From c2fd0845cbef1bbb390dabf9fdd73bd9f84dbea3 Mon Sep 17 00:00:00 2001
From: Thomas Sundvoll <35451859+tsundvoll@users.noreply.github.com>
Date: Tue, 3 Dec 2024 14:20:32 +0100
Subject: [PATCH] wip Set task.inspection.id on start_mission

---
 .../apis/models/start_mission_definition.py   | 11 +++++
 src/isar/script.py                            |  4 +-
 tests/isar/apis/models/__init__.py            |  0
 .../models/test_start_mission_definition.py   | 44 +++++++++++++++++++
 4 files changed, 57 insertions(+), 2 deletions(-)
 create mode 100644 tests/isar/apis/models/__init__.py
 create mode 100644 tests/isar/apis/models/test_start_mission_definition.py

diff --git a/src/isar/apis/models/start_mission_definition.py b/src/isar/apis/models/start_mission_definition.py
index 655c6c98..de6dd047 100644
--- a/src/isar/apis/models/start_mission_definition.py
+++ b/src/isar/apis/models/start_mission_definition.py
@@ -12,6 +12,7 @@
 from robot_interface.models.mission.task import (
     TASKS,
     DockingProcedure,
+    InspectionTask,
     Localize,
     RecordAudio,
     ReturnToHome,
@@ -69,7 +70,17 @@ def to_isar_mission(start_mission_definition: StartMissionDefinition) -> Mission
     for start_mission_task_definition in start_mission_definition.tasks:
         task: TASKS = create_isar_task(start_mission_task_definition)
         if start_mission_task_definition.id:
+            # If the id is None from the incoming start_mission_task_definition, we will
+            # just use the autogenerated id
             task.id = start_mission_task_definition.id
+
+        if isinstance(task, InspectionTask):
+            if start_mission_task_definition.inspection.id:
+                # If the id is None from the incoming
+                # start_mission_task_definition.inspection, we will just use the
+                # autogenerated id
+                task.inspection.id = start_mission_task_definition.inspection.id
+
         isar_tasks.append(task)
 
     if not isar_tasks:
diff --git a/src/isar/script.py b/src/isar/script.py
index ec023c86..853d4558 100644
--- a/src/isar/script.py
+++ b/src/isar/script.py
@@ -20,10 +20,10 @@
 from isar.services.service_connections.mqtt.robot_info_publisher import (
     RobotInfoPublisher,
 )
-from robot_interface.models.inspection.inspection import Inspection
-from robot_interface.models.mission.mission import Mission
 from isar.state_machine.state_machine import StateMachine, main
 from isar.storage.uploader import Uploader
+from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.mission.mission import Mission
 from robot_interface.robot_interface import RobotInterface
 
 
diff --git a/tests/isar/apis/models/__init__.py b/tests/isar/apis/models/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/tests/isar/apis/models/test_start_mission_definition.py b/tests/isar/apis/models/test_start_mission_definition.py
new file mode 100644
index 00000000..94dc2398
--- /dev/null
+++ b/tests/isar/apis/models/test_start_mission_definition.py
@@ -0,0 +1,44 @@
+from isar.apis.models.models import InputOrientation, InputPose, InputPosition
+from isar.apis.models.start_mission_definition import (
+    InspectionTypes,
+    StartMissionDefinition,
+    StartMissionInspectionDefinition,
+    StartMissionTaskDefinition,
+    TaskType,
+    to_isar_mission,
+)
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.task import TakeImage
+
+
+def test_to_isar_mission():
+
+    DUMMY_MISSION_ID = "123-45-567"
+    DUMMY_MISSION_NAME = "mission_name"
+    DUMMY_ISAR_TASK_ID = "abc-de-fgh"
+
+    inspection_definition = StartMissionInspectionDefinition(
+        type=InspectionTypes.image,
+        inspection_target=InputPosition(x=0, y=0, z=0),
+        id=DUMMY_ISAR_TASK_ID,
+    )
+    task_pose = InputPose(
+        position=InputPosition(x=0, y=0, z=0),
+        orientation=InputOrientation(x=0, y=0, z=0, w=0),
+    )
+    task_definition = StartMissionTaskDefinition(
+        type=TaskType.Inspection, pose=task_pose, inspection=inspection_definition
+    )
+    mission_definition = StartMissionDefinition(
+        tasks=[task_definition], id=DUMMY_MISSION_ID, name=DUMMY_MISSION_NAME
+    )
+
+    # expected_task = TakeImage()
+
+    # # expected_mission = Mission(
+    # #     tasks=[expected_task], id=DUMMY_MISSION_ID, name=DUMMY_MISSION_NAME
+    # # )
+
+    resulting_isar_mission = to_isar_mission(mission_definition)
+
+    assert resulting_isar_mission.tasks[0].inspection.id == DUMMY_ISAR_TASK_ID