Make default localization pose optional for area

backend/api.test/EventHandlers/TestMissionEventHandler.cs

@@ -109,7 +109,7 @@ public TestMissionEventHandler(DatabaseFixture fixture)
                 Boundary = new Boundary(),
                 TransformationMatrices = new TransformationMatrices()
             },
-            DefaultLocalizationPose = new Pose(),
+            DefaultLocalizationPose = null,
             SafePositions = new List<SafePosition>()
         };
 

backend/api.test/Services/MissionService.cs

@@ -76,7 +76,7 @@ public async Task Create()
                         Plant = testPlant,
                         Name = "testArea",
                         MapMetadata = new MapMetadata() { MapName = "testMap" },
-                        DefaultLocalizationPose = new Pose(),
+                        DefaultLocalizationPose = null,
                         SafePositions = new List<SafePosition>()
                     },
                     InstallationCode = "testInstallation",

backend/api/Controllers/AreaController.cs

@@ -12,6 +12,7 @@ namespace Api.Controllers
     public class AreaController : ControllerBase
     {
         private readonly IAreaService _areaService;
+        private readonly IDefaultLocalizationPoseService _defaultLocalizationPoseService;
 
         private readonly IMissionDefinitionService _missionDefinitionService;
 
@@ -23,12 +24,14 @@ public AreaController(
             ILogger<AreaController> logger,
             IMapService mapService,
             IAreaService areaService,
+            IDefaultLocalizationPoseService defaultLocalizationPoseService,
             IMissionDefinitionService missionDefinitionService
         )
         {
             _logger = logger;
             _mapService = mapService;
             _areaService = areaService;
+            _defaultLocalizationPoseService = defaultLocalizationPoseService;
             _missionDefinitionService = missionDefinitionService;
         }
 
@@ -128,6 +131,54 @@ [FromBody] Pose safePosition
             }
         }
 
+        /// <summary>
+        /// Updates default localization pose
+        /// </summary>
+        /// <remarks>
+        /// <para> This query updates the default localization pose for a deck </para>
+        /// </remarks>
+        [HttpPut]
+        [Authorize(Roles = Role.Admin)]
+        [Route("{areaId}/update-default-localization-pose")]
+        [ProducesResponseType(typeof(Deck), StatusCodes.Status201Created)]
+        [ProducesResponseType(StatusCodes.Status400BadRequest)]
+        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+        [ProducesResponseType(StatusCodes.Status403Forbidden)]
+        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+        public async Task<ActionResult<Deck>> UpdateDefaultLocalizationPose([FromRoute] string areaId, [FromBody] Pose newDefaultLocalizationPose)
+        {
+            _logger.LogInformation("Updating default localization pose on area '{areaId}'", areaId);
+            try
+            {
+                var area = await _areaService.ReadById(areaId);
+                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>
@@ -277,10 +328,17 @@ public async Task<ActionResult<MapMetadata>> GetMapMetadata([FromRoute] string i
                 return StatusCode(StatusCodes.Status500InternalServerError, errorMessage);
             }
 
+            if (area.DefaultLocalizationPose is null)
+            {
+                string errorMessage = $"Area with id '{area.Id}' does not have a default localization pose";
+                _logger.LogInformation("{ErrorMessage}", errorMessage);
+                return NotFound(errorMessage);
+            }
+
             MapMetadata? mapMetadata;
             var positions = new List<Position>
             {
-                area.DefaultLocalizationPose.Position
+                area.DefaultLocalizationPose.Pose.Position
             };
             try
             {

backend/api/Controllers/Models/AreaResponse.cs

@@ -16,7 +16,7 @@ public class AreaResponse
 
         public MapMetadata MapMetadata { get; set; }
 
-        public Pose DefaultLocalizationPose { get; set; }
+        public DefaultLocalizationPose? DefaultLocalizationPose { get; set; }
 
         public IList<SafePosition> SafePositions { get; set; }
 

backend/api/Controllers/Models/CreateAreaQuery.cs

@@ -9,6 +9,6 @@ public struct CreateAreaQuery
         public string DeckName { get; set; }
         public string AreaName { get; set; }
 
-        public Pose DefaultLocalizationPose { get; set; }
+        public Pose? DefaultLocalizationPose { get; set; }
     }
 }

backend/api/Database/Context/FlotillaDbContext.cs

@@ -74,11 +74,6 @@ protected override void OnModelCreating(ModelBuilder modelBuilder)
         modelBuilder.Entity<Robot>().OwnsOne(r => r.Pose).OwnsOne(p => p.Orientation);
         modelBuilder.Entity<Robot>().OwnsOne(r => r.Pose).OwnsOne(p => p.Position);
         modelBuilder.Entity<Robot>().OwnsMany(r => r.VideoStreams);
-        modelBuilder.Entity<Area>().OwnsOne(a => a.DefaultLocalizationPose, poseBuilder =>
-        {
-            poseBuilder.OwnsOne(pose => pose.Position);
-            poseBuilder.OwnsOne(pose => pose.Orientation);
-        });
         modelBuilder.Entity<Area>().HasOne(a => a.Deck).WithMany();
         modelBuilder.Entity<Area>().HasOne(a => a.Installation).WithMany();
         modelBuilder.Entity<Area>().HasOne(a => a.Plant).WithMany();

backend/api/Database/Context/InitDb.cs

@@ -112,7 +112,7 @@ private static List<Area> GetAreas()
             Installation = decks[0].Plant!.Installation,
             Name = "AP320",
             MapMetadata = new MapMetadata(),
-            DefaultLocalizationPose = new Pose { },
+            DefaultLocalizationPose = null,
             SafePositions = new List<SafePosition>()
         };
 
@@ -124,7 +124,7 @@ private static List<Area> GetAreas()
             Installation = decks[0].Plant!.Installation,
             Name = "AP330",
             MapMetadata = new MapMetadata(),
-            DefaultLocalizationPose = new Pose { },
+            DefaultLocalizationPose = null,
             SafePositions = new List<SafePosition>()
         };
 
@@ -136,7 +136,7 @@ private static List<Area> GetAreas()
             Installation = decks[0].Plant!.Installation,
             Name = "testArea",
             MapMetadata = new MapMetadata(),
-            DefaultLocalizationPose = new Pose { },
+            DefaultLocalizationPose = null,
             SafePositions = new List<SafePosition>()
         };
 
@@ -148,7 +148,7 @@ private static List<Area> GetAreas()
             Installation = decks[1].Plant.Installation,
             Name = "testArea2",
             MapMetadata = new MapMetadata(),
-            DefaultLocalizationPose = new Pose { },
+            DefaultLocalizationPose = null,
             SafePositions = new List<SafePosition>()
         };
 
@@ -160,7 +160,7 @@ private static List<Area> GetAreas()
             Installation = decks[2].Plant.Installation,
             Name = "testArea3",
             MapMetadata = new MapMetadata(),
-            DefaultLocalizationPose = new Pose { },
+            DefaultLocalizationPose = null,
             SafePositions = new List<SafePosition>()
         };
 
@@ -172,7 +172,7 @@ private static List<Area> GetAreas()
             Installation = decks[3].Plant.Installation,
             Name = "testArea4",
             MapMetadata = new MapMetadata(),
-            DefaultLocalizationPose = new Pose { },
+            DefaultLocalizationPose = null,
             SafePositions = new List<SafePosition>()
         };
 

backend/api/Database/Models/Area.cs

@@ -23,8 +23,8 @@ public class Area
         [Required]
         public MapMetadata MapMetadata { get; set; }
 
-        [Required]
-        public Pose DefaultLocalizationPose { get; set; }
+
+        public DefaultLocalizationPose? DefaultLocalizationPose { get; set; }
 
         public IList<SafePosition> SafePositions { get; set; }
     }

backend/api/Services/AreaService.cs

@@ -44,14 +44,16 @@ public class AreaService : IAreaService
         private readonly IInstallationService _installationService;
         private readonly IPlantService _plantService;
         private readonly IDeckService _deckService;
+        private readonly IDefaultLocalizationPoseService _defaultLocalizationPoseService;
 
         public AreaService(
-            FlotillaDbContext context, IInstallationService installationService, IPlantService plantService, IDeckService deckService)
+            FlotillaDbContext context, IInstallationService installationService, IPlantService plantService, IDeckService deckService, IDefaultLocalizationPoseService defaultLocalizationPoseService)
         {
             _context = context;
             _installationService = installationService;
             _plantService = plantService;
             _deckService = deckService;
+            _defaultLocalizationPoseService = defaultLocalizationPoseService;
         }
 
         public async Task<IEnumerable<Area>> ReadAll()
@@ -62,7 +64,7 @@ public async Task<IEnumerable<Area>> ReadAll()
         private IQueryable<Area> GetAreas()
         {
             return _context.Areas.Include(a => a.SafePositions)
-                .Include(a => a.Deck).Include(d => d.Plant).Include(i => i.Installation);
+                .Include(a => a.Deck).Include(d => d.Plant).Include(i => i.Installation).Include(d => d.DefaultLocalizationPose);
         }
 
         public async Task<Area?> ReadById(string id)
@@ -142,10 +144,16 @@ public async Task<Area> Create(CreateAreaQuery newAreaQuery, List<Pose> position
                 throw new AreaExistsException($"Area with name {newAreaQuery.AreaName} already exists");
             }
 
+            DefaultLocalizationPose? defaultLocalizationPose = null;
+            if (newAreaQuery.DefaultLocalizationPose != null)
+            {
+                defaultLocalizationPose = await _defaultLocalizationPoseService.Create(new DefaultLocalizationPose(newAreaQuery.DefaultLocalizationPose));
+            }
+
             var newArea = new Area
             {
                 Name = newAreaQuery.AreaName,
-                DefaultLocalizationPose = newAreaQuery.DefaultLocalizationPose,
+                DefaultLocalizationPose = defaultLocalizationPose,
                 SafePositions = safePositions,
                 MapMetadata = new MapMetadata(),
                 Deck = deck!,