Return home or emergency mission does not need to be inside polygon

Author: Christdej

backend/api/Database/Models/MissionRun.cs

@@ -146,6 +146,11 @@ public bool IsEmergencyMission()
         {
             return MissionRunType == MissionRunType.Emergency;
         }
+
+        public bool IsReturnHomeOrEmergencyMission()
+        {
+            return IsReturnHomeMission() || IsEmergencyMission();
+        }
     }
 
     public enum MissionStatus

backend/api/Services/Helpers/MissionSchedulingHelpers.cs

@@ -10,10 +10,7 @@ public static bool TheSystemIsAvailableToRunAMission(
         ILogger logger
     )
     {
-        if (
-            robot.MissionQueueFrozen
-            && !(missionRun.IsEmergencyMission() || missionRun.IsReturnHomeMission())
-        )
+        if (robot.MissionQueueFrozen && !missionRun.IsReturnHomeOrEmergencyMission())
         {
             logger.LogInformation(
                 "Mission run {MissionRunId} was not started as the mission run queue for robot {RobotName} is frozen",

backend/api/Services/MissionSchedulingService.cs

@@ -65,10 +65,7 @@ public async Task StartNextMissionRunIfSystemIsAvailable(Robot robot)
             if (missionRun == null)
                 return;
 
-            if (
-                robot.MissionQueueFrozen
-                && !(missionRun.IsEmergencyMission() || missionRun.IsReturnHomeMission())
-            )
+            if (robot.MissionQueueFrozen && !missionRun.IsReturnHomeOrEmergencyMission())
             {
                 logger.LogInformation(
                     "Robot {robotName} is ready to start a mission but its mission queue is frozen",
@@ -110,7 +107,7 @@ await robotService.UpdateCurrentInspectionArea(
                 robot.CurrentInspectionArea = missionRun.InspectionArea!;
             }
             else if (
-                !missionRun.IsReturnHomeMission()
+                !missionRun.IsReturnHomeOrEmergencyMission()
                 && !inspectionAreaService.MissionTasksAreInsideInspectionAreaPolygon(
                     (List<MissionTask>)missionRun.Tasks,
                     missionRun.InspectionArea
@@ -145,7 +142,8 @@ await AbortAllScheduledNormalMissions(
 
             if (
                 (robot.IsRobotPressureTooLow() || robot.IsRobotBatteryTooLow())
-                && !(missionRun.IsReturnHomeMission() || missionRun.IsEmergencyMission())
+                    && !missionRun.IsReturnHomeOrEmergencyMission()
+                || missionRun.IsEmergencyMission()
             )
             {
                 await HandleBatteryAndPressureLevel(robot);