equinor · andchiind · Jan 17, 2025 · Jan 17, 2025
diff --git a/backend/api.test/EventHandlers/TestMissionEventHandler.cs b/backend/api.test/EventHandlers/TestMissionEventHandler.cs
@@ -192,49 +192,6 @@ public async Task NewMissionIsStartedWhenRobotBecomesAvailable()
             Assert.Equal(MissionStatus.Ongoing, postTestMissionRun!.Status);
         }
 
-        [Fact]
-        public async Task ReturnToHomeMissionIsStartedIfQueueIsEmptyWhenRobotBecomesAvailable()
-        {
-            // Arrange
-            var installation = await DatabaseUtilities.NewInstallation();
-            var plant = await DatabaseUtilities.NewPlant(installation.InstallationCode);
-            var inspectionArea = await DatabaseUtilities.NewInspectionArea(
-                installation.InstallationCode,
-                plant.PlantCode
-            );
-            var robot = await DatabaseUtilities.NewRobot(
-                RobotStatus.Busy,
-                installation,
-                inspectionArea
-            );
-
-            var mqttEventArgs = new MqttReceivedArgs(
-                new IsarStatusMessage
-                {
-                    RobotName = robot.Name,
-                    IsarId = robot.IsarId,
-                    Status = RobotStatus.Available,
-                    Timestamp = DateTime.UtcNow,
-                }
-            );
-
-            // Act
-            MqttService.RaiseEvent(nameof(MqttService.MqttIsarStatusReceived), mqttEventArgs);
-
-            // Assert
-            Thread.Sleep(1000);
-            var ongoingMission = await MissionRunService.ReadAll(
-                new MissionRunQueryStringParameters
-                {
-                    Statuses = [MissionStatus.Ongoing],
-                    OrderBy = "DesiredStartTime",
-                    PageSize = 100,
-                },
-                readOnly: true
-            );
-            Assert.True(ongoingMission.Any());
-        }
-
         [Fact]
         public async Task ReturnToHomeMissionIsNotStartedIfReturnToHomeIsNotSupported()
         {

diff --git a/backend/api.test/Services/MissionRunService.cs b/backend/api.test/Services/MissionRunService.cs
@@ -1,4 +1,5 @@
 using System;
+using System.Threading;
 using System.Threading.Tasks;
 using Api.Controllers.Models;
 using Api.Database.Models;
@@ -37,40 +38,5 @@ public async Task CheckThatReadByIdWithUnknownIdFails()
             var missionRun = await MissionRunService.ReadById("IDoNotExist", readOnly: true);
             Assert.Null(missionRun);
         }
-
-        [Fact]
-        public async Task CheckThatNumberOfMissionRunReportsIncreaseByOneWhenNewMissionRunIsCreated()
-        {
-            // Arrange
-            var installation = await DatabaseUtilities.NewInstallation();
-            var plant = await DatabaseUtilities.NewPlant(installation.InstallationCode);
-            var inspectionArea = await DatabaseUtilities.NewInspectionArea(
-                installation.InstallationCode,
-                plant.PlantCode
-            );
-            var robot = await DatabaseUtilities.NewRobot(RobotStatus.Available, installation);
-            var missionRun = await DatabaseUtilities.NewMissionRun(
-                installation.InstallationCode,
-                robot,
-                inspectionArea
-            );
-
-            var reportsBefore = await MissionRunService.ReadAll(
-                new MissionRunQueryStringParameters(),
-                readOnly: true
-            );
-            int nReportsBefore = reportsBefore.Count;
-
-            // Act
-            await MissionRunService.Create(missionRun);
-
-            // Assert
-            var reportsAfter = await MissionRunService.ReadAll(
-                new MissionRunQueryStringParameters()
-            );
-            int nReportsAfter = reportsAfter.Count;
-
-            Assert.Equal(nReportsBefore + 1, nReportsAfter);
-        }
     }
 }
diff --git a/backend/api.test/Services/MissionSchedulingService.cs b/backend/api.test/Services/MissionSchedulingService.cs
@@ -0,0 +1,76 @@
+using System;
+using System.Threading;
+using System.Threading.Tasks;
+using Api.Controllers.Models;
+using Api.Database.Models;
+using Api.Services;
+using Api.Test.Database;
+using Microsoft.Extensions.DependencyInjection;
+using Xunit;
+
+namespace Api.Test.Services
+{
+    public class MissionSchedulingServiceTest : IAsyncLifetime
+    {
+        public required DatabaseUtilities DatabaseUtilities;
+        public required IMissionSchedulingService MissionSchedulingService;
+
+        public required IMissionRunService MissionRunService;
+
+        public async Task InitializeAsync()
+        {
+            string databaseName = Guid.NewGuid().ToString();
+            (string connectionString, var connection) = await TestSetupHelpers.ConfigureDatabase(
+                databaseName
+            );
+            var factory = TestSetupHelpers.ConfigureWebApplicationFactory(databaseName);
+            var serviceProvider = TestSetupHelpers.ConfigureServiceProvider(factory);
+
+            DatabaseUtilities = new DatabaseUtilities(
+                TestSetupHelpers.ConfigureFlotillaDbContext(connectionString)
+            );
+            MissionSchedulingService =
+                serviceProvider.GetRequiredService<IMissionSchedulingService>();
+            MissionRunService = serviceProvider.GetRequiredService<IMissionRunService>();
+        }
+
+        public Task DisposeAsync() => Task.CompletedTask;
+
+        [Fact]
+        public async Task CheckThatReturnHomeIsCreatedWhenRunningMission()
+        {
+            // Arrange
+            var installation = await DatabaseUtilities.NewInstallation();
+            var plant = await DatabaseUtilities.NewPlant(installation.InstallationCode);
+            var inspectionArea = await DatabaseUtilities.NewInspectionArea(
+                installation.InstallationCode,
+                plant.PlantCode
+            );
+            var robot = await DatabaseUtilities.NewRobot(RobotStatus.Available, installation);
+            await DatabaseUtilities.NewMissionRun(
+                installation.InstallationCode,
+                robot,
+                inspectionArea,
+                writeToDatabase: true
+            );
+
+            var reportsBefore = await MissionRunService.ReadAll(
+                new MissionRunQueryStringParameters(),
+                readOnly: true
+            );
+            int nReportsBefore = reportsBefore.Count;
+
+            // Act
+            await MissionSchedulingService.StartNextMissionRunIfSystemIsAvailable(robot);
+
+            // Assert
+            var reportsAfter = await MissionRunService.ReadAll(
+                new MissionRunQueryStringParameters()
+            );
+            int nReportsAfter = reportsAfter.Count;
+
+            // We expect two new missions since a return home mission will also be scheduled
+            Assert.Equal(nReportsBefore + 1, nReportsAfter);
+        }
+    }
+}
diff --git a/backend/api/Controllers/ReturnToHomeController.cs b/backend/api/Controllers/ReturnToHomeController.cs
@@ -36,8 +36,8 @@ [FromRoute] string robotId
             }
 
             var returnToHomeMission =
-                await returnToHomeService.ScheduleReturnToHomeMissionRunIfNotAlreadyScheduledOrRobotIsHome(
-                    robot.Id
+                await returnToHomeService.ScheduleReturnToHomeMissionRunIfNotAlreadyScheduled(
+                    robot
                 );
             if (returnToHomeMission is null)
             {

diff --git a/backend/api/Controllers/RobotController.cs b/backend/api/Controllers/RobotController.cs
@@ -670,7 +670,7 @@ public async Task<ActionResult> ResetRobot([FromRoute] string robotId)
 
             try
             {
-                await missionSchedulingService.AbortAllScheduledMissions(
+                await missionSchedulingService.AbortAllScheduledNormalMissions(
                     robot.Id,
                     "Aborted: Robot was reset"
                 );

diff --git a/backend/api/EventHandlers/IsarConnectionEventHandler.cs b/backend/api/EventHandlers/IsarConnectionEventHandler.cs
@@ -175,10 +175,20 @@ private async void OnTimeoutEvent(IsarRobotHeartbeatMessage robotHeartbeatMessag
                             missionRun.Id,
                             missionRun.Name
                         );
-                        await MissionRunService.SetMissionRunToFailed(
-                            missionRun.Id,
-                            "Lost connection to ISAR during mission"
-                        );
+                        try
+                        {
+                            await MissionRunService.SetMissionRunToFailed(
+                                missionRun.Id,
+                                "Lost connection to ISAR during mission"
+                            );
+                        }
+                        catch (MissionRunNotFoundException)
+                        {
+                            _logger.LogError(
+                                "Mission '{MissionId}' could not be set to failed as it no longer exists",
+                                missionRun.Id
+                            );
+                        }
                     }
                 }
 

diff --git a/backend/api/EventHandlers/MissionEventHandler.cs b/backend/api/EventHandlers/MissionEventHandler.cs
@@ -36,9 +36,6 @@ IServiceScopeFactory scopeFactory
         private ISignalRService SignalRService =>
             _scopeFactory.CreateScope().ServiceProvider.GetRequiredService<ISignalRService>();
 
-        private IReturnToHomeService ReturnToHomeService =>
-            _scopeFactory.CreateScope().ServiceProvider.GetRequiredService<IReturnToHomeService>();
-
         public override void Subscribe()
         {
             MissionRunService.MissionRunCreated += OnMissionRunCreated;
@@ -71,13 +68,7 @@ private async void OnMissionRunCreated(object? sender, MissionRunCreatedEventArg
 
             _startMissionSemaphore.WaitOne();
 
-            if (
-                missionRun.MissionRunType != MissionRunType.ReturnHome
-                && await ReturnToHomeService.GetActiveReturnToHomeMissionRun(
-                    missionRun.Robot.Id,
-                    readOnly: true
-                ) != null
-            )
+            if (missionRun.MissionRunType != MissionRunType.ReturnHome)
             {
                 await MissionScheduling.AbortActiveReturnToHomeMission(missionRun.Robot.Id);
             }

diff --git a/backend/api/Services/MissionRunService.cs b/backend/api/Services/MissionRunService.cs
@@ -28,17 +28,20 @@ public Task<PagedList<MissionRun>> ReadAll(
 
         public Task<MissionRun?> ReadByIsarMissionId(string isarMissionId, bool readOnly = true);
 
-        public Task<IList<MissionRun>> ReadMissionRunQueue(string robotId, bool readOnly = true);
+        public Task<IList<MissionRun>> ReadMissionRunQueue(
+            string robotId,
+            MissionRunType type = MissionRunType.Normal,
+            bool readOnly = true
+        );
 
         public Task<MissionRun?> ReadNextScheduledRunByMissionId(
             string missionId,
             bool readOnly = true
         );
 
-        public Task<MissionRun?> ReadNextScheduledMissionRun(string robotId, bool readOnly = true);
-
-        public Task<MissionRun?> ReadNextScheduledEmergencyMissionRun(
+        public Task<MissionRun?> ReadNextScheduledMissionRun(
             string robotId,
+            MissionRunType type = MissionRunType.Normal,
             bool readOnly = true
         );
 
@@ -188,40 +191,32 @@ public async Task<PagedList<MissionRun>> ReadAll(
 
         public async Task<IList<MissionRun>> ReadMissionRunQueue(
             string robotId,
+            MissionRunType type = MissionRunType.Normal,
             bool readOnly = true
         )
         {
             return await GetMissionRunsWithSubModels(readOnly: readOnly)
                 .Where(missionRun =>
-                    missionRun.Robot.Id == robotId && missionRun.Status == MissionStatus.Pending
+                    missionRun.Robot.Id == robotId
+                    && missionRun.Status == MissionStatus.Pending
+                    && missionRun.MissionRunType == type
                 )
                 .OrderBy(missionRun => missionRun.DesiredStartTime)
                 .ToListAsync();
         }
 
         public async Task<MissionRun?> ReadNextScheduledMissionRun(
             string robotId,
-            bool readOnly = true
-        )
-        {
-            return await GetMissionRunsWithSubModels(readOnly: readOnly)
-                .OrderBy(missionRun => missionRun.DesiredStartTime)
-                .FirstOrDefaultAsync(missionRun =>
-                    missionRun.Robot.Id == robotId && missionRun.Status == MissionStatus.Pending
-                );
-        }
-
-        public async Task<MissionRun?> ReadNextScheduledEmergencyMissionRun(
-            string robotId,
+            MissionRunType type = MissionRunType.Normal,
             bool readOnly = true
         )
         {
             return await GetMissionRunsWithSubModels(readOnly: readOnly)
                 .OrderBy(missionRun => missionRun.DesiredStartTime)
                 .FirstOrDefaultAsync(missionRun =>
                     missionRun.Robot.Id == robotId
-                    && missionRun.MissionRunType == MissionRunType.Emergency
                     && missionRun.Status == MissionStatus.Pending
+                    && missionRun.MissionRunType == type
                 );
         }
 
@@ -273,8 +268,12 @@ public async Task<IList<MissionRun>> ReadMissionRuns(
 
         public async Task<bool> PendingOrOngoingReturnToHomeMissionRunExists(string robotId)
         {
-            var pendingMissionRuns = await ReadMissionRunQueue(robotId, readOnly: true);
-            if (pendingMissionRuns.Any((m) => m.IsReturnHomeMission()))
+            var pendingMissionRuns = await ReadNextScheduledMissionRun(
+                robotId,
+                type: MissionRunType.ReturnHome,
+                readOnly: true
+            );
+            if (pendingMissionRuns != null)
                 return true;
 
             var ongoingMissionRuns = await GetMissionRunsWithSubModels(readOnly: true)
@@ -728,13 +727,23 @@ await robotService.ReadById(robotId, readOnly: true)
                 );
             if (robot.CurrentMissionId != null)
             {
-                var missionRun = await SetMissionRunToFailed(
-                    robot.CurrentMissionId,
-                    "Lost connection to ISAR during mission"
-                );
+                try
+                {
+                    await SetMissionRunToFailed(
+                        robot.CurrentMissionId,
+                        "Lost connection to ISAR during mission"
+                    );
+                }
+                catch (MissionRunNotFoundException)
+                {
+                    logger.LogError(
+                        "Mission '{MissionId}' could not be set to failed as it no longer exists",
+                        robot.CurrentMissionId
+                    );
+                }
                 logger.LogWarning(
                     "Mission '{Id}' failed because ISAR could not be reached",
-                    missionRun.Id
+                    robot.CurrentMissionId
                 );
             }
         }