Add ISAR robot capabilities info to robot

backend/api.test/Client/MissionTests.cs

@@ -427,6 +427,7 @@ public async Task ScheduleDuplicateCustomMissionDefinitions()
                 Port = 3000,
                 CurrentInstallationCode = installationCode,
                 CurrentAreaName = null,
+                RobotCapabilities = [],
                 VideoStreams = new List<CreateVideoStreamQuery>()
             };
 
@@ -509,6 +510,7 @@ public async Task GetNextRun()
                 Port = 3000,
                 CurrentInstallationCode = installation.InstallationCode,
                 CurrentAreaName = areaName,
+                RobotCapabilities = [],
                 VideoStreams = new List<CreateVideoStreamQuery>()
             };
 
@@ -691,6 +693,7 @@ public async Task MissionDoesNotStartIfRobotIsNotInSameInstallationAsMission()
                 Port = 3000,
                 CurrentInstallationCode = otherInstallation.InstallationCode,
                 CurrentAreaName = null,
+                RobotCapabilities = [],
                 VideoStreams = new List<CreateVideoStreamQuery>()
             };
 
@@ -758,6 +761,7 @@ public async Task MissionFailsIfRobotIsNotInSameDeckAsMission()
                 Port = 3000,
                 CurrentInstallationCode = installation.InstallationCode,
                 CurrentAreaName = null,
+                RobotCapabilities = [],
                 VideoStreams = new List<CreateVideoStreamQuery>()
             };
 

backend/api/Controllers/Models/CreateRobotQuery.cs

@@ -22,6 +22,8 @@ public struct CreateRobotQuery
 
         public int Port { get; set; }
 
+        public IList<RobotCapabilitiesEnum> RobotCapabilities { get; set; }
+
         public RobotStatus Status { get; set; }
     }
 }

backend/api/Controllers/Models/RobotResponse.cs

@@ -42,6 +42,8 @@ public class RobotResponse
 
         public string IsarUri { get; set; }
 
+        public IList<RobotCapabilitiesEnum>? RobotCapabilities { get; set; }
+
         [JsonConstructor]
 #nullable disable
         public RobotResponse() { }
@@ -68,6 +70,7 @@ public RobotResponse(Robot robot)
             Pose = robot.Pose;
             CurrentMissionId = robot.CurrentMissionId;
             IsarUri = robot.IsarUri;
+            RobotCapabilities = robot.RobotCapabilities;
         }
     }
 }

backend/api/Database/Context/FlotillaDbContext.cs

@@ -1,5 +1,6 @@
 using Api.Database.Models;
 using Microsoft.EntityFrameworkCore;
+using Microsoft.EntityFrameworkCore.ChangeTracking;
 using Microsoft.EntityFrameworkCore.Metadata.Builders;
 using Microsoft.EntityFrameworkCore.Storage.ValueConversion;
 namespace Api.Database.Context
@@ -50,6 +51,9 @@ protected override void OnModelCreating(ModelBuilder modelBuilder)
                 );
             });
 
+            AddConverterForListOfEnums(modelBuilder.Entity<Robot>()
+                .Property(r => r.RobotCapabilities));
+
             modelBuilder.Entity<MissionDefinition>()
                 .Property(m => m.InspectionFrequency)
                 .HasConversion(new TimeSpanToTicksConverter());
@@ -112,5 +116,21 @@ private static void AddConverterForDateTimeOffsets<T>(ref EntityTypeBuilder<T> e
                 entity.Property(property.Name).HasConversion(new DateTimeOffsetToBinaryConverter());
             }
         }
+
+        private static void AddConverterForListOfEnums<T>(PropertyBuilder<IList<T>?> propertyBuilder)
+            where T : Enum
+        {
+#pragma warning disable IDE0305
+            var valueComparer = new ValueComparer<IList<T>?>(
+                    (c1, c2) => (c1 == null && c2 == null) || ((c1 != null == (c2 != null)) && c1!.SequenceEqual(c2!)),
+                    c => c == null ? 0 : c.Aggregate(0, (a, v) => HashCode.Combine(a, v.GetHashCode())),
+                    c => c == null ? null : (IList<T>?)c.ToList());
+#pragma warning restore IDE0305
+
+            propertyBuilder.HasConversion(
+                    r => r != null ? string.Join(';', r) : "",
+                    r => r.Split(';', StringSplitOptions.RemoveEmptyEntries).Select(r => (T)Enum.Parse(typeof(T), r)).ToList())
+                .Metadata.SetValueComparer(valueComparer);
+        }
     }
 }

backend/api/Database/Models/Robot.cs

@@ -44,6 +44,7 @@ public Robot(CreateRobotQuery createQuery, Installation installation, Area? area
             Port = createQuery.Port;
             IsarConnected = true;
             Deprecated = false;
+            RobotCapabilities = createQuery.RobotCapabilities;
             Status = createQuery.Status;
             Pose = new Pose();
         }
@@ -94,6 +95,8 @@ public bool IsRobotBatteryLevelHighEnoughToStartMissions()
         [Required]
         public int Port { get; set; }
 
+        public IList<RobotCapabilitiesEnum>? RobotCapabilities { get; set; }
+
         [Required]
         public bool IsarConnected { get; set; }
 
@@ -134,4 +137,16 @@ public enum RobotStatus
         Offline,
         Blocked,
     }
+
+    public enum RobotCapabilitiesEnum
+    {
+        take_thermal_image,
+        take_image,
+        take_video,
+        take_thermal_video,
+        drive_to_pose,
+        record_audio,
+        localize,
+        docking_procedure
+    }
 }

backend/api/EventHandlers/MqttEventHandler.cs

@@ -128,6 +128,7 @@ private async void OnIsarRobotInfo(object? sender, MqttReceivedArgs mqttArgs)
                         VideoStreams = isarRobotInfo.VideoStreamQueries,
                         Host = isarRobotInfo.Host,
                         Port = isarRobotInfo.Port,
+                        RobotCapabilities = isarRobotInfo.Capabilities,
                         Status = RobotStatus.Available,
                     };
 
@@ -145,6 +146,7 @@ private async void OnIsarRobotInfo(object? sender, MqttReceivedArgs mqttArgs)
                 UpdatePortIfChanged(isarRobotInfo.Port, ref robot, ref updatedFields);
 
                 if (isarRobotInfo.CurrentInstallation is not null) UpdateCurrentInstallationIfChanged(installation, ref robot, ref updatedFields);
+                if (isarRobotInfo.Capabilities is not null) UpdateRobotCapabilitiesIfChanged(isarRobotInfo.Capabilities, ref robot, ref updatedFields);
                 if (updatedFields.IsNullOrEmpty()) return;
 
                 robot = await robotService.Update(robot);
@@ -204,6 +206,14 @@ private static void UpdateCurrentInstallationIfChanged(Installation newCurrentIn
             robot.CurrentInstallation = newCurrentInstallation;
         }
 
+        public static void UpdateRobotCapabilitiesIfChanged(IList<RobotCapabilitiesEnum> newRobotCapabilities, ref Robot robot, ref List<string> updatedFields)
+        {
+            if (robot.RobotCapabilities != null && Enumerable.SequenceEqual(newRobotCapabilities, robot.RobotCapabilities)) return;
+
+            updatedFields.Add($"\nRobotCapabilities ({robot.RobotCapabilities} -> {newRobotCapabilities})\n");
+            robot.RobotCapabilities = newRobotCapabilities;
+        }
+
         private async void OnIsarMissionUpdate(object? sender, MqttReceivedArgs mqttArgs)
         {
             var provider = GetServiceProvider();

backend/api/MQTT/MessageModels/IsarRobotInfo.cs

@@ -31,6 +31,9 @@ public class IsarRobotInfoMessage : MqttMessage
         [JsonPropertyName("port")]
         public int Port { get; set; }
 
+        [JsonPropertyName("capabilities")]
+        public List<RobotCapabilitiesEnum> Capabilities { get; set; }
+
         [JsonPropertyName("timestamp")]
         public DateTime Timestamp { get; set; }
     }