Move missionwise localisation inside semaphore

equinor · Jun 20, 2024 · 255792c · 255792c
1 parent 09dcdee
commit 255792c
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/backend/api/EventHandlers/MissionEventHandler.cs b/backend/api/EventHandlers/MissionEventHandler.cs
@@ -74,16 +74,17 @@ private async void OnMissionRunCreated(object? sender, MissionRunCreatedEventArg
 
  bool isFirstMissionInQueue = false;
 
+ _scheduleLocalizationSemaphore.WaitOne();
  if (!await LocalizationService.RobotIsLocalized(missionRun.Robot.Id))
  {
  isFirstMissionInQueue = true;
  if (missionRun.Robot.RobotCapabilities != null && !missionRun.Robot.RobotCapabilities.Contains(RobotCapabilitiesEnum.localize))
  {
  await RobotService.UpdateCurrentArea(missionRun.Robot.Id, missionRun.Area);
+ _logger.LogInformation("{Message}", $"Set robot with ID {missionRun.Robot.Id} to localised for mission run with ID {missionRun.Id}");
  }
  else
  {
- _scheduleLocalizationSemaphore.WaitOne();
  if (await MissionService.PendingLocalizationMissionRunExists(missionRun.Robot.Id)
  || await MissionService.OngoingLocalizationMissionRunExists(missionRun.Robot.Id))
  {
@@ -102,6 +103,7 @@ private async void OnMissionRunCreated(object? sender, MissionRunCreatedEventArg
  missionRun.Status = MissionStatus.Aborted;
  missionRun.StatusReason = "Aborted: Robot was not available";
  await MissionService.Update(missionRun);
+ _scheduleLocalizationSemaphore.Release();
  return;
  }
  catch (Exception ex) when (
@@ -115,11 +117,12 @@ or IsarCommunicationException
  missionRun.Status = MissionStatus.Aborted;
  missionRun.StatusReason = "Aborted: Robot was not correctly localized";
  await MissionService.Update(missionRun);
+ _scheduleLocalizationSemaphore.Release();
  return;
  }
- finally { _scheduleLocalizationSemaphore.Release(); }
  }
  }
+ _scheduleLocalizationSemaphore.Release();
 
  await CancelReturnToHomeOnNewMissionSchedule(missionRun);
 

diff --git a/backend/api/Services/MissionSchedulingService.cs b/backend/api/Services/MissionSchedulingService.cs
@@ -71,6 +71,7 @@ public async Task StartNextMissionRunIfSystemIsAvailable(string robotId, bool is
  await robotService.UpdateCurrentArea(robot.Id, null);
  }
  if (missionRun == null) { return; } // The robot is already home
+ isFirstMissionInQueue = false;
  }
 
  if (!await TheSystemIsAvailableToRunAMission(robot.Id, missionRun.Id))