From 255792c9e9c26d2909d9e7c6b920cc9aeeff5631 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Chirico=20Indreb=C3=B8?= <ACIN@equinor.com>
Date: Thu, 20 Jun 2024 11:01:23 +0200
Subject: [PATCH] Move missionwise localisation inside semaphore

---
 backend/api/EventHandlers/MissionEventHandler.cs | 7 +++++--
 backend/api/Services/MissionSchedulingService.cs | 1 +
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/backend/api/EventHandlers/MissionEventHandler.cs b/backend/api/EventHandlers/MissionEventHandler.cs
index 5b56b14a5..336e57d18 100644
--- 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
index 1d3a52a9b..aacedb644 100644
--- 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))