Move new mission during return home to service

equinor · May 23, 2024 · a26c178 · a26c178
1 parent 74ae22e
commit a26c178
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Showing 2 changed files with 41 additions and 39 deletions.
diff --git a/backend/api/Controllers/MissionSchedulingController.cs b/backend/api/Controllers/MissionSchedulingController.cs
@@ -14,7 +14,6 @@ public class MissionSchedulingController(
             IMissionDefinitionService missionDefinitionService,
             ICustomMissionSchedulingService customMissionSchedulingService,
             IMissionRunService missionRunService,
-            IMissionSchedulingService missionSchedulingService,
             IInstallationService installationService,
             IRobotService robotService,
             IEchoService echoService,
@@ -176,27 +175,6 @@ [FromBody] ScheduleMissionQuery scheduledMissionQuery
                 missionRun.CalculateEstimatedDuration();
             }
 
-            IList<MissionStatus> missionStatuses = [MissionStatus.Ongoing, MissionStatus.Pending, MissionStatus.Paused];
-            var missionRunType = MissionRunType.ReturnHome;
-            var missionRuns = await missionRunService.ReadMissionRuns(robot.Id, missionRunType, missionStatuses);
-
-            if (missionRuns.Count != 0)
-            {
-                var returnToHomeMission = missionRuns[0];
-
-                if (!await localizationService.RobotIsOnSameDeckAsMission(robot.Id, missionRun.Area.Id))
-                {
-                    return Conflict($"The robot {robot.Name} is localized on a different deck so the mission was not scheduled.");
-                }
-
-                try { await missionSchedulingService.StopCurrentMissionRun(robot.Id); }
-                catch (RobotNotFoundException e) { logger.LogError("{Message}", e); }
-                catch (MissionRunNotFoundException e) { logger.LogWarning("{Message}", e); }
-
-                returnToHomeMission.Status = MissionStatus.Cancelled;
-                await missionRunService.Update(returnToHomeMission);
-            }
-
             MissionRun newMissionRun;
             try
             {
@@ -375,24 +353,9 @@ [FromBody] ScheduledMissionQuery scheduledMissionQuery
                 await missionDefinitionService.Create(scheduledMissionDefinition);
             }
 
-            IList<MissionStatus> missionStatuses = [MissionStatus.Ongoing, MissionStatus.Pending, MissionStatus.Paused];
-            var missionRunType = MissionRunType.ReturnHome;
-            var missionRuns = await missionRunService.ReadMissionRuns(robot.Id, missionRunType, missionStatuses);
-
-            if (missionRuns.Count != 0)
+            if (await localizationService.RobotIsLocalized(missionRun.Robot.Id) && !await localizationService.RobotIsOnSameDeckAsMission(missionRun.Robot.Id, missionRun.Area.Id))
             {
-                var returnToHomeMission = missionRuns[0];
-                if (!await localizationService.RobotIsOnSameDeckAsMission(robot.Id, missionRun.Area.Id))
-                {
-                    return Conflict($"The robot {robot.Name} is localized on a different deck so the mission was not scheduled.");
-                }
-
-                try { await missionSchedulingService.StopCurrentMissionRun(robot.Id); }
-                catch (RobotNotFoundException e) { logger.LogError("{Message}", e); }
-                catch (MissionRunNotFoundException e) { logger.LogWarning("{Message}", e); }
-
-                returnToHomeMission.Status = MissionStatus.Cancelled;
-                await missionRunService.Update(returnToHomeMission);
+                return Conflict($"The robot {missionRun.Robot.Name} is localized on a different deck so the mission was not scheduled.");
             }
 
             MissionRun newMissionRun;

diff --git a/backend/api/EventHandlers/MissionEventHandler.cs b/backend/api/EventHandlers/MissionEventHandler.cs
@@ -119,6 +119,8 @@ or IsarCommunicationException
                 }
             }
 
+            await CancellReturnToHomeOnNewMissionSchedule(missionRun);
+
             _startMissionSemaphore.WaitOne();
             try { await MissionScheduling.StartNextMissionRunIfSystemIsAvailable(missionRun.Robot.Id); }
             catch (MissionRunNotFoundException) { return; }
@@ -299,5 +301,42 @@ private async void OnEmergencyButtonDepressedForRobot(object? sender, EmergencyB
 
             return area;
         }
+
+        public async Task CancellReturnToHomeOnNewMissionSchedule(MissionRun missionRun)
+        {
+            IList<MissionStatus> missionStatuses = [MissionStatus.Ongoing, MissionStatus.Pending, MissionStatus.Paused];
+            var existingReturnToHomeMissions = await MissionService.ReadMissionRuns(missionRun.Robot.Id, MissionRunType.ReturnHome, missionStatuses);
+
+            if (existingReturnToHomeMissions.Count == 1 && existingReturnToHomeMissions[0].Id != missionRun.Id)
+            {
+                var returnToHomeMission = existingReturnToHomeMissions[0];
+
+                if (!await LocalizationService.RobotIsOnSameDeckAsMission(missionRun.Robot.Id, missionRun.Area.Id))
+                {
+                    _logger.LogWarning($"The robot {missionRun.Robot.Name} is localized on a different deck so the mission was not scheduled.");
+                    return;
+                }
+
+                if (returnToHomeMission.Status != MissionStatus.Pending)
+                {
+                    try { await MissionScheduling.StopCurrentMissionRun(missionRun.Robot.Id); }
+                    catch (RobotNotFoundException) { return; }
+                    catch (MissionRunNotFoundException) { return; }
+                }
+
+                var missionTask = returnToHomeMission.Tasks.FirstOrDefault();
+                if (missionTask != null)
+                {
+                    missionTask.Status = Database.Models.TaskStatus.Cancelled;
+                }
+                returnToHomeMission.Status = MissionStatus.Cancelled;
+                await MissionService.Update(returnToHomeMission);
+            }
+
+            if (existingReturnToHomeMissions.Count > 1)
+            {
+                _logger.LogError($"Two Return to Home missions should not be queued or ongoing simoultaneously for robot {missionRun.Robot.Name}.");
+            }
+        }
     }
 }