Add test for system available for mission logic

backend/api.test/Services/Helpers/MissionSchedulingHelpersTests.cs

@@ -0,0 +1,77 @@
+using System.Threading.Tasks;
+using Api.Database.Models;
+using Api.Services;
+using Api.Services.Helpers;
+using Api.Test.Utilities;
+using Microsoft.Extensions.Logging;
+using Moq;
+using Xunit;
+
+namespace Api.Test.Services.Helpers;
+
+public class MissionSchedulingHelpersTests : IAsyncLifetime
+{
+    public async Task InitializeAsync() => await Task.CompletedTask;
+
+    public Task DisposeAsync() => Task.CompletedTask;
+
+    [Theory]
+    [InlineData(false, MissionRunType.Normal, RobotStatus.Available, true, false, true)]
+    [InlineData(false, MissionRunType.Normal, RobotStatus.Busy, true, false, false)]
+    [InlineData(false, MissionRunType.Normal, RobotStatus.Offline, true, false, false)]
+    [InlineData(false, MissionRunType.Normal, RobotStatus.Blocked, true, false, false)]
+    [InlineData(
+        false,
+        MissionRunType.Normal,
+        RobotStatus.BlockedProtectiveStop,
+        true,
+        false,
+        false
+    )]
+    [InlineData(true, MissionRunType.Normal, RobotStatus.Available, true, false, false)]
+    [InlineData(true, MissionRunType.Emergency, RobotStatus.Available, true, false, true)]
+    [InlineData(true, MissionRunType.ReturnHome, RobotStatus.Available, true, false, true)]
+    [InlineData(false, MissionRunType.Normal, RobotStatus.Available, false, false, false)]
+    [InlineData(false, MissionRunType.Normal, RobotStatus.Available, true, true, false)]
+    [InlineData(false, MissionRunType.Emergency, RobotStatus.Busy, true, false, true)]
+    public void CheckLogicOfSystemIsAvailableToRunAMissionFunction(
+        bool missionQueueFrozen,
+        MissionRunType missionRunType,
+        RobotStatus robotStatus,
+        bool isIsarConnected,
+        bool isRobotDeprecated,
+        bool expectedResult
+    )
+    {
+        // Arrange
+        var installation = TestObjectGenerator.NewInstallation();
+        var plant = TestObjectGenerator.NewPlant(installation);
+        var inspectionArea = TestObjectGenerator.NewInspectionArea(installation, plant);
+
+        var robot = TestObjectGenerator.NewRobot(
+            currentInstallation: installation,
+            currentInspectionArea: inspectionArea,
+            robotStatus: robotStatus,
+            isarConnected: isIsarConnected,
+            deprecated: isRobotDeprecated,
+            missionQueueFrozen: missionQueueFrozen
+        );
+
+        var missionRun = TestObjectGenerator.NewMissionRun(
+            installationCode: installation.InstallationCode,
+            robot: robot,
+            inspectionArea: inspectionArea,
+            missionRunType: missionRunType
+        );
+
+        // Act
+        var isSystemAvailable = MissionSchedulingHelpers.TheSystemIsAvailableToRunAMission(
+            robot,
+            missionRun,
+            new Mock<ILogger<MissionSchedulingService>>().Object
+        );
+
+        // Assert
+        Assert.Equal(expectedResult, isSystemAvailable);
+    }
+}

backend/api.test/Services/MissionRunService.cs

@@ -1,8 +1,4 @@
-using System;
-using System.Threading;
-using System.Threading.Tasks;
-using Api.Controllers.Models;
-using Api.Database.Models;
+using System.Threading.Tasks;
 using Api.Services;
 using Api.Test.Database;
 using Microsoft.Extensions.DependencyInjection;

backend/api.test/Services/RobotService.cs

@@ -1,7 +1,5 @@
-using System;
-using System.Linq;
+using System.Linq;
 using System.Threading.Tasks;
-using Api.Controllers.Models;
 using Api.Database.Models;
 using Api.Services;
 using Api.Test.Database;

backend/api.test/Utilities/TestObjectGenerator.cs

@@ -0,0 +1,134 @@
+using System;
+using System.Collections.Generic;
+using Api.Database.Models;
+
+namespace Api.Test.Utilities;
+
+public static class TestObjectGenerator
+{
+    public static Installation NewInstallation(
+        string? id = null,
+        string name = "TestInst",
+        string installationCode = "TestCode"
+    )
+    {
+        return new Installation
+        {
+            Id = id ?? Guid.NewGuid().ToString(),
+            Name = name,
+            InstallationCode = installationCode,
+        };
+    }
+
+    public static Plant NewPlant(
+        Installation installation,
+        string? id = null,
+        string name = "TestPlant",
+        string plantCode = "TestCode"
+    )
+    {
+        return new Plant
+        {
+            Id = id ?? Guid.NewGuid().ToString(),
+            Installation = installation,
+            PlantCode = plantCode,
+            Name = name,
+        };
+    }
+
+    public static InspectionArea NewInspectionArea(
+        Installation installation,
+        Plant plant,
+        string? id = null,
+        string name = "TestName"
+    )
+    {
+        return new InspectionArea
+        {
+            Id = id ?? Guid.NewGuid().ToString(),
+            Plant = plant,
+            Installation = installation,
+            Name = name,
+        };
+    }
+
+    public static Robot NewRobot(
+        Installation currentInstallation,
+        InspectionArea currentInspectionArea,
+        RobotModel? robotModel = null,
+        RobotStatus robotStatus = RobotStatus.Available,
+        string name = "Test Robot",
+        string? id = null,
+        string? isarId = null,
+        string serialNumber = "TestSerialNumber",
+        float batteryLevel = 100,
+        BatteryState batteryState = BatteryState.Normal,
+        float pressureLevel = 90,
+        string host = "localhost",
+        int port = 8080,
+        IList<RobotCapabilitiesEnum>? capabilities = null,
+        bool isarConnected = true,
+        bool deprecated = false,
+        bool missionQueueFrozen = false,
+        RobotFlotillaStatus flotillaStatus = RobotFlotillaStatus.Normal,
+        Pose? pose = null,
+        string? currentMissionId = null
+    )
+    {
+        return new Robot
+        {
+            Id = id ?? Guid.NewGuid().ToString(),
+            Name = name,
+            IsarId = isarId ?? Guid.NewGuid().ToString(),
+            Model = robotModel ?? new RobotModel(),
+            SerialNumber = serialNumber,
+            CurrentInstallation = currentInstallation,
+            CurrentInspectionArea = currentInspectionArea,
+            BatteryLevel = batteryLevel,
+            BatteryState = batteryState,
+            PressureLevel = pressureLevel,
+            Host = host,
+            Port = port,
+            RobotCapabilities = capabilities ?? [],
+            IsarConnected = isarConnected,
+            Deprecated = deprecated,
+            MissionQueueFrozen = missionQueueFrozen,
+            Status = robotStatus,
+            FlotillaStatus = flotillaStatus,
+            Pose = pose ?? new Pose(),
+            CurrentMissionId = currentMissionId,
+        };
+    }
+
+    public static MissionRun NewMissionRun(
+        string installationCode,
+        Robot robot,
+        InspectionArea inspectionArea,
+        string name = "TestName",
+        string? id = null,
+        string? missionId = null,
+        MissionStatus missionStatus = MissionStatus.Pending,
+        DateTime? startTime = null,
+        IList<MissionTask>? tasks = null,
+        MissionRunType missionRunType = MissionRunType.Normal,
+        string? isarMissionId = null,
+        bool isDeprecated = false
+    )
+    {
+        return new MissionRun
+        {
+            Id = id ?? Guid.NewGuid().ToString(),
+            MissionId = missionId ?? Guid.NewGuid().ToString(),
+            Status = missionStatus,
+            InstallationCode = installationCode,
+            DesiredStartTime = startTime ?? DateTime.UtcNow,
+            Robot = robot,
+            Tasks = tasks ?? [],
+            MissionRunType = missionRunType,
+            IsarMissionId = isarMissionId ?? Guid.NewGuid().ToString(),
+            InspectionArea = inspectionArea,
+            Name = name,
+            IsDeprecated = isDeprecated,
+        };
+    }
+}

backend/api/Services/Helpers/MissionSchedulingHelpers.cs

@@ -0,0 +1,54 @@
+using Api.Database.Models;
+
+namespace Api.Services.Helpers;
+
+public static class MissionSchedulingHelpers
+{
+    public static bool TheSystemIsAvailableToRunAMission(
+        Robot robot,
+        MissionRun missionRun,
+        ILogger logger
+    )
+    {
+        if (
+            robot.MissionQueueFrozen
+            && !(missionRun.IsEmergencyMission() || missionRun.IsReturnHomeMission())
+        )
+        {
+            logger.LogInformation(
+                "Mission run {MissionRunId} was not started as the mission run queue for robot {RobotName} is frozen",
+                missionRun.Id,
+                robot.Name
+            );
+            return false;
+        }
+
+        if (robot.Status is not RobotStatus.Available)
+        {
+            logger.LogInformation(
+                "Mission run {MissionRunId} was not started as the robot is not available",
+                missionRun.Id
+            );
+            return false;
+        }
+        if (!robot.IsarConnected)
+        {
+            logger.LogWarning(
+                "Mission run {MissionRunId} was not started as the robots {RobotId} isar instance is disconnected",
+                missionRun.Id,
+                robot.Id
+            );
+            return false;
+        }
+        if (robot.Deprecated)
+        {
+            logger.LogWarning(
+                "Mission run {MissionRunId} was not started as the robot {RobotId} is deprecated",
+                missionRun.Id,
+                robot.Id
+            );
+            return false;
+        }
+        return true;
+    }
+}

backend/api/Services/MissionSchedulingService.cs

@@ -2,6 +2,7 @@
 using Api.Controllers.Models;
 using Api.Database.Models;
 using Api.Services.Events;
+using Api.Services.Helpers;
 using Api.Services.Models;
 using Api.Utilities;
 
@@ -76,7 +77,13 @@ public async Task StartNextMissionRunIfSystemIsAvailable(Robot robot)
                 return;
             }
 
-            if (!TheSystemIsAvailableToRunAMission(robot, missionRun))
+            if (
+                !MissionSchedulingHelpers.TheSystemIsAvailableToRunAMission(
+                    robot,
+                    missionRun,
+                    logger
+                )
+            )
             {
                 logger.LogInformation(
                     "Mission {MissionRunId} was put on the queue as the system may not start a mission now",
@@ -583,50 +590,6 @@ await missionRunService.UpdateMissionRunProperty(
             return ongoingMissions;
         }
 
-        private bool TheSystemIsAvailableToRunAMission(Robot robot, MissionRun missionRun)
-        {
-            if (
-                robot.MissionQueueFrozen
-                && !(missionRun.IsEmergencyMission() || missionRun.IsReturnHomeMission())
-            )
-            {
-                logger.LogInformation(
-                    "Mission run {MissionRunId} was not started as the mission run queue for robot {RobotName} is frozen",
-                    missionRun.Id,
-                    robot.Name
-                );
-                return false;
-            }
-
-            if (robot.Status is not RobotStatus.Available)
-            {
-                logger.LogInformation(
-                    "Mission run {MissionRunId} was not started as the robot is not available",
-                    missionRun.Id
-                );
-                return false;
-            }
-            if (!robot.IsarConnected)
-            {
-                logger.LogWarning(
-                    "Mission run {MissionRunId} was not started as the robots {RobotId} isar instance is disconnected",
-                    missionRun.Id,
-                    robot.Id
-                );
-                return false;
-            }
-            if (robot.Deprecated)
-            {
-                logger.LogWarning(
-                    "Mission run {MissionRunId} was not started as the robot {RobotId} is deprecated",
-                    missionRun.Id,
-                    robot.Id
-                );
-                return false;
-            }
-            return true;
-        }
-
         public async Task AbortActiveReturnToHomeMission(string robotId)
         {
             var activeReturnToHomeMission =