Improve safezone stability

backend/api/Controllers/Models/UpdateRobotModelQuery.cs

@@ -16,5 +16,10 @@ public struct UpdateRobotModelQuery
         /// Lower pressure warning threshold in Bar
         /// </summary>
         public float? LowerPressureWarningThreshold { get; set; }
+
+        /// <summary>
+        ///     Lower battery threshold at which to allow missions to be scheduled, in percentage
+        /// </summary>
+        public float? BatteryMissionStartThreshold { get; set; }
     }
 }

backend/api/Database/Models/Robot.cs

@@ -108,6 +108,13 @@ public bool IsRobotBatteryTooLow()
             return Model.BatteryWarningThreshold >= BatteryLevel;
         }
 
+        public bool IsRobotReadyToStartMissions()
+        {
+            if (IsRobotBatteryTooLow()) return false;
+            if (Model.BatteryMissionStartThreshold != null && Model.BatteryMissionStartThreshold > BatteryLevel) return false;
+            return !IsRobotPressureTooHigh() && !IsRobotPressureTooLow();
+        }
+
         public IList<DocumentInfo> Documentation { get; set; }
 
         public IList<VideoStream> VideoStreams { get; set; }

backend/api/Database/Models/RobotModel.cs

@@ -59,6 +59,11 @@ public RobotModel(CreateRobotModelQuery query)
         /// </summary>
         public float? LowerPressureWarningThreshold { get; set; }
 
+        /// <summary>
+        ///     Lower battery threshold at which to allow missions to be scheduled, in percentage
+        /// </summary>
+        public float? BatteryMissionStartThreshold { get; set; }
+
         /// <summary>
         ///     The average time in seconds spent by this model on a single tag (excluding recording duration for video/audio)
         /// </summary>
@@ -69,6 +74,7 @@ public void Update(UpdateRobotModelQuery updateQuery)
             BatteryWarningThreshold = updateQuery.BatteryWarningThreshold;
             UpperPressureWarningThreshold = updateQuery.UpperPressureWarningThreshold;
             LowerPressureWarningThreshold = updateQuery.LowerPressureWarningThreshold;
+            BatteryMissionStartThreshold = updateQuery.BatteryMissionStartThreshold;
         }
     }
 }

backend/api/EventHandlers/MissionEventHandler.cs

@@ -169,6 +169,9 @@ private async void OnSendRobotToSafezoneTriggered(object? sender, RobotEmergency
                 return;
             }
 
+            try { await MissionScheduling.FreezeMissionRunQueueForRobot(e.RobotId); }
+            catch (RobotNotFoundException) { return; }
+
             if (robot.FlotillaStatus == e.RobotFlotillaStatus)
             {
                 _logger.LogInformation("Did not send robot to safezone since robot {RobotId} was already in the correct state", e.RobotId);
@@ -182,10 +185,6 @@ private async void OnSendRobotToSafezoneTriggered(object? sender, RobotEmergency
                 return;
             }
 
-            try { await MissionScheduling.FreezeMissionRunQueueForRobot(e.RobotId); }
-            catch (RobotNotFoundException) { return; }
-
-
             Area? area;
             try
             {

backend/api/EventHandlers/MqttEventHandler.cs

@@ -412,7 +412,7 @@ private async void OnIsarBatteryUpdate(object? sender, MqttReceivedArgs mqttArgs
                 _logger.LogInformation("Sending robot '{RobotName}' to its safe zone as its battery level is too low.", robot.Name);
                 EmergencyActionService.SendRobotToSafezone(new RobotEmergencyEventArgs(robot.Id, RobotFlotillaStatus.Recharging));
             }
-            else if (robot.FlotillaStatus == RobotFlotillaStatus.Recharging && !(robot.IsRobotBatteryTooLow() || robot.IsRobotPressureTooHigh() || robot.IsRobotPressureTooLow()))
+            else if (robot.FlotillaStatus == RobotFlotillaStatus.Recharging && robot.IsRobotReadyToStartMissions())
             {
                 _logger.LogInformation("Releasing robot '{RobotName}' from its safe zone as its battery and pressure levels are good enough to run missions.", robot.Name);
                 EmergencyActionService.ReleaseRobotFromSafezone(new RobotEmergencyEventArgs(robot.Id, RobotFlotillaStatus.Normal));
@@ -431,7 +431,7 @@ private async void OnIsarPressureUpdate(object? sender, MqttReceivedArgs mqttArg
                 _logger.LogInformation("Sending robot '{RobotName}' to its safe zone as its pressure is too low or high.", robot.Name);
                 EmergencyActionService.SendRobotToSafezone(new RobotEmergencyEventArgs(robot.Id, RobotFlotillaStatus.Recharging));
             }
-            else if (robot.FlotillaStatus == RobotFlotillaStatus.Recharging && !(robot.IsRobotBatteryTooLow() || robot.IsRobotPressureTooHigh() || robot.IsRobotPressureTooLow()))
+            else if (robot.FlotillaStatus == RobotFlotillaStatus.Recharging && robot.IsRobotReadyToStartMissions())
             {
                 _logger.LogInformation("Releasing robot '{RobotName}' from its safe zone as its battery and pressure levels are good enough to run missions.", robot.Name);
                 EmergencyActionService.ReleaseRobotFromSafezone(new RobotEmergencyEventArgs(robot.Id, RobotFlotillaStatus.Normal));