Store error strings from isar

backend/api/Controllers/MissionController.cs

@@ -54,12 +54,12 @@ IStidService stidService
     /// </remarks>
     [HttpGet("runs")]
     [Authorize(Roles = Role.Any)]
-    [ProducesResponseType(typeof(IList<MissionRun>), StatusCodes.Status200OK)]
+    [ProducesResponseType(typeof(IList<MissionRunDto>), StatusCodes.Status200OK)]
     [ProducesResponseType(StatusCodes.Status400BadRequest)]
     [ProducesResponseType(StatusCodes.Status401Unauthorized)]
     [ProducesResponseType(StatusCodes.Status403Forbidden)]
     [ProducesResponseType(StatusCodes.Status500InternalServerError)]
-    public async Task<ActionResult<IList<MissionRun>>> GetMissionRuns(
+    public async Task<ActionResult<IList<MissionRunDto>>> GetMissionRuns(
         [FromQuery] MissionRunQueryStringParameters parameters
     )
     {
@@ -102,7 +102,9 @@ [FromQuery] MissionRunQueryStringParameters parameters
             JsonSerializer.Serialize(metadata)
         );
 
-        return Ok(missionRuns);
+        var missionRunDtos = missionRuns.Select(m => new MissionRunDto(m));
+
+        return Ok(missionRunDtos);
     }
 
     /// <summary>
@@ -157,17 +159,17 @@ [FromQuery] MissionDefinitionQueryStringParameters parameters
     [HttpGet]
     [Authorize(Roles = Role.Any)]
     [Route("runs/{id}")]
-    [ProducesResponseType(typeof(MissionRun), StatusCodes.Status200OK)]
+    [ProducesResponseType(typeof(MissionRunDto), StatusCodes.Status200OK)]
     [ProducesResponseType(StatusCodes.Status401Unauthorized)]
     [ProducesResponseType(StatusCodes.Status403Forbidden)]
     [ProducesResponseType(StatusCodes.Status404NotFound)]
     [ProducesResponseType(StatusCodes.Status500InternalServerError)]
-    public async Task<ActionResult<MissionRun>> GetMissionRunById([FromRoute] string id)
+    public async Task<ActionResult<MissionRunDto>> GetMissionRunById([FromRoute] string id)
     {
         var missioRun = await _missionRunService.ReadById(id);
         if (missioRun == null)
             return NotFound($"Could not find mission run with id {id}");
-        return Ok(missioRun);
+        return Ok(new MissionRunDto(missioRun));
     }
 
     /// <summary>

backend/api/Controllers/Models/InspectionDto.cs

@@ -0,0 +1,45 @@
+using Api.Database.Models;
+
+#pragma warning disable CS8618
+namespace Api.Controllers.Models
+{
+    public class InspectionDto
+    {
+        public InspectionDto(Inspection inspection)
+        {
+            Id = inspection.Id;
+            IsarStepId = inspection.IsarStepId;
+            Status = inspection.Status;
+            IsCompleted = inspection.IsCompleted;
+            InspectionType = inspection.InspectionType;
+            VideoDuration = inspection.VideoDuration;
+            AnalysisTypes = inspection.AnalysisTypes;
+            InspectionUrl = inspection.InspectionUrl;
+            Error = inspection.GetError();
+            StartTime = inspection.StartTime;
+            EndTime = inspection.EndTime;
+        }
+
+        public string Id { get; set; }
+
+        public string? IsarStepId { get; set; }
+
+        public InspectionStatus Status { get; set; }
+
+        public bool IsCompleted { get; set; }
+
+        public InspectionType InspectionType { get; set; }
+
+        public float? VideoDuration { get; set; }
+
+        public string? AnalysisTypes { get; set; }
+
+        public string? InspectionUrl { get; set; }
+
+        public string? Error { get; set; }
+
+        public DateTimeOffset? StartTime { get; private set; }
+
+        public DateTimeOffset? EndTime { get; private set; }
+    }
+}

backend/api/Controllers/Models/MissionRunDto.cs

@@ -0,0 +1,65 @@
+using Api.Database.Models;
+
+#pragma warning disable CS8618
+namespace Api.Controllers.Models
+{
+    public class MissionRunDto
+    {
+        public MissionRunDto(MissionRun mission)
+        {
+            Id = mission.Id;
+            IsarMissionId = mission.IsarMissionId;
+            Name = mission.Name;
+            Description = mission.Description;
+            StatusReason = mission.StatusReason;
+            Comment = mission.Comment;
+            InstallationCode = mission.InstallationCode;
+            Robot = mission.Robot;
+            Status = mission.Status;
+            IsCompleted = mission.IsCompleted;
+            MapMetadata = mission.MapMetadata;
+            Error = mission.GetError(); // TODO: rethink whether nested errors are needed here
+            DesiredStartTime = mission.DesiredStartTime;
+            StartTime = mission.StartTime;
+            EndTime = mission.EndTime;
+            EstimatedDuration = mission.EstimatedDuration;
+            Tasks = mission.Tasks.Select(t => new MissionTaskDto(t)).ToList();
+        }
+
+        public string Id { get; set; }
+
+        public int? EchoMissionId { get; set; }
+
+        public string? IsarMissionId { get; set; }
+
+        public string Name { get; set; }
+
+        public string? Description { get; set; }
+
+        public string? StatusReason { get; set; }
+
+        public string? Comment { get; set; }
+
+        public string InstallationCode { get; set; }
+
+        public Robot Robot { get; set; }
+
+        public MissionStatus Status { get; set; }
+
+        public bool IsCompleted { get; set; }
+
+        public MapMetadata? MapMetadata { get; set; }
+
+        public string? Error { get; set; }
+
+        public DateTimeOffset DesiredStartTime { get; set; }
+
+        public DateTimeOffset? StartTime { get; private set; }
+
+        public DateTimeOffset? EndTime { get; private set; }
+
+        public uint? EstimatedDuration { get; set; }
+
+        public IList<MissionTaskDto> Tasks { get; set; }
+    }
+}

backend/api/Controllers/Models/MissionTaskDto.cs

@@ -0,0 +1,57 @@
+using Api.Database.Models;
+
+#pragma warning disable CS8618
+namespace Api.Controllers.Models
+{
+    public class MissionTaskDto
+    {
+        public MissionTaskDto(MissionTask task)
+        {
+            Id = task.Id;
+            IsarTaskId = task.IsarTaskId;
+            TaskOrder = task.TaskOrder;
+            TagId = task.TagId;
+            Description = task.Description;
+            EchoTagLink = task.EchoTagLink;
+            InspectionTarget = task.InspectionTarget;
+            RobotPose = task.RobotPose;
+            EchoPoseId = task.EchoPoseId;
+            Status = task.Status;
+            IsCompleted = task.IsCompleted;
+            Error = task.GetError(); // TODO: rethink whether nested errors are needed here
+            StartTime = task.StartTime;
+            EndTime = task.EndTime;
+            Inspections = task.Inspections.Select(i => new InspectionDto(i)).ToList();
+        }
+
+        public string Id { get; set; }
+
+        public string? IsarTaskId { get; set; }
+
+        public int TaskOrder { get; set; }
+
+        public string? TagId { get; set; }
+
+        public string? Description { get; set; }
+
+        public Uri? EchoTagLink { get; set; }
+
+        public Position InspectionTarget { get; set; }
+
+        public Pose RobotPose { get; set; }
+
+        public int? EchoPoseId { get; set; }
+
+        public Database.Models.TaskStatus Status { get; set; }
+
+        public bool IsCompleted { get; set; }
+
+        public string? Error { get; set; }
+
+        public DateTimeOffset? StartTime { get; private set; }
+
+        public DateTimeOffset? EndTime { get; private set; }
+
+        public IList<InspectionDto> Inspections { get; set; }
+    }
+}

backend/api/Controllers/RobotController.cs

@@ -368,6 +368,13 @@ [FromRoute] string missionRunId
             return NotFound("Mission not found");
         }
 
+        string? missionRunError = missionRun.GetError();
+        if (missionRunError != null)
+        {
+            _logger.LogError(new MissionException(missionRunError), $"Error in ISAR mission: {missionRunError}");
+            return StatusCode(StatusCodes.Status502BadGateway, $"Error in ISAR mission: {missionRunError}");
+        }
+
         IsarMission isarMission;
         try
         {

backend/api/Database/Models/Inspection.cs

@@ -2,6 +2,7 @@
 using System.ComponentModel.DataAnnotations.Schema;
 using Api.Controllers.Models;
 using Api.Services.Models;
+using Api.Utilities;
 using Microsoft.EntityFrameworkCore;
 
 #pragma warning disable CS8618
@@ -52,6 +53,19 @@ or InspectionStatus.Successful
         [MaxLength(250)]
         public string? InspectionUrl { get; set; }
 
+        public string? ErrorReason { get; set; }
+
+        public string? ErrorDescription { get; set; }
+
+        public string? GetError()
+        {
+            if (ErrorReason != null)
+            {
+                return IsarErrorHandling.MapIsarError(ErrorReason);
+            }
+            return null;
+        }
+
         public DateTimeOffset? StartTime { get; private set; }
 
         public DateTimeOffset? EndTime { get; private set; }

backend/api/Database/Models/MissionRun.cs

@@ -1,6 +1,7 @@
 using System.ComponentModel.DataAnnotations;
 using System.ComponentModel.DataAnnotations.Schema;
 using Api.Services.Models;
+using Api.Utilities;
 
 #pragma warning disable CS8618
 namespace Api.Database.Models
@@ -77,6 +78,36 @@ or MissionStatus.PartiallySuccessful
 
         public MapMetadata? MapMetadata { get; set; }
 
+        public string? ErrorReason { get; set; }
+
+        public string? ErrorDescription { get; set; }
+
+        public bool HasNestedError()
+        {
+            if (ErrorReason != null)
+            {
+                return true;
+            }
+            else
+            {
+                foreach (var task in Tasks)
+                {
+                    if (task.HasNestedError())
+                        return true;
+                }
+            }
+            return false;
+        }
+
+        public string? GetError()
+        {
+            if (ErrorReason != null)
+            {
+                return IsarErrorHandling.MapIsarError(ErrorReason);
+            }
+            return null;
+        }
+
         public DateTimeOffset? StartTime { get; private set; }
 
         public DateTimeOffset? EndTime { get; private set; }

backend/api/Database/Models/MissionTask.cs

@@ -2,6 +2,7 @@
 using System.ComponentModel.DataAnnotations.Schema;
 using Api.Controllers.Models;
 using Api.Services.Models;
+using Api.Utilities;
 using Microsoft.EntityFrameworkCore;
 
 #pragma warning disable CS8618
@@ -62,6 +63,36 @@ or TaskStatus.Successful
                     or TaskStatus.Failed
                     or TaskStatus.PartiallySuccessful;
 
+        public string? ErrorReason { get; set; }
+
+        public string? ErrorDescription { get; set; }
+
+        public bool HasNestedError()
+        {
+            if (ErrorReason != null)
+            {
+                return true;
+            }
+            else
+            {
+                foreach (var inspection in Inspections)
+                {
+                    if (inspection.GetError() != null)
+                        return true;
+                }
+            }
+            return false;
+        }
+
+        public string? GetError()
+        {
+            if (ErrorReason != null)
+            {
+                return IsarErrorHandling.MapIsarError(ErrorReason);
+            }
+            return null;
+        }
+
         public DateTimeOffset? StartTime { get; private set; }
 
         public DateTimeOffset? EndTime { get; private set; }

backend/api/EventHandlers/MqttEventHandler.cs

@@ -270,7 +270,9 @@ private async void OnMissionUpdate(object? sender, MqttReceivedArgs mqttArgs)
 
             var flotillaMissionRun = await missionRunService.UpdateMissionRunStatusByIsarMissionId(
                 isarMission.MissionId,
-                status
+                status,
+                isarMission.ErrorReason,
+                isarMission.ErrorDescription
             );
 
             if (flotillaMissionRun is null)
@@ -369,7 +371,9 @@ private async void OnTaskUpdate(object? sender, MqttReceivedArgs mqttArgs)
             bool success = await missionRunService.UpdateTaskStatusByIsarTaskId(
                 task.MissionId,
                 task.TaskId,
-                status
+                status,
+                task.ErrorReason,
+                task.ErrorDescription
             );
 
             if (success)
@@ -417,7 +421,9 @@ private async void OnStepUpdate(object? sender, MqttReceivedArgs mqttArgs)
                 step.MissionId,
                 step.TaskId,
                 step.StepId,
-                status
+                status,
+                step.ErrorReason,
+                step.ErrorDescription
             );
 
             if (success)

backend/api/MQTT/MessageModels/IsarMission.cs

@@ -19,5 +19,11 @@ public class IsarMissionMessage : MqttMessage
 
         [JsonPropertyName("timestamp")]
         public DateTime Timestamp { get; set; }
+
+        [JsonPropertyName("error_reason")]
+        public string ErrorReason { get; set; }
+
+        [JsonPropertyName("error_description")]
+        public string ErrorDescription { get; set; }
     }
 }