From 229c40c6c17e52efe6c975db009e8ddcab47bcc5 Mon Sep 17 00:00:00 2001 From: Eddasol Date: Thu, 6 Feb 2025 09:30:06 +0100 Subject: [PATCH 1/2] Remove unused localize from capabilities --- backend/README.md | 1 - backend/api.test/Database/DatabaseUtilities.cs | 1 - backend/api/Database/Models/Robot.cs | 1 - frontend/src/models/Robot.ts | 1 - 4 files changed, 4 deletions(-) diff --git a/backend/README.md b/backend/README.md index d254f95d..dbafff60 100644 --- a/backend/README.md +++ b/backend/README.md @@ -279,5 +279,4 @@ The access matrix looks like this: | Robot Models | Read | Read | CRUD | | Start Missions Directly | ❌ | ❌ | ✔️ | | Stop/Pause/Resume Missions | ❌ | ✔️ | ✔️ | -| Localize Robots | ❌ | ✔️ | ✔️ | | Send Robot to Dock | ❌ | ✔️ | ✔️ | diff --git a/backend/api.test/Database/DatabaseUtilities.cs b/backend/api.test/Database/DatabaseUtilities.cs index cafb22b7..85435769 100644 --- a/backend/api.test/Database/DatabaseUtilities.cs +++ b/backend/api.test/Database/DatabaseUtilities.cs @@ -213,7 +213,6 @@ public async Task NewRobot( [ RobotCapabilitiesEnum.take_image, RobotCapabilitiesEnum.return_to_home, - RobotCapabilitiesEnum.localize, ], }; diff --git a/backend/api/Database/Models/Robot.cs b/backend/api/Database/Models/Robot.cs index 371e611d..7a3bf97d 100644 --- a/backend/api/Database/Models/Robot.cs +++ b/backend/api/Database/Models/Robot.cs @@ -194,7 +194,6 @@ public enum RobotCapabilitiesEnum take_thermal_video, take_gas_measurement, record_audio, - localize, auto_localize, auto_return_to_home, return_to_home, diff --git a/frontend/src/models/Robot.ts b/frontend/src/models/Robot.ts index 6fa3bcfe..27f49ddc 100644 --- a/frontend/src/models/Robot.ts +++ b/frontend/src/models/Robot.ts @@ -60,7 +60,6 @@ export enum RobotCapabilitiesEnum { take_thermal_video = 'take_thermal_video', take_gas_measurement = 'take_gas_measurement', record_audio = 'record_audio', - localize = 'localize', auto_localize = 'auto_localize', auto_return_to_home = 'auto_return_to_home', return_to_home = 'return_to_home', From 4fb05b69d9a12e8b4c44de8f88e1ccf37089bb1b Mon Sep 17 00:00:00 2001 From: Eddasol Date: Thu, 6 Feb 2025 11:41:36 +0100 Subject: [PATCH 2/2] Remove start pose from isar mission --- backend/api/Services/IsarService.cs | 6 +----- .../api/Services/Models/IsarMissionDefinition.cs | 16 +--------------- 2 files changed, 2 insertions(+), 20 deletions(-) diff --git a/backend/api/Services/IsarService.cs b/backend/api/Services/IsarService.cs index f7926dee..662aad9c 100644 --- a/backend/api/Services/IsarService.cs +++ b/backend/api/Services/IsarService.cs @@ -43,11 +43,7 @@ public async Task StartMission(Robot robot, MissionRun missionRun) var isarMissionDefinition = new { - mission_definition = new IsarMissionDefinition( - missionRun, - mapName: mapName, - includeStartPose: true - ), + mission_definition = new IsarMissionDefinition(missionRun, mapName: mapName), }; HttpResponseMessage? response; diff --git a/backend/api/Services/Models/IsarMissionDefinition.cs b/backend/api/Services/Models/IsarMissionDefinition.cs index ba012652..4afa6477 100644 --- a/backend/api/Services/Models/IsarMissionDefinition.cs +++ b/backend/api/Services/Models/IsarMissionDefinition.cs @@ -17,32 +17,18 @@ public struct IsarMissionDefinition [JsonPropertyName("tasks")] public List Tasks { get; set; } - [JsonPropertyName("start_pose")] - public IsarPose? StartPose { get; set; } = null; - public IsarMissionDefinition(List tasks) { Name = null; Tasks = tasks; } - public IsarMissionDefinition( - MissionRun missionRun, - bool includeStartPose = false, - string? mapName = null - ) + public IsarMissionDefinition(MissionRun missionRun, string? mapName = null) { Name = missionRun.Name; Tasks = missionRun .Tasks.Select(task => new IsarTaskDefinition(task, missionRun, mapName)) .ToList(); - if (missionRun.InspectionArea != null) - { - StartPose = - includeStartPose && missionRun.InspectionArea.DefaultLocalizationPose != null - ? new IsarPose(missionRun.InspectionArea.DefaultLocalizationPose.Pose) - : null; - } } }