Only cancel current mission outside inspection area

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;
@@ -75,5 +76,165 @@ 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 returnHomeTask = new MissionTask(
+                new Pose(0, 0, 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,
+                missionRunType: MissionRunType.ReturnHome,
+                tasks: [returnHomeTask]
+            );
+            await DatabaseUtilities.NewMissionRun(
+                installation.InstallationCode,
+                robot,
+                inspectionArea1,
+                writeToDatabase: true,
+                tasks: [taskOutsideInspectionArea]
+            );
+
+            // Act
+            await MissionSchedulingService.StartNextMissionRunIfSystemIsAvailable(robot);
+
+            // Assert
+            var reportsAfter = await MissionRunService.ReadAll(
+                new MissionRunQueryStringParameters()
+            );
+
+            // TODO: the mission still exists, it is however aborted. Need to check why no return home mission scheduled
+
+            Assert.Equal(2, reportsAfter.Count);
+            Assert.False(reportsAfter[0].IsReturnHomeMission());
+            Assert.Equal(MissionStatus.Aborted, reportsAfter[0].Status);
+            Assert.True(reportsAfter[1].IsReturnHomeMission());
+            Assert.Equal(MissionStatus.Ongoing, reportsAfter[1].Status);
+        }
+
+        [Fact]
+        public async Task CheckThatReturnHomeIsNotScheduledWhenFailingToStartFirstMission()
+        {
+            // 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.False(reportsAfter[0].IsReturnHomeMission());
+            Assert.Equal(MissionStatus.Aborted, reportsAfter[0].Status);
+        }
     }
 }

backend/api/Services/MissionSchedulingService.cs

@@ -123,28 +123,30 @@ public async Task StartNextMissionRunIfSystemIsAvailable(Robot robot)
             )
             {
                 logger.LogError(
-                    "Robot {RobotNAme} with Id {RobotId} is not on the same inspection area as the mission run with Id {MissionRunId}. Aborting all mission runs",
+                    "Robot {RobotNAme} with Id {RobotId} is not on the same inspection area as the mission run with Id {MissionRunId}. Aborting this mission run",
                     robot.Name,
                     robot.Id,
                     missionRun.Id
                 );
                 try
                 {
-                    await AbortAllScheduledNormalMissions(
-                        robot.Id,
-                        $"All missions aborted: Robot {robot.Name} is on inspection area {robot.CurrentInspectionArea?.Name} "
-                            + $"and mission run was on inspection area {missionRun.InspectionArea?.Name}"
+                    await AbortMissionRun(
+                        missionRun,
+                        $"Mission run {missionRun.Id} aborted: Robot {robot.Name} is on inspection area {robot.CurrentInspectionArea?.Name} "
+                            + $"and mission run is on inspection area {missionRun.InspectionArea?.Name}"
                     );
                 }
                 catch (RobotNotFoundException)
                 {
                     logger.LogError(
-                        "Failed to abort all scheduled missions for robot {RobotName} with Id {RobotId}",
+                        "Failed to abort scheduled mission {missionRun.Id} for robot {RobotName} with Id {RobotId}",
+                        missionRun.Id,
                         robot.Name,
                         robot.Id
                     );
                 }
 
+                await StartNextMissionRunIfSystemIsAvailable(robot);
                 return;
             }
 
@@ -341,6 +343,20 @@ public async Task StopCurrentMissionRun(string robotId)
             catch (RobotNotFoundException) { }
         }
 
+        public async Task AbortMissionRun(MissionRun missionRun, string abortReason)
+        {
+            await missionRunService.UpdateMissionRunProperty(
+                missionRun.Id,
+                "Status",
+                MissionStatus.Aborted
+            );
+            await missionRunService.UpdateMissionRunProperty(
+                missionRun.Id,
+                "StatusReason",
+                abortReason
+            );
+        }
+
         public async Task AbortAllScheduledNormalMissions(string robotId, string? abortReason)
         {
             var robot = await robotService.ReadById(robotId, readOnly: true);

backend/api/Services/Models/InspectionAreaPolygon.cs

@@ -16,6 +16,14 @@ 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; }