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Test running missions when one is in wrong area
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3 files changed

+173
-2
lines changed

3 files changed

+173
-2
lines changed

‎backend/api.test/Database/DatabaseUtilities.cs‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -95,9 +95,11 @@ public async Task<MissionRun> NewMissionRun(
9595
MissionRunType missionRunType = MissionRunType.Normal,
9696
MissionStatus missionStatus = MissionStatus.Pending,
9797
string isarMissionId = "",
98-
Api.Database.Models.TaskStatus taskStatus = Api.Database.Models.TaskStatus.Successful
98+
MissionTask[] tasks = null!
9999
)
100100
{
101+
tasks ??= [];
102+
101103
if (string.IsNullOrEmpty(isarMissionId))
102104
isarMissionId = Guid.NewGuid().ToString();
103105
var missionRun = new MissionRun
@@ -110,7 +112,7 @@ public async Task<MissionRun> NewMissionRun(
110112
Status = missionStatus,
111113
DesiredStartTime = DateTime.UtcNow,
112114
InspectionArea = inspectionArea,
113-
Tasks = [],
115+
Tasks = tasks,
114116
InstallationCode = installationCode,
115117
};
116118

‎backend/api.test/Services/MissionSchedulingService.cs‎

Lines changed: 161 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
using Api.Controllers.Models;
33
using Api.Database.Models;
44
using Api.Services;
5+
using Api.Services.Models;
56
using Api.Test.Database;
67
using Microsoft.Extensions.DependencyInjection;
78
using Testcontainers.PostgreSql;
@@ -75,5 +76,165 @@ await DatabaseUtilities.NewMissionRun(
7576
// We expect two new missions since a return home mission will also be scheduled
7677
Assert.Equal(nReportsBefore + 1, nReportsAfter);
7778
}
79+
80+
[Fact]
81+
public async Task CheckThatReturnHomeIsNotDeletedWhenPreviousMissionWasOutsideInspectionArea()
82+
{
83+
// Arrange
84+
var installation = await DatabaseUtilities.NewInstallation();
85+
var plant = await DatabaseUtilities.NewPlant(installation.InstallationCode);
86+
var inspectionArea1 = await DatabaseUtilities.NewInspectionArea(
87+
installation.InstallationCode,
88+
plant.PlantCode,
89+
inspectionAreaName: "Inspection area 1",
90+
new InspectionAreaPolygon
91+
{
92+
ZMin = 0,
93+
ZMax = 10,
94+
Positions =
95+
[
96+
new XYPosition(x: 0, y: 0),
97+
new XYPosition(x: 0, y: 10),
98+
new XYPosition(x: 10, y: 10),
99+
new XYPosition(x: 10, y: 0),
100+
],
101+
}
102+
);
103+
var inspectionArea2 = await DatabaseUtilities.NewInspectionArea(
104+
installation.InstallationCode,
105+
plant.PlantCode,
106+
inspectionAreaName: "Inspection area 2",
107+
new InspectionAreaPolygon
108+
{
109+
ZMin = 0,
110+
ZMax = 10,
111+
Positions =
112+
[
113+
new XYPosition(x: 0, y: 0),
114+
new XYPosition(x: 0, y: -10),
115+
new XYPosition(x: -10, y: -10),
116+
new XYPosition(x: -10, y: 0),
117+
],
118+
}
119+
);
120+
121+
var taskOutsideInspectionArea = new MissionTask(
122+
new Pose(-5, -5, 0, 0, 0, 0, 0),
123+
MissionTaskType.Inspection
124+
);
125+
var returnHomeTask = new MissionTask(
126+
new Pose(0, 0, 0, 0, 0, 0, 0),
127+
MissionTaskType.Inspection
128+
);
129+
130+
var robot = await DatabaseUtilities.NewRobot(
131+
RobotStatus.Available,
132+
installation,
133+
inspectionArea2
134+
);
135+
await DatabaseUtilities.NewMissionRun(
136+
installation.InstallationCode,
137+
robot,
138+
inspectionArea1,
139+
writeToDatabase: true,
140+
missionRunType: MissionRunType.ReturnHome,
141+
tasks: [returnHomeTask]
142+
);
143+
await DatabaseUtilities.NewMissionRun(
144+
installation.InstallationCode,
145+
robot,
146+
inspectionArea1,
147+
writeToDatabase: true,
148+
tasks: [taskOutsideInspectionArea]
149+
);
150+
151+
// Act
152+
await MissionSchedulingService.StartNextMissionRunIfSystemIsAvailable(robot);
153+
154+
// Assert
155+
var reportsAfter = await MissionRunService.ReadAll(
156+
new MissionRunQueryStringParameters()
157+
);
158+
159+
// TODO: the mission still exists, it is however aborted. Need to check why no return home mission scheduled
160+
161+
Assert.Equal(2, reportsAfter.Count);
162+
Assert.False(reportsAfter[0].IsReturnHomeMission());
163+
Assert.Equal(MissionStatus.Aborted, reportsAfter[0].Status);
164+
Assert.True(reportsAfter[1].IsReturnHomeMission());
165+
Assert.Equal(MissionStatus.Ongoing, reportsAfter[1].Status);
166+
}
167+
168+
[Fact]
169+
public async Task CheckThatReturnHomeIsNotScheduledWhenFailingToStartFirstMission()
170+
{
171+
// Arrange
172+
var installation = await DatabaseUtilities.NewInstallation();
173+
var plant = await DatabaseUtilities.NewPlant(installation.InstallationCode);
174+
var inspectionArea1 = await DatabaseUtilities.NewInspectionArea(
175+
installation.InstallationCode,
176+
plant.PlantCode,
177+
inspectionAreaName: "Inspection area 1",
178+
new InspectionAreaPolygon
179+
{
180+
ZMin = 0,
181+
ZMax = 10,
182+
Positions =
183+
[
184+
new XYPosition(x: 0, y: 0),
185+
new XYPosition(x: 0, y: 10),
186+
new XYPosition(x: 10, y: 10),
187+
new XYPosition(x: 10, y: 0),
188+
],
189+
}
190+
);
191+
var inspectionArea2 = await DatabaseUtilities.NewInspectionArea(
192+
installation.InstallationCode,
193+
plant.PlantCode,
194+
inspectionAreaName: "Inspection area 2",
195+
new InspectionAreaPolygon
196+
{
197+
ZMin = 0,
198+
ZMax = 10,
199+
Positions =
200+
[
201+
new XYPosition(x: 0, y: 0),
202+
new XYPosition(x: 0, y: -10),
203+
new XYPosition(x: -10, y: -10),
204+
new XYPosition(x: -10, y: 0),
205+
],
206+
}
207+
);
208+
209+
var taskOutsideInspectionArea = new MissionTask(
210+
new Pose(-5, -5, 0, 0, 0, 0, 0),
211+
MissionTaskType.Inspection
212+
);
213+
214+
var robot = await DatabaseUtilities.NewRobot(
215+
RobotStatus.Available,
216+
installation,
217+
inspectionArea2
218+
);
219+
await DatabaseUtilities.NewMissionRun(
220+
installation.InstallationCode,
221+
robot,
222+
inspectionArea1,
223+
writeToDatabase: true,
224+
tasks: [taskOutsideInspectionArea]
225+
);
226+
227+
// Act
228+
await MissionSchedulingService.StartNextMissionRunIfSystemIsAvailable(robot);
229+
230+
// Assert
231+
var reportsAfter = await MissionRunService.ReadAll(
232+
new MissionRunQueryStringParameters()
233+
);
234+
235+
Assert.Single(reportsAfter);
236+
Assert.False(reportsAfter[0].IsReturnHomeMission());
237+
Assert.Equal(MissionStatus.Aborted, reportsAfter[0].Status);
238+
}
78239
}
79240
}

‎backend/api/Services/Models/InspectionAreaPolygon.cs‎

Lines changed: 8 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -16,6 +16,14 @@ public class InspectionAreaPolygon
1616

1717
public class XYPosition
1818
{
19+
public XYPosition() { }
20+
21+
public XYPosition(float x = 0, float y = 0)
22+
{
23+
X = x;
24+
Y = y;
25+
}
26+
1927
[JsonPropertyName("x")]
2028
public double X { get; set; }
2129

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