Implement localization as part of a mission - #5
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Afonso-2403
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Installation is nullable, right?
As we do elsewhere the null check shouldn't be removed
Afonso-2403
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This message might be misleading if the robot has no current Installation
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Out of curiosity, do we need this null conditional operator, given that if it is null we already throw an exception?
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Any reason for having the return inside the if instead of the throwing of the exception?
Given that in most places we do the opposite this looks less readable to me
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The most prevalent area in the list will be selected for the mission
The localization procedure is now implemented and will run as part of regular mission scheduling. If the queue is empty a localization mission will be started for the current deck. This assumes that the operator has confirmed that the robot is on the deck of the mission that has been scheduled. If there is an existing mission the system will check if a new mission is in the same deck as that mission and if so schedule it. If not it will be rejected. If the last mission finishes a return to home mission will be scheduled which puts the robot back at the default localization pose. If a mission is scheduled in between the return to home mission another localization will not be required.
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The localization procedure is now implemented and will run as part of regular mission scheduling.
If the queue is empty a localization mission will be started for the current deck. This assumes that the operator has confirmed that the robot is on the deck of the mission that has been scheduled.
If there is an existing mission the system will check if a new mission is in the same deck as that mission and if so schedule it. If not it will be rejected.
If the last mission finishes a return to home mission will be scheduled which puts the robot back at the default localization pose. If a mission is scheduled in between the return to home mission another localization will not be required.