From 000ec32799379ac6a07f366102190faf750220cc Mon Sep 17 00:00:00 2001
From: Thomas Sundvoll <35451859+tsundvoll@users.noreply.github.com>
Date: Thu, 12 Dec 2024 15:14:13 +0100
Subject: [PATCH] Reintroduce isar task id in mission task definition

for Flotilla to be able to match its existing task request to the
one that is returned from ISAR
---
 src/isar/apis/models/start_mission_definition.py | 6 ++++++
 src/robot_interface/models/mission/task.py       | 4 ++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/isar/apis/models/start_mission_definition.py b/src/isar/apis/models/start_mission_definition.py
index bc572593..166aa055 100644
--- a/src/isar/apis/models/start_mission_definition.py
+++ b/src/isar/apis/models/start_mission_definition.py
@@ -46,6 +46,7 @@ class StartMissionInspectionDefinition(BaseModel):
 
 
 class StartMissionTaskDefinition(BaseModel):
+    id: Optional[str] = None
     type: TaskType = Field(default=TaskType.Inspection)
     pose: InputPose
     inspection: Optional[StartMissionInspectionDefinition] = None
@@ -116,6 +117,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
 
     if inspection_definition.type == InspectionTypes.image:
         return TakeImage(
+            id=task_definition.id,
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
@@ -124,6 +126,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
         )
     elif inspection_definition.type == InspectionTypes.video:
         return TakeVideo(
+            id=task_definition.id,
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
@@ -133,6 +136,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
         )
     elif inspection_definition.type == InspectionTypes.thermal_image:
         return TakeThermalImage(
+            id=task_definition.id,
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
@@ -141,6 +145,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
         )
     elif inspection_definition.type == InspectionTypes.thermal_video:
         return TakeThermalVideo(
+            id=task_definition.id,
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
@@ -150,6 +155,7 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
         )
     elif inspection_definition.type == InspectionTypes.audio:
         return RecordAudio(
+            id=task_definition.id,
             robot_pose=task_definition.pose.to_alitra_pose(),
             tag_id=task_definition.tag,
             target=task_definition.inspection.inspection_target.to_alitra_position(),
diff --git a/src/robot_interface/models/mission/task.py b/src/robot_interface/models/mission/task.py
index 27c85981..b68c4bea 100644
--- a/src/robot_interface/models/mission/task.py
+++ b/src/robot_interface/models/mission/task.py
@@ -38,7 +38,7 @@ class Task(BaseModel):
     status: TaskStatus = Field(default=TaskStatus.NotStarted)
     error_message: Optional[ErrorMessage] = Field(default=None)
     tag_id: Optional[str] = Field(default=None)
-    id: str = Field(default_factory=uuid4_string)
+    id: str = Field(default_factory=uuid4_string, frozen=True)
 
     def is_finished(self) -> bool:
         if (
@@ -59,7 +59,7 @@ class InspectionTask(Task):
     Base class for all inspection tasks which produce results to be uploaded.
     """
 
-    inspection_id: str = Field(default_factory=uuid4_string)
+    inspection_id: str = Field(default_factory=uuid4_string, frozen=True)
     robot_pose: Pose = Field(default=None, init=True)
     metadata: Optional[dict] = Field(default_factory=dict)
     zoom: Optional[ZoomDescription] = Field(default=None)