Add support for scheduling custom json missions

backend/api/Controllers/MissionController.cs

@@ -158,6 +158,7 @@ public async Task<ActionResult<byte[]>> GetMap([FromRoute] string id)
  [ProducesResponseType(StatusCodes.Status400BadRequest)]
  [ProducesResponseType(StatusCodes.Status401Unauthorized)]
  [ProducesResponseType(StatusCodes.Status403Forbidden)]
+ [ProducesResponseType(StatusCodes.Status404NotFound)]
  [ProducesResponseType(StatusCodes.Status500InternalServerError)]
  public async Task<ActionResult<Mission>> Create(
  [FromBody] ScheduledMissionQuery scheduledMissionQuery
@@ -234,6 +235,52 @@ [FromBody] ScheduledMissionQuery scheduledMissionQuery
  return CreatedAtAction(nameof(GetMissionById), new { id = newMission.Id }, newMission);
  }
 
+ /// <summary>
+ /// Schedule a custom mission
+ /// </summary>
+ /// <remarks>
+ /// <para> This query schedules a custom mission defined in the incoming json </para>
+ /// </remarks>
+ [HttpPost]
+ [Route("custom")]
+ [ProducesResponseType(typeof(Mission), StatusCodes.Status201Created)]
+ [ProducesResponseType(StatusCodes.Status400BadRequest)]
+ [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+ [ProducesResponseType(StatusCodes.Status403Forbidden)]
+ [ProducesResponseType(StatusCodes.Status404NotFound)]
+ [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+ public async Task<ActionResult<Mission>> Create(
+ [FromBody] CustomMissionQuery customMissionQuery
+ )
+ {
+ var robot = await _robotService.ReadById(customMissionQuery.RobotId);
+ if (robot is null)
+ return NotFound($"Could not find robot with id {customMissionQuery.RobotId}");
+
+ var missionTasks = customMissionQuery.Tasks.Select(task => new MissionTask(task)).ToList();
+
+ var scheduledMission = new Mission
+ {
+ Name = customMissionQuery.Name,
+ Robot = robot,
+ EchoMissionId = 0,
+ Status = MissionStatus.Pending,
+ DesiredStartTime = customMissionQuery.DesiredStartTime,
+ Tasks = missionTasks,
+ AssetCode = customMissionQuery.AssetCode,
+ Map = new MissionMap()
+ };
+
+ await _mapService.AssignMapToMission(scheduledMission);
+
+ if (scheduledMission.Tasks.Any())
+ scheduledMission.CalculateEstimatedDuration();
+
+ var newMission = await _missionService.Create(scheduledMission);
+
+ return CreatedAtAction(nameof(GetMissionById), new { id = newMission.Id }, newMission);
+ }
+
  /// <summary>
  /// Deletes the mission with the specified id from the database.
  /// </summary>

backend/api/Controllers/Models/CustomMissionQuery.cs

@@ -0,0 +1,41 @@
+using Api.Database.Models;
+
+namespace Api.Controllers.Models
+{
+ public struct CustomInspectionQuery
+ {
+ public InspectionType InspectionType { get; set; }
+
+ public float? VideoDuration { get; set; }
+
+ public string? AnalysisTypes { get; set; }
+ }
+
+ public struct CustomTaskQuery
+ {
+ public int TaskOrder { get; set; }
+
+ public Position InspectionTarget { get; set; }
+
+ public Pose RobotPose { get; set; }
+
+ public List<CustomInspectionQuery> Inspections { get; set; }
+ }
+
+ public struct CustomMissionQuery
+ {
+ public string RobotId { get; set; }
+
+ public DateTimeOffset DesiredStartTime { get; set; }
+
+ public string AssetCode { get; set; }
+
+ public string Name { get; set; }
+
+ public string? Description { get; set; }
+
+ public string? Comment { get; set; }
+
+ public List<CustomTaskQuery> Tasks { get; set; }
+ }
+}

backend/api/Database/Models/Inspection.cs

@@ -69,6 +69,14 @@ public Inspection(EchoInspection echoInspection)
  Status = InspectionStatus.NotStarted;
  }
 
+ public Inspection(CustomInspectionQuery inspectionQuery)
+ {
+ InspectionType = inspectionQuery.InspectionType;
+ VideoDuration = inspectionQuery.VideoDuration;
+ AnalysisTypes = inspectionQuery.AnalysisTypes;
+ Status = InspectionStatus.NotStarted;
+ }
+
  public void UpdateWithIsarInfo(IsarStep isarStep)
  {
  UpdateStatus(isarStep.StepStatus);

backend/api/Database/Models/MissionTask.cs

@@ -83,6 +83,18 @@ public MissionTask(EchoTag echoTag, Position tagPosition)
  Status = TaskStatus.NotStarted;
  }
 
+ // ReSharper disable once NotNullOrRequiredMemberIsNotInitialized
+ public MissionTask(CustomTaskQuery taskQuery)
+ {
+ Inspections = taskQuery.Inspections
+ .Select(inspection => new Inspection(inspection))
+ .ToList();
+ InspectionTarget = taskQuery.InspectionTarget;
+ RobotPose = taskQuery.RobotPose;
+ TaskOrder = taskQuery.TaskOrder;
+ Status = TaskStatus.NotStarted;
+ }
+
  public void UpdateWithIsarInfo(IsarTask isarTask)
  {
  UpdateStatus(isarTask.TaskStatus);