
DefaultLocalizationPose = testPose
};

var content = new StringContent(
JsonSerializer.Serialize(query),
var installationContent = new StringContent(
JsonSerializer.Serialize(installationQuery),
null,
"application/json"
);

var plantContent = new StringContent(
JsonSerializer.Serialize(plantQuery),
null,
"application/json"
);

var deckContent = new StringContent(
JsonSerializer.Serialize(deckQuery),
null,
"application/json"
);

var areaContent = new StringContent(
JsonSerializer.Serialize(areaQuery),
null,
"application/json"
);

// Act
var assetDeckResponse = await _client.PostAsync(assetDeckUrl, content);
var installationResponse = await _client.PostAsync(installationUrl, installationContent);
var plantResponse = await _client.PostAsync(plantUrl, plantContent);
var deckResponse = await _client.PostAsync(deckUrl, deckContent);
var areaResponse = await _client.PostAsync(areaUrl, areaContent);

// Assert
Assert.True(assetDeckResponse.IsSuccessStatusCode);
var assetDeck = await assetDeckResponse.Content.ReadFromJsonAsync<AssetDeck>(_serializerOptions);
Assert.True(assetDeck != null);
Assert.True(installationResponse.IsSuccessStatusCode);
Assert.True(plantResponse.IsSuccessStatusCode);
Assert.True(deckResponse.IsSuccessStatusCode);
Assert.True(areaResponse.IsSuccessStatusCode);
var area = await areaResponse.Content.ReadFromJsonAsync<Area>(_serializerOptions);
Assert.True(area != null);
}

[Fact]
public async Task SafePositionTest()
{
// Arrange - Add Safe Position
string testAsset = "testAsset";
string testDeck = "testDeck";
string addSafePositionUrl = $"/asset-decks/{testAsset}/{testDeck}/safe-position";
string testInstallation = "testInstallation";
string testArea = "testArea";
string addSafePositionUrl = $"/areas/{testInstallation}/{testArea}/safe-position";
var testPosition = new Position
{
X = 1,
Expand All @@ -284,10 +426,13 @@ public async Task SafePositionTest()
null,
"application/json"
);
var assetDeckResponse = await _client.PostAsync(addSafePositionUrl, content);
Assert.True(assetDeckResponse.IsSuccessStatusCode);
var assetDeck = await assetDeckResponse.Content.ReadFromJsonAsync<AssetDeck>(_serializerOptions);
Assert.True(assetDeck != null);

await PopulateAreaDb("testInstallation", "testPlant", "testDeck", "testArea");

var areaResponse = await _client.PostAsync(addSafePositionUrl, content);
Assert.True(areaResponse.IsSuccessStatusCode);
var area = await areaResponse.Content.ReadFromJsonAsync<Area>(_serializerOptions);
Assert.True(area != null);

// Arrange - Get a Robot
string url = "/robots";
Expand All @@ -299,15 +444,15 @@ public async Task SafePositionTest()
string robotId = robot.Id;

// Act
string goToSafePositionUrl = $"/robots/{robotId}/{testAsset}/{testDeck}/go-to-safe-position";
string goToSafePositionUrl = $"/robots/{robotId}/{testInstallation}/{testArea}/go-to-safe-position";
var missionResponse = await _client.PostAsync(goToSafePositionUrl, null);

// Assert
Assert.True(missionResponse.IsSuccessStatusCode);
var mission = await missionResponse.Content.ReadFromJsonAsync<Mission>(_serializerOptions);
Assert.True(mission != null);
var missionRun = await missionResponse.Content.ReadFromJsonAsync<MissionRun>(_serializerOptions);
Assert.True(missionRun != null);
Assert.True(
JsonSerializer.Serialize(mission.Tasks[0].RobotPose.Position) ==
JsonSerializer.Serialize(missionRun.Tasks[0].RobotPose.Position) ==
JsonSerializer.Serialize(testPosition)
);
}
Expand All @@ -322,11 +467,10 @@ public async Task GetMapMetadata()

foreach (string input in inputOutputPairs.Keys)
{
string assetDeckId = input;
string url = $"/asset-decks/{assetDeckId}/map-metadata";
string areaId = input;
string url = $"/areas/{areaId}/map-metadata";
var response = await _client.GetAsync(url);
Assert.Equal(inputOutputPairs[input], response.StatusCode);

}
}
}
Expand Down
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