From 4ad59b17a6b4297d31c09397bbe67fc07106f92d Mon Sep 17 00:00:00 2001 From: UsamaEquinorAFK Date: Thu, 15 Feb 2024 15:14:54 +0100 Subject: [PATCH] Refactor and add guard statement in MissionEventHandler --- backend/api/EventHandlers/MissionEventHandler.cs | 7 ++----- backend/api/Services/LocalizationService.cs | 1 - 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/backend/api/EventHandlers/MissionEventHandler.cs b/backend/api/EventHandlers/MissionEventHandler.cs index c5d8a3317..fbb32e076 100644 --- a/backend/api/EventHandlers/MissionEventHandler.cs +++ b/backend/api/EventHandlers/MissionEventHandler.cs @@ -148,12 +148,9 @@ private async void OnRobotAvailable(object? sender, RobotAvailableEventArgs e) return; } - MissionRun? missionRun; + var missionRun = await MissionService.ReadNextScheduledLocalizationMissionRun(robot.Id); - missionRun = await MissionService.ReadNextScheduledLocalizationMissionRun(robot.Id); - - if (missionRun != null) { _logger.LogInformation("The robot will be localized in the next mission"); } - else + if (missionRun == null) { if (robot.MissionQueueFrozen) { missionRun = await MissionService.ReadNextScheduledEmergencyMissionRun(robot.Id); } else { missionRun = await MissionService.ReadNextScheduledMissionRun(robot.Id); } diff --git a/backend/api/Services/LocalizationService.cs b/backend/api/Services/LocalizationService.cs index aae1906cb..31981dea2 100644 --- a/backend/api/Services/LocalizationService.cs +++ b/backend/api/Services/LocalizationService.cs @@ -201,7 +201,6 @@ private async Task CreateLocalizationMissionInArea(string robotId, s new(area.Deck.DefaultLocalizationPose.Pose, MissionTaskType.Localization) }, Map = new MapMetadata() - }; logger.LogWarning("Starting localization mission"); await missionRunService.Create(localizationMissionRun, triggerCreatedMissionRunEvent: false);