Fix various tracking issues

backend/api.test/Services/RobotService.cs

@@ -52,7 +52,7 @@ public async Task CheckThatReadByIdReturnsCorrectRobot()
             var installation = await DatabaseUtilities.NewInstallation();
             var robot = await DatabaseUtilities.NewRobot(RobotStatus.Available, installation);
 
-            var robotById = await RobotService.ReadById(robot.Id, readOnly: false);
+            var robotById = await RobotService.ReadById(robot.Id, readOnly: true);
 
             Assert.Equal(robot.Id, robotById!.Id);
         }

backend/api/Controllers/InspectionAreaController.cs

@@ -252,7 +252,7 @@ [FromBody] CreateDefaultLocalizationPose newDefaultLocalizationPose
             {
                 var inspectionArea = await inspectionAreaService.ReadById(
                     inspectionAreaId,
-                    readOnly: false
+                    readOnly: true
                 );
                 if (inspectionArea is null)
                 {

backend/api/Controllers/MissionDefinitionController.cs

@@ -147,7 +147,7 @@ [FromBody] UpdateMissionDefinitionQuery missionDefinitionQuery
                 return BadRequest("Invalid data.");
             }
 
-            var missionDefinition = await missionDefinitionService.ReadById(id, readOnly: false);
+            var missionDefinition = await missionDefinitionService.ReadById(id, readOnly: true);
             if (missionDefinition == null)
             {
                 return NotFound($"Could not find mission definition with id '{id}'");
@@ -198,7 +198,7 @@ [FromBody] UpdateMissionDefinitionIsDeprecatedQuery missionDefinitionIsDeprecate
                 return BadRequest("Invalid data.");
             }
 
-            var missionDefinition = await missionDefinitionService.ReadById(id, readOnly: false);
+            var missionDefinition = await missionDefinitionService.ReadById(id, readOnly: true);
             if (missionDefinition == null)
             {
                 return NotFound($"Could not find mission definition with id '{id}'");

backend/api/EventHandlers/MissionEventHandler.cs

@@ -89,6 +89,14 @@ private async void OnMissionRunCreated(object? sender, MissionRunCreatedEventArg
 
         private async void OnRobotAvailable(object? sender, RobotAvailableEventArgs e)
         {
+            if (e.Robot.Status != RobotStatus.Available)
+            {
+                _logger.LogWarning(
+                    "OnRobotAvailable was triggered while robot was {robotStatus}",
+                    e.Robot.Status
+                );
+                return;
+            }
             _startMissionSemaphore.WaitOne();
             try
             {

backend/api/EventHandlers/MqttEventHandler.cs

@@ -454,7 +454,7 @@ await MissionRunService.UpdateMissionRunStatusByIsarMissionId(
             if (updatedFlotillaMissionRun.MissionId == null)
             {
                 _logger.LogInformation(
-                    "Mission run {missionRunId} does not have a mission definition assosiated with it",
+                    "Mission run {missionRunId} does not have a mission definition associated with it",
                     updatedFlotillaMissionRun.Id
                 );
                 return;

backend/api/Services/AccessRoleService.cs

@@ -18,7 +18,7 @@ RoleAccessLevel accessLevel
         );
         public Task<AccessRole?> ReadByInstallation(Installation installation);
         public Task<List<AccessRole>> ReadAll();
-        public void DetachTracking(AccessRole accessRole);
+        public void DetachTracking(FlotillaDbContext context, AccessRole accessRole);
     }
 
     public class AccessRoleService(
@@ -101,7 +101,7 @@ RoleAccessLevel accessLevel
 
             await context.AccessRoles.AddAsync(newAccessRole);
             await context.SaveChangesAsync();
-            DetachTracking(newAccessRole);
+            DetachTracking(context, newAccessRole);
             return newAccessRole!;
         }
 
@@ -135,7 +135,7 @@ public bool IsAuthenticationAvailable()
             return httpContextAccessor.HttpContext != null;
         }
 
-        public void DetachTracking(AccessRole accessRole)
+        public void DetachTracking(FlotillaDbContext context, AccessRole accessRole)
         {
             context.Entry(accessRole).State = EntityState.Detached;
         }

backend/api/Services/AreaService.cs

@@ -35,7 +35,7 @@ public Task<PagedList<Area>> ReadAll(
 
         public Task<Area?> Delete(string id);
 
-        public void DetachTracking(Area area);
+        public void DetachTracking(FlotillaDbContext context, Area area);
     }
 
     [SuppressMessage(
@@ -210,14 +210,15 @@ await inspectionAreaService.ReadByInstallationAndPlantAndName(
             await context.Areas.AddAsync(newArea);
             await ApplyDatabaseUpdate(installation);
 
-            DetachTracking(newArea);
+            DetachTracking(context, newArea);
             return newArea;
         }
 
         public async Task<Area> Update(Area area)
         {
             var entry = context.Update(area);
             await ApplyDatabaseUpdate(area.Installation);
+            DetachTracking(context, area);
             return entry.Entity;
         }
 
@@ -352,16 +353,19 @@ AreaQueryStringParameters parameters
             return Expression.Lambda<Func<Area, bool>>(body, area);
         }
 
-        public void DetachTracking(Area area)
+        public void DetachTracking(FlotillaDbContext context, Area area)
         {
             if (area.Installation != null)
-                installationService.DetachTracking(area.Installation);
+                installationService.DetachTracking(context, area.Installation);
             if (area.Plant != null)
-                plantService.DetachTracking(area.Plant);
+                plantService.DetachTracking(context, area.Plant);
             if (area.InspectionArea != null)
-                inspectionAreaService.DetachTracking(area.InspectionArea);
+                inspectionAreaService.DetachTracking(context, area.InspectionArea);
             if (area.DefaultLocalizationPose != null)
-                defaultLocalizationPoseService.DetachTracking(area.DefaultLocalizationPose);
+                defaultLocalizationPoseService.DetachTracking(
+                    context,
+                    area.DefaultLocalizationPose
+                );
             context.Entry(area).State = EntityState.Detached;
         }
     }

backend/api/Services/DefaultLocalizationPoseService.cs

@@ -21,7 +21,10 @@ DefaultLocalizationPose defaultLocalizationPose
 
         public abstract Task<DefaultLocalizationPose?> Delete(string id);
 
-        public void DetachTracking(DefaultLocalizationPose defaultLocalizationPose);
+        public void DetachTracking(
+            FlotillaDbContext context,
+            DefaultLocalizationPose defaultLocalizationPose
+        );
     }
 
     [System.Diagnostics.CodeAnalysis.SuppressMessage(
@@ -59,7 +62,7 @@ DefaultLocalizationPose defaultLocalizationPose
             await context.DefaultLocalizationPoses.AddAsync(defaultLocalizationPose);
             await context.SaveChangesAsync();
 
-            DetachTracking(defaultLocalizationPose);
+            DetachTracking(context, defaultLocalizationPose);
             return defaultLocalizationPose;
         }
 
@@ -69,6 +72,7 @@ DefaultLocalizationPose defaultLocalizationPose
         {
             var entry = context.Update(defaultLocalizationPose);
             await context.SaveChangesAsync();
+            DetachTracking(context, defaultLocalizationPose);
             return entry.Entity;
         }
 
@@ -87,7 +91,10 @@ DefaultLocalizationPose defaultLocalizationPose
             return defaultLocalizationPose;
         }
 
-        public void DetachTracking(DefaultLocalizationPose defaultLocalizationPose)
+        public void DetachTracking(
+            FlotillaDbContext context,
+            DefaultLocalizationPose defaultLocalizationPose
+        )
         {
             context.Entry(defaultLocalizationPose).State = EntityState.Detached;
         }

backend/api/Services/InspectionAreaService.cs

@@ -38,7 +38,7 @@ public Task<IEnumerable<InspectionArea>> ReadByInstallation(
 
         public Task<InspectionArea?> Delete(string id);
 
-        public void DetachTracking(InspectionArea inspectionArea);
+        public void DetachTracking(FlotillaDbContext context, InspectionArea inspectionArea);
     }
 
     [SuppressMessage(
@@ -194,7 +194,7 @@ await plantService.ReadByInstallationAndPlantCode(
                 inspectionArea.Installation,
                 new InspectionAreaResponse(inspectionArea)
             );
-            DetachTracking(inspectionArea);
+            DetachTracking(context, inspectionArea);
             return inspectionArea!;
         }
 
@@ -207,6 +207,7 @@ public async Task<InspectionArea> Update(InspectionArea inspectionArea)
                 inspectionArea.Installation,
                 new InspectionAreaResponse(inspectionArea)
             );
+            DetachTracking(context, inspectionArea);
             return entry.Entity;
         }
 
@@ -263,14 +264,25 @@ private async Task ApplyDatabaseUpdate(Installation? installation)
                 );
         }
 
-        public void DetachTracking(InspectionArea inspectionArea)
+        public void DetachTracking(FlotillaDbContext context, InspectionArea inspectionArea)
         {
-            if (inspectionArea.Installation != null)
-                installationService.DetachTracking(inspectionArea.Installation);
-            if (inspectionArea.Plant != null)
-                plantService.DetachTracking(inspectionArea.Plant);
-            if (inspectionArea.DefaultLocalizationPose != null)
+            if (
+                inspectionArea.Installation != null
+                && context.Entry(inspectionArea.Installation).State != EntityState.Detached
+            )
+                installationService.DetachTracking(context, inspectionArea.Installation);
+            if (
+                inspectionArea.Plant != null
+                && context.Entry(inspectionArea.Plant).State != EntityState.Detached
+            )
+                plantService.DetachTracking(context, inspectionArea.Plant);
+            if (
+                inspectionArea.DefaultLocalizationPose != null
+                && context.Entry(inspectionArea.DefaultLocalizationPose).State
+                    != EntityState.Detached
+            )
                 defaultLocalizationPoseService.DetachTracking(
+                    context,
                     inspectionArea.DefaultLocalizationPose
                 );
             context.Entry(inspectionArea).State = EntityState.Detached;

backend/api/Services/InspectionService.cs

@@ -60,7 +60,7 @@ public async Task<Inspection> UpdateInspectionStatus(
             IsarTaskStatus isarTaskStatus
         )
         {
-            var inspection = await ReadByIsarTaskId(isarTaskId, readOnly: false);
+            var inspection = await ReadByIsarTaskId(isarTaskId, readOnly: true);
             if (inspection is null)
             {
                 string errorMessage = $"Inspection with task ID {isarTaskId} could not be found";
@@ -69,7 +69,7 @@ IsarTaskStatus isarTaskStatus
             }
 
             inspection.UpdateStatus(isarTaskStatus);
-            inspection = await Update(inspection);
+            await Update(inspection);
             return inspection;
         }
 
@@ -89,7 +89,7 @@ private async Task ApplyDatabaseUpdate(Installation? installation)
                 );
         }
 
-        private async Task<Inspection> Update(Inspection inspection)
+        private async Task Update(Inspection inspection)
         {
             var entry = context.Update(inspection);
 
@@ -107,8 +107,7 @@ private async Task<Inspection> Update(Inspection inspection)
             var installation = missionRun?.InspectionArea?.Installation;
 
             await ApplyDatabaseUpdate(installation);
-
-            return entry.Entity;
+            DetachTracking(context, inspection);
         }
 
         public async Task<Inspection?> ReadByIsarTaskId(string id, bool readOnly = true)
@@ -136,7 +135,7 @@ private IQueryable<Inspection> GetInspections(bool readOnly = true)
             string isarTaskId
         )
         {
-            var inspection = await ReadByIsarTaskId(isarTaskId, readOnly: false);
+            var inspection = await ReadByIsarTaskId(isarTaskId, readOnly: true);
 
             if (inspection is null)
             {
@@ -151,7 +150,7 @@ string isarTaskId
             };
 
             inspection.InspectionFindings.Add(inspectionFinding);
-            inspection = await Update(inspection);
+            await Update(inspection);
             return inspection;
         }
 
@@ -227,5 +226,14 @@ await response.Content.ReadFromJsonAsync<IDAInspectionDataResponse>()
             );
             return null;
         }
+
+        public void DetachTracking(FlotillaDbContext context, Inspection inspection)
+        {
+            foreach (var inspectionFinding in inspection.InspectionFindings)
+            {
+                context.Entry(inspectionFinding).State = EntityState.Detached;
+            }
+            context.Entry(inspection).State = EntityState.Detached;
+        }
     }
 }

backend/api/Services/InstallationService.cs

@@ -23,7 +23,7 @@ public interface IInstallationService
 
         public abstract Task<Installation?> Delete(string id);
 
-        public void DetachTracking(Installation installation);
+        public void DetachTracking(FlotillaDbContext context, Installation installation);
     }
 
     [System.Diagnostics.CodeAnalysis.SuppressMessage(
@@ -109,7 +109,7 @@ public async Task<Installation> Create(CreateInstallationQuery newInstallationQu
                 };
                 await context.Installations.AddAsync(installation);
                 await ApplyUnprotectedDatabaseUpdate();
-                DetachTracking(installation);
+                DetachTracking(context, installation);
             }
 
             return installation;
@@ -119,6 +119,7 @@ public async Task<Installation> Update(Installation installation)
         {
             var entry = context.Update(installation);
             await ApplyDatabaseUpdate(installation);
+            DetachTracking(context, installation);
             return entry.Entity;
         }
 
@@ -136,7 +137,7 @@ public async Task<Installation> Update(Installation installation)
             return installation;
         }
 
-        public void DetachTracking(Installation installation)
+        public void DetachTracking(FlotillaDbContext context, Installation installation)
         {
             context.Entry(installation).State = EntityState.Detached;
         }

backend/api/Services/MissionDefinitionService.cs

@@ -39,7 +39,7 @@ string missionDefinitionId
 
         public Task<MissionDefinition?> Delete(string id);
 
-        public void DetachTracking(MissionDefinition missionDefinition);
+        public void DetachTracking(FlotillaDbContext context, MissionDefinition missionDefinition);
     }
 
     [SuppressMessage(
@@ -84,7 +84,7 @@ public async Task<MissionDefinition> Create(MissionDefinition missionDefinition)
                 missionDefinition.InspectionArea?.Installation,
                 new MissionDefinitionResponse(missionDefinition)
             );
-            DetachTracking(missionDefinition);
+            DetachTracking(context, missionDefinition);
             return missionDefinition;
         }
 
@@ -192,6 +192,7 @@ public async Task<MissionDefinition> Update(MissionDefinition missionDefinition)
                 missionDefinition?.InspectionArea?.Installation,
                 missionDefinition != null ? new MissionDefinitionResponse(missionDefinition) : null
             );
+            DetachTracking(context, missionDefinition!);
             return entry.Entity;
         }
 
@@ -327,12 +328,12 @@ parameters.InstallationCode is null
             );
         }
 
-        public void DetachTracking(MissionDefinition missionDefinition)
+        public void DetachTracking(FlotillaDbContext context, MissionDefinition missionDefinition)
         {
             if (missionDefinition.LastSuccessfulRun != null)
-                missionRunService.DetachTracking(missionDefinition.LastSuccessfulRun);
+                missionRunService.DetachTracking(context, missionDefinition.LastSuccessfulRun);
             if (missionDefinition.Source != null)
-                sourceService.DetachTracking(missionDefinition.Source);
+                sourceService.DetachTracking(context, missionDefinition.Source);
             context.Entry(missionDefinition).State = EntityState.Detached;
         }
     }