Remove default localization pose

backend/api.test/Controllers/AreaControllerTests.cs

@@ -61,7 +61,6 @@ public async Task CheckThatAreaIsCorrectlyCreatedThroughEndpoint()
                 PlantCode = plant.PlantCode,
                 InspectionAreaName = inspectionArea.Name,
                 AreaName = "TestArea",
-                DefaultLocalizationPose = new Pose(),
             };
 
             var areaContent = new StringContent(
@@ -105,7 +104,6 @@ public async Task CheckThatAddingDuplicateAreaNameFails()
                 PlantCode = plant.PlantCode,
                 InspectionAreaName = inspectionArea.Name,
                 AreaName = area.Name,
-                DefaultLocalizationPose = new Pose(),
             };
 
             var areaContent = new StringContent(
@@ -145,7 +143,6 @@ public async Task CheckThatAddingNonDuplicateAreaNameIsSuccessful()
                 PlantCode = plant.PlantCode,
                 InspectionAreaName = inspectionArea.Name,
                 AreaName = "MyNameIsNotTestAreaIAmUnique",
-                DefaultLocalizationPose = new Pose(),
             };
             var areaContent = new StringContent(
                 JsonSerializer.Serialize(areaQuery),

backend/api.test/Controllers/InspectionAreaControllerTests.cs

@@ -152,60 +152,5 @@ public async Task CheckThatMissionDefinitionIsCreatedInInspectionAreaWhenSchedul
                 )
             );
         }
-
-        [Fact]
-        public async Task CheckThatDefaultLocalizationPoseIsUpdatedOnInspectionArea()
-        {
-            // Arrange
-            var installation = await DatabaseUtilities.NewInstallation();
-            var plant = await DatabaseUtilities.NewPlant(installation.InstallationCode);
-            var inspectionArea = await DatabaseUtilities.NewInspectionArea(
-                installation.InstallationCode,
-                plant.PlantCode
-            );
-
-            string inspectionAreaId = inspectionArea.Id;
-
-            string url = $"/inspectionAreas/{inspectionAreaId}/update-default-localization-pose";
-            var query = new CreateDefaultLocalizationPose
-            {
-                Pose = new Pose
-                {
-                    Position = new Position
-                    {
-                        X = 1,
-                        Y = 2,
-                        Z = 3,
-                    },
-                    Orientation = new Orientation
-                    {
-                        X = 0,
-                        Y = 0,
-                        Z = 0,
-                        W = 1,
-                    },
-                },
-            };
-            var content = new StringContent(
-                JsonSerializer.Serialize(query),
-                null,
-                "application/json"
-            );
-
-            // Act
-            var response = await Client.PutAsync(url, content);
-            var updatedInspectionArea =
-                await response.Content.ReadFromJsonAsync<InspectionAreaResponse>(SerializerOptions);
-
-            // Assert
-            Assert.Equal(
-                updatedInspectionArea!.DefaultLocalizationPose!.Position,
-                query.Pose.Position
-            );
-            Assert.Equal(
-                updatedInspectionArea!.DefaultLocalizationPose.Orientation,
-                query.Pose.Orientation
-            );
-        }
     }
 }

backend/api.test/Database/DatabaseUtilities.cs

@@ -32,8 +32,6 @@ public class DatabaseUtilities
 
         public DatabaseUtilities(FlotillaDbContext context)
         {
-            var defaultLocalizationPoseService = new DefaultLocalizationPoseService(context);
-
             _accessRoleService = new AccessRoleService(context, new HttpContextAccessor());
             _installationService = new InstallationService(context, _accessRoleService);
             _missionTaskService = new MissionTaskService(
@@ -43,7 +41,6 @@ public DatabaseUtilities(FlotillaDbContext context)
             _plantService = new PlantService(context, _installationService, _accessRoleService);
             _inspectionAreaService = new InspectionAreaService(
                 context,
-                defaultLocalizationPoseService,
                 _installationService,
                 _plantService,
                 _accessRoleService,
@@ -54,7 +51,6 @@ public DatabaseUtilities(FlotillaDbContext context)
                 _installationService,
                 _plantService,
                 _inspectionAreaService,
-                defaultLocalizationPoseService,
                 _accessRoleService
             );
             _userInfoService = new UserInfoService(
@@ -164,7 +160,6 @@ public async Task<InspectionArea> NewInspectionArea(
                 InstallationCode = installationCode,
                 PlantCode = plantCode,
                 Name = inspectionAreaName,
-                DefaultLocalizationPose = new CreateDefaultLocalizationPose() { Pose = new Pose() },
             };
 
             return await _inspectionAreaService.Create(createInspectionAreaQuery);
@@ -185,7 +180,6 @@ public async Task<Area> NewArea(
                 PlantCode = plantCode,
                 InspectionAreaName = inspectionAreaName,
                 AreaName = areaName,
-                DefaultLocalizationPose = new Pose(),
             };
 
             return await _areaService.Create(createAreaQuery);

backend/api.test/Mocks/StidServiceMock.cs

@@ -25,7 +25,6 @@ public class MockStidService(FlotillaDbContext context) : IStidService
                 .ThenInclude(p => p.Installation)
                 .Include(d => d.Plant)
                 .Include(i => i.Installation)
-                .Include(d => d.DefaultLocalizationPose)
                 .Where(area => area.Name.Contains(testAreaName))
                 .ToList()
                 .FirstOrDefault();
@@ -54,7 +53,6 @@ public class MockStidService(FlotillaDbContext context) : IStidService
                 Id = Guid.NewGuid().ToString(),
                 Plant = testPlant,
                 Installation = testPlant.Installation,
-                DefaultLocalizationPose = new DefaultLocalizationPose(),
                 Name = "StidServiceMockInspectionArea",
             };
 
@@ -66,7 +64,6 @@ public class MockStidService(FlotillaDbContext context) : IStidService
                 Installation = testInspectionArea.Plant.Installation,
                 Name = testAreaName,
                 MapMetadata = new MapMetadata(),
-                DefaultLocalizationPose = new DefaultLocalizationPose(),
             };
 
             context.Add(testInstallation);

backend/api/Controllers/AreaController.cs

@@ -12,7 +12,6 @@ namespace Api.Controllers
     public class AreaController(
         ILogger<AreaController> logger,
         IAreaService areaService,
-        IDefaultLocalizationPoseService defaultLocalizationPoseService,
         IMissionDefinitionService missionDefinitionService
     ) : ControllerBase
     {
@@ -61,57 +60,6 @@ public async Task<ActionResult<AreaResponse>> Create([FromBody] CreateAreaQuery
             }
         }
 
-        /// <summary>
-        /// Updates default localization pose
-        /// </summary>
-        /// <remarks>
-        /// <para> This query updates the default localization pose for an inspection area </para>
-        /// </remarks>
-        [HttpPut]
-        [Authorize(Roles = Role.Admin)]
-        [Route("{areaId}/update-default-localization-pose")]
-        [ProducesResponseType(typeof(AreaResponse), StatusCodes.Status201Created)]
-        [ProducesResponseType(StatusCodes.Status400BadRequest)]
-        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
-        [ProducesResponseType(StatusCodes.Status403Forbidden)]
-        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
-        public async Task<ActionResult<AreaResponse>> UpdateDefaultLocalizationPose(
-            [FromRoute] string areaId,
-            [FromBody] Pose newDefaultLocalizationPose
-        )
-        {
-            logger.LogInformation("Updating default localization pose on area '{areaId}'", areaId);
-            try
-            {
-                var area = await areaService.ReadById(areaId, readOnly: true);
-                if (area is null)
-                {
-                    logger.LogInformation("A area with id '{areaId}' does not exist", areaId);
-                    return NotFound("Area does not exists");
-                }
-
-                if (area.DefaultLocalizationPose != null)
-                {
-                    area.DefaultLocalizationPose.Pose = newDefaultLocalizationPose;
-                    _ = await defaultLocalizationPoseService.Update(area.DefaultLocalizationPose);
-                }
-                else
-                {
-                    area.DefaultLocalizationPose = new DefaultLocalizationPose(
-                        newDefaultLocalizationPose
-                    );
-                    area = await areaService.Update(area);
-                }
-
-                return Ok(new AreaResponse(area));
-            }
-            catch (Exception e)
-            {
-                logger.LogError(e, "Error while updating the default localization pose");
-                throw;
-            }
-        }
-
         /// <summary>
         /// Deletes the area with the specified id from the database.
         /// </summary>

backend/api/Controllers/InspectionAreaController.cs

@@ -11,9 +11,7 @@ namespace Api.Controllers
     [Route("inspectionAreas")]
     public class InspectionAreaController(
         ILogger<InspectionAreaController> logger,
-        IMapService mapService,
         IInspectionAreaService inspectionAreaService,
-        IDefaultLocalizationPoseService defaultLocalizationPoseService,
         IInstallationService installationService,
         IPlantService plantService,
         IMissionDefinitionService missionDefinitionService
@@ -225,68 +223,6 @@ await inspectionAreaService.ReadByInstallationAndPlantAndName(
             }
         }
 
-        /// <summary>
-        /// Updates default localization pose
-        /// </summary>
-        /// <remarks>
-        /// <para> This query updates the default localization pose for a inspection area </para>
-        /// </remarks>
-        [HttpPut]
-        [Authorize(Roles = Role.Admin)]
-        [Route("{inspectionAreaId}/update-default-localization-pose")]
-        [ProducesResponseType(typeof(InspectionAreaResponse), StatusCodes.Status201Created)]
-        [ProducesResponseType(StatusCodes.Status400BadRequest)]
-        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
-        [ProducesResponseType(StatusCodes.Status403Forbidden)]
-        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
-        public async Task<ActionResult<InspectionAreaResponse>> UpdateDefaultLocalizationPose(
-            [FromRoute] string inspectionAreaId,
-            [FromBody] CreateDefaultLocalizationPose newDefaultLocalizationPose
-        )
-        {
-            logger.LogInformation(
-                "Updating default localization pose on inspection area '{inspectionAreaId}'",
-                inspectionAreaId
-            );
-            try
-            {
-                var inspectionArea = await inspectionAreaService.ReadById(
-                    inspectionAreaId,
-                    readOnly: true
-                );
-                if (inspectionArea is null)
-                {
-                    logger.LogInformation(
-                        "A inspection area with id '{inspectionAreaId}' does not exist",
-                        inspectionAreaId
-                    );
-                    return NotFound("InspectionArea does not exists");
-                }
-
-                if (inspectionArea.DefaultLocalizationPose != null)
-                {
-                    inspectionArea.DefaultLocalizationPose.Pose = newDefaultLocalizationPose.Pose;
-                    _ = await defaultLocalizationPoseService.Update(
-                        inspectionArea.DefaultLocalizationPose
-                    );
-                }
-                else
-                {
-                    inspectionArea.DefaultLocalizationPose = new DefaultLocalizationPose(
-                        newDefaultLocalizationPose.Pose
-                    );
-                    inspectionArea = await inspectionAreaService.Update(inspectionArea);
-                }
-
-                return Ok(new InspectionAreaResponse(inspectionArea));
-            }
-            catch (Exception e)
-            {
-                logger.LogError(e, "Error while updating the default localization pose");
-                throw;
-            }
-        }
-
         /// <summary>
         /// Deletes the inspection area with the specified id from the database.
         /// </summary>
@@ -307,76 +243,5 @@ [FromRoute] string id
                 return NotFound($"InspectionArea with id {id} not found");
             return Ok(new InspectionAreaResponse(inspectionArea));
         }
-
-        /// <summary>
-        /// Gets map metadata for localization poses belonging to inspection area with specified id
-        /// </summary>
-        [HttpGet]
-        [Authorize(Roles = Role.Any)]
-        [Route("{id}/map-metadata")]
-        [ProducesResponseType(typeof(MapMetadata), StatusCodes.Status200OK)]
-        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
-        [ProducesResponseType(StatusCodes.Status403Forbidden)]
-        [ProducesResponseType(StatusCodes.Status404NotFound)]
-        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
-        public async Task<ActionResult<MapMetadata>> GetMapMetadata([FromRoute] string id)
-        {
-            var inspectionArea = await inspectionAreaService.ReadById(id, readOnly: true);
-            if (inspectionArea is null)
-            {
-                string errorMessage = $"InspectionArea not found for inspectionArea with ID {id}";
-                logger.LogError("{ErrorMessage}", errorMessage);
-                return NotFound(errorMessage);
-            }
-            if (inspectionArea.Installation == null)
-            {
-                string errorMessage = "Installation missing from inspection area";
-                logger.LogWarning(errorMessage);
-                return StatusCode(StatusCodes.Status500InternalServerError, errorMessage);
-            }
-
-            if (inspectionArea.DefaultLocalizationPose is null)
-            {
-                string errorMessage =
-                    $"InspectionArea with id '{inspectionArea.Id}' does not have a default localization pose";
-                logger.LogInformation("{ErrorMessage}", errorMessage);
-                return NotFound(errorMessage);
-            }
-
-            MapMetadata? mapMetadata;
-            var positions = new List<Position>
-            {
-                inspectionArea.DefaultLocalizationPose.Pose.Position,
-            };
-            try
-            {
-                mapMetadata = await mapService.ChooseMapFromPositions(
-                    positions,
-                    inspectionArea.Installation.InstallationCode
-                );
-            }
-            catch (RequestFailedException e)
-            {
-                string errorMessage =
-                    $"An error occurred while retrieving the map for inspection area {inspectionArea.Id}";
-                logger.LogError(e, "{ErrorMessage}", errorMessage);
-                return StatusCode(StatusCodes.Status502BadGateway, errorMessage);
-            }
-            catch (ArgumentOutOfRangeException e)
-            {
-                string errorMessage =
-                    $"Could not find a suitable map for inspection area {inspectionArea.Id}";
-                logger.LogError(e, "{ErrorMessage}", errorMessage);
-                return NotFound(errorMessage);
-            }
-
-            if (mapMetadata == null)
-            {
-                return NotFound(
-                    "A map which contained at least half of the points in this mission could not be found"
-                );
-            }
-            return Ok(mapMetadata);
-        }
     }
 }

backend/api/Controllers/Models/AreaResponse.cs

@@ -19,8 +19,6 @@ public class AreaResponse
 
         public MapMetadata MapMetadata { get; set; }
 
-        public Pose? DefaultLocalizationPose { get; set; }
-
         [JsonConstructor]
 #nullable disable
         public AreaResponse() { }
@@ -36,7 +34,6 @@ public AreaResponse(Area area)
             InstallationCode = area.Installation.InstallationCode;
             AreaName = area.Name;
             MapMetadata = area.MapMetadata;
-            DefaultLocalizationPose = area.DefaultLocalizationPose?.Pose;
         }
     }
 }

backend/api/Controllers/Models/CreateAreaQuery.cs

@@ -8,7 +8,5 @@ public struct CreateAreaQuery
         public string PlantCode { get; set; }
         public string InspectionAreaName { get; set; }
         public string AreaName { get; set; }
-
-        public Pose? DefaultLocalizationPose { get; set; }
     }
 }