Test running missions when one is in wrong area

Author: andchiind

backend/api.test/Database/DatabaseUtilities.cs

@@ -95,9 +95,11 @@ public async Task<MissionRun> NewMissionRun(
             MissionRunType missionRunType = MissionRunType.Normal,
             MissionStatus missionStatus = MissionStatus.Pending,
             string isarMissionId = "",
-            Api.Database.Models.TaskStatus taskStatus = Api.Database.Models.TaskStatus.Successful
+            MissionTask[] tasks = null!
         )
         {
+            tasks ??= [];
+
             if (string.IsNullOrEmpty(isarMissionId))
                 isarMissionId = Guid.NewGuid().ToString();
             var missionRun = new MissionRun
@@ -110,7 +112,7 @@ public async Task<MissionRun> NewMissionRun(
                 Status = missionStatus,
                 DesiredStartTime = DateTime.UtcNow,
                 InspectionArea = inspectionArea,
-                Tasks = [],
+                Tasks = tasks,
                 InstallationCode = installationCode,
             };
 

backend/api.test/Services/MissionSchedulingService.cs

@@ -2,6 +2,7 @@
 using Api.Controllers.Models;
 using Api.Database.Models;
 using Api.Services;
+using Api.Services.Models;
 using Api.Test.Database;
 using Microsoft.Extensions.DependencyInjection;
 using Testcontainers.PostgreSql;
@@ -72,5 +73,58 @@ await DatabaseUtilities.NewMissionRun(
             // We expect two new missions since a return home mission will also be scheduled
             Assert.Equal(nReportsBefore + 1, nReportsAfter);
         }
+
+        [Fact]
+        public async Task CheckThatReturnHomeIsNotDeletedWhenPreviousMissionWasOutsideInspectionArea()
+        {
+            // Arrange
+            var installation = await DatabaseUtilities.NewInstallation();
+            var plant = await DatabaseUtilities.NewPlant(installation.InstallationCode);
+            var inspectionArea1 = await DatabaseUtilities.NewInspectionArea(
+                installation.InstallationCode,
+                plant.PlantCode,
+                inspectionAreaName: "Inspection area 1",
+                new InspectionAreaPolygon
+                {
+                    ZMin = 0,
+                    ZMax = 10,
+                    Positions = [new XYPosition(x: 0, y: 0), new XYPosition(x: 0, y: 10), new XYPosition(x: 10, y: 10), new XYPosition(x: 10, y: 0)]
+                }
+            );
+            var inspectionArea2 = await DatabaseUtilities.NewInspectionArea(
+                installation.InstallationCode,
+                plant.PlantCode,
+                inspectionAreaName: "Inspection area 2",
+                new InspectionAreaPolygon
+                {
+                    ZMin = 0,
+                    ZMax = 10,
+                    Positions = [new XYPosition(x: 0, y: 0), new XYPosition(x: 0, y: -10), new XYPosition(x: -10, y: -10), new XYPosition(x: -10, y: 0)]
+                }
+            );
+
+            var taskOutsideInspectionArea = new MissionTask(new Pose(-5, -5, 0, 0, 0, 0, 0), MissionTaskType.Inspection);
+
+            var robot = await DatabaseUtilities.NewRobot(RobotStatus.Available, installation, inspectionArea2);
+            await DatabaseUtilities.NewMissionRun(
+                installation.InstallationCode,
+                robot,
+                inspectionArea1,
+                writeToDatabase: true,
+                tasks: [taskOutsideInspectionArea]
+            );
+
+            // Act
+            await MissionSchedulingService.StartNextMissionRunIfSystemIsAvailable(robot);
+
+            // Assert
+            var reportsAfter = await MissionRunService.ReadAll(
+                new MissionRunQueryStringParameters()
+            );
+
+            Assert.Single(reportsAfter);
+            Assert.True(reportsAfter[0].IsReturnHomeMission());
+            Assert.Equal(MissionStatus.Ongoing, reportsAfter[0].Status);
+        }
     }
 }

backend/api/Services/Models/InspectionAreaPolygon.cs

@@ -16,6 +16,17 @@ public class InspectionAreaPolygon
 
 public class XYPosition
 {
+    public XYPosition()
+    {
+
+    }
+
+    public XYPosition(float x = 0, float y = 0)
+    {
+        X = x;
+        Y = y;
+    }
+
     [JsonPropertyName("x")]
     public double X { get; set; }
 

backend/api/Utilities/Exceptions.cs

@@ -57,14 +57,16 @@ public class RobotNotAvailableException(string message) : Exception(message) { }
     public class RobotBusyException(string message) : Exception(message) { }
 
     public class RobotNotInSameInstallationAsMissionException(string message)
-        : Exception(message) { }
+        : Exception(message)
+    { }
 
     public class PoseNotFoundException(string message) : Exception(message) { }
 
     public class IsarCommunicationException(string message) : Exception(message) { }
 
     public class ReturnToHomeMissionFailedToScheduleException(string message)
-        : Exception(message) { }
+        : Exception(message)
+    { }
 
     public class RobotCurrentAreaMissingException(string message) : Exception(message) { }