Hammer/generic alerts without location (#951)

* First round of cleanup Signed-off-by: Aaron Chong <[email protected]> * Regenerate API Signed-off-by: Aaron Chong <[email protected]> --------- Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Jun 20, 2024 · cb1b563 · cb1b563
1 parent 78f5e0b
commit cb1b563
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Showing 10 changed files with 53 additions and 365 deletions.
diff --git a/packages/api-client/lib/openapi/api.ts b/packages/api-client/lib/openapi/api.ts
@@ -9131,64 +9131,6 @@ export const TasksApiAxiosParamCreator = function (configuration?: Configuration
         options: localVarRequestOptions,
       };
     },
-    /**
-     * Warning: This endpoint is still actively being worked on and could be subjected to modifications.
-     * @summary Location Complete
-     * @param {string} taskId
-     * @param {string} location
-     * @param {boolean} success
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     */
-    locationCompleteTasksLocationCompletePost: async (
-      taskId: string,
-      location: string,
-      success: boolean,
-      options: AxiosRequestConfig = {},
-    ): Promise<RequestArgs> => {
-      // verify required parameter 'taskId' is not null or undefined
-      assertParamExists('locationCompleteTasksLocationCompletePost', 'taskId', taskId);
-      // verify required parameter 'location' is not null or undefined
-      assertParamExists('locationCompleteTasksLocationCompletePost', 'location', location);
-      // verify required parameter 'success' is not null or undefined
-      assertParamExists('locationCompleteTasksLocationCompletePost', 'success', success);
-      const localVarPath = `/tasks/location_complete`;
-      // use dummy base URL string because the URL constructor only accepts absolute URLs.
-      const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
-      let baseOptions;
-      if (configuration) {
-        baseOptions = configuration.baseOptions;
-      }
-
-      const localVarRequestOptions = { method: 'POST', ...baseOptions, ...options };
-      const localVarHeaderParameter = {} as any;
-      const localVarQueryParameter = {} as any;
-
-      if (taskId !== undefined) {
-        localVarQueryParameter['task_id'] = taskId;
-      }
-
-      if (location !== undefined) {
-        localVarQueryParameter['location'] = location;
-      }
-
-      if (success !== undefined) {
-        localVarQueryParameter['success'] = success;
-      }
-
-      setSearchParams(localVarUrlObj, localVarQueryParameter);
-      let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
-      localVarRequestOptions.headers = {
-        ...localVarHeaderParameter,
-        ...headersFromBaseOptions,
-        ...options.headers,
-      };
-
-      return {
-        url: toPathString(localVarUrlObj),
-        options: localVarRequestOptions,
-      };
-    },
     /**
      *
      * @summary Post Activity Discovery
@@ -10236,30 +10178,6 @@ export const TasksApiFp = function (configuration?: Configuration) {
       );
       return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration);
     },
-    /**
-     * Warning: This endpoint is still actively being worked on and could be subjected to modifications.
-     * @summary Location Complete
-     * @param {string} taskId
-     * @param {string} location
-     * @param {boolean} success
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     */
-    async locationCompleteTasksLocationCompletePost(
-      taskId: string,
-      location: string,
-      success: boolean,
-      options?: AxiosRequestConfig,
-    ): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<any>> {
-      const localVarAxiosArgs =
-        await localVarAxiosParamCreator.locationCompleteTasksLocationCompletePost(
-          taskId,
-          location,
-          success,
-          options,
-        );
-      return createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration);
-    },
     /**
      *
      * @summary Post Activity Discovery
@@ -10764,25 +10682,6 @@ export const TasksApiFactory = function (
         .getTaskStateTasksTaskIdStateGet(taskId, options)
         .then((request) => request(axios, basePath));
     },
-    /**
-     * Warning: This endpoint is still actively being worked on and could be subjected to modifications.
-     * @summary Location Complete
-     * @param {string} taskId
-     * @param {string} location
-     * @param {boolean} success
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     */
-    locationCompleteTasksLocationCompletePost(
-      taskId: string,
-      location: string,
-      success: boolean,
-      options?: any,
-    ): AxiosPromise<any> {
-      return localVarFp
-        .locationCompleteTasksLocationCompletePost(taskId, location, success, options)
-        .then((request) => request(axios, basePath));
-    },
     /**
      *
      * @summary Post Activity Discovery
@@ -11247,27 +11146,6 @@ export class TasksApi extends BaseAPI {
       .then((request) => request(this.axios, this.basePath));
   }
 
-  /**
-   * Warning: This endpoint is still actively being worked on and could be subjected to modifications.
-   * @summary Location Complete
-   * @param {string} taskId
-   * @param {string} location
-   * @param {boolean} success
-   * @param {*} [options] Override http request option.
-   * @throws {RequiredError}
-   * @memberof TasksApi
-   */
-  public locationCompleteTasksLocationCompletePost(
-    taskId: string,
-    location: string,
-    success: boolean,
-    options?: AxiosRequestConfig,
-  ) {
-    return TasksApiFp(this.configuration)
-      .locationCompleteTasksLocationCompletePost(taskId, location, success, options)
-      .then((request) => request(this.axios, this.basePath));
-  }
-
   /**
    *
    * @summary Post Activity Discovery

diff --git a/packages/api-client/lib/version.ts b/packages/api-client/lib/version.ts
@@ -3,6 +3,6 @@ import { version as rmfModelVer } from 'rmf-models';
 
 export const version = {
   rmfModels: rmfModelVer,
-  rmfServer: 'b7c04a5019c749e898e3f59af95e43db1087a70d',
+  rmfServer: 'eb83039e43d7caee62ea130adf1f73b24d8465e6',
   openapiGenerator: '6.2.1',
 };
diff --git a/packages/api-client/schema/index.ts b/packages/api-client/schema/index.ts
@@ -1380,47 +1380,6 @@ export default {
         },
       },
     },
-    '/tasks/location_complete': {
-      post: {
-        tags: ['Tasks'],
-        summary: 'Location Complete',
-        description:
-          'Warning: This endpoint is still actively being worked on and could be\nsubjected to modifications.',
-        operationId: 'location_complete_tasks_location_complete_post',
-        parameters: [
-          {
-            required: true,
-            schema: { title: 'Task Id', type: 'string' },
-            name: 'task_id',
-            in: 'query',
-          },
-          {
-            required: true,
-            schema: { title: 'Location', type: 'string' },
-            name: 'location',
-            in: 'query',
-          },
-          {
-            required: true,
-            schema: { title: 'Success', type: 'boolean' },
-            name: 'success',
-            in: 'query',
-          },
-        ],
-        responses: {
-          '200': {
-            description: 'Successful Response',
-            content: { 'application/json': { schema: {} } },
-          },
-          '422': {
-            description: 'Validation Error',
-            content: {
-              'application/json': { schema: { $ref: '#/components/schemas/HTTPValidationError' } },
-            },
-          },
-        },
-      },
-    },
     '/scheduled_tasks': {
       get: {
         tags: ['Tasks'],

diff --git a/packages/api-server/api_server/gateway.py b/packages/api-server/api_server/gateway.py
@@ -41,6 +41,7 @@
 from .models import (
     AlertParameter,
     AlertRequest,
+    AlertResponse,
     BeaconState,
     BuildingMap,
     DeliveryAlert,
@@ -51,14 +52,7 @@
     LiftState,
 )
 from .models.delivery_alerts import action_from_msg, category_from_msg, tier_from_msg
-from .repositories import (
-    CachedFilesRepository,
-    LocationAlertFailResponse,
-    LocationAlertSuccessResponse,
-    cached_files_repo,
-    is_final_location_alert_check,
-    task_id_to_all_locations_success_cache,
-)
+from .repositories import CachedFilesRepository, cached_files_repo
 from .rmf_io import alert_events, rmf_events
 from .ros import ros_node
 
@@ -297,20 +291,6 @@ def convert_fleet_alert(fleet_alert: RmfFleetAlert):
         def handle_fleet_alert(fleet_alert: AlertRequest):
             logging.info("Received fleet alert:")
             logging.info(fleet_alert)
-
-            # Handle request for checking all location completion success for
-            # this task
-            is_final_check = is_final_location_alert_check(fleet_alert)
-            if is_final_check:
-                successful_so_far = task_id_to_all_locations_success_cache.lookup(
-                    fleet_alert.task_id
-                )
-                if successful_so_far is None or not successful_so_far:
-                    self.respond_to_alert(fleet_alert.id, LocationAlertFailResponse)
-                else:
-                    self.respond_to_alert(fleet_alert.id, LocationAlertSuccessResponse)
-                return
-
             alert_events.alert_requests.on_next(fleet_alert)
 
         fleet_alert_sub = ros_node().create_subscription(
@@ -326,6 +306,31 @@ def handle_fleet_alert(fleet_alert: AlertRequest):
         )
         self._subscriptions.append(fleet_alert_sub)
 
+        def convert_fleet_alert_response(fleet_alert_response: RmfFleetAlertResponse):
+            return AlertResponse(
+                id=fleet_alert_response.id,
+                unix_millis_response_time=round(datetime.now().timestamp() * 1000),
+                response=fleet_alert_response.response,
+            )
+
+        def handle_fleet_alert_response(alert_response: AlertResponse):
+            logging.info("Received alert response:")
+            logging.info(alert_response)
+            alert_events.alert_responses.on_next(alert_response)
+
+        fleet_alert_response_sub = ros_node().create_subscription(
+            RmfFleetAlertResponse,
+            "fleet_alert_response",
+            lambda msg: handle_fleet_alert_response(convert_fleet_alert_response(msg)),
+            rclpy.qos.QoSProfile(
+                history=rclpy.qos.HistoryPolicy.KEEP_LAST,
+                depth=10,
+                reliability=rclpy.qos.ReliabilityPolicy.RELIABLE,
+                durability=rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL,
+            ),
+        )
+        self._subscriptions.append(fleet_alert_response_sub)
+
         def handle_fire_alarm_trigger(fire_alarm_trigger_msg: BoolMsg):
             if fire_alarm_trigger_msg.data:
                 logging.info("Fire alarm triggered")

diff --git a/packages/api-server/api_server/models/alerts.py b/packages/api-server/api_server/models/alerts.py
@@ -20,6 +20,14 @@ class AlertResponse(BaseModel):
     def from_tortoise(tortoise: ttm.AlertResponse) -> "AlertResponse":
         return AlertResponse(**tortoise.data)
 
+    async def save(self) -> None:
+        await ttm.AlertResponse.update_or_create(
+            {
+                "data": self.json(),
+            },
+            id=self.id,
+        )
+
 
 class AlertRequest(BaseModel):
     class Tier(str, Enum):

diff --git a/packages/api-server/api_server/repositories/__init__.py b/packages/api-server/api_server/repositories/__init__.py
@@ -1,10 +1,4 @@
-from .alerts import (
-    AlertRepository,
-    LocationAlertFailResponse,
-    LocationAlertSuccessResponse,
-    is_final_location_alert_check,
-    task_id_to_all_locations_success_cache,
-)
+from .alerts import AlertRepository
 from .cached_files import CachedFilesRepository, cached_files_repo
 from .fleets import FleetRepository
 from .rmf import RmfRepository