Merge branch 'deploy/hammer' into hammer/demo-tasks

Signed-off-by: Aaron Chong <[email protected]>

.github/actions/bootstrap/action.yml

@@ -13,7 +13,7 @@ runs:
   steps:
     - uses: pnpm/[email protected]
       with:
-        version: 'latest'
+        version: '8.15.7'
     - uses: actions/setup-node@v2
       with:
         node-version: '16'

.github/workflows/api-server.yml

@@ -31,12 +31,9 @@ jobs:
         uses: ./.github/actions/bootstrap
         with:
           package: api-server
-      - name: overlay
-        uses: ./.github/actions/overlay
       - name: tests
         run: |
           . /rmf_demos_ws/install/setup.bash
-          . ~/hammer_overlay_ws/install/setup.bash
           pnpm run lint
           pnpm run test:cov
           pipenv run python -m coverage xml

.github/workflows/dashboard-e2e.yml

@@ -36,17 +36,13 @@
 #         with:
 #           package: rmf-dashboard-e2e
 #           skip-build: true
-#       # Somehow this step is not needed
-#       # - name: overlay
-#       #   uses: ./.github/actions/overlay
 #       - name: test
 #         uses: nick-fields/retry@v2
 #         with:
 #           timeout_minutes: 20
 #           max_attempts: 3
 #           command: |
 #             . /rmf_demos_ws/install/setup.bash
-#             . ~/hammer_overlay_ws/install/setup.bash
 #             cd packages/dashboard-e2e
 #             pnpm test
 #           shell: bash

.github/workflows/dashboard.yml

@@ -37,10 +37,8 @@ jobs:
         with:
           package: rmf-dashboard
           skip-build: true
-      - name: overlay
-        uses: ./.github/actions/overlay
       - name: unit test
-        run: . /rmf_demos_ws/install/setup.bash && . ~/hammer_overlay_ws/install/setup.bash && pnpm run test:coverage
+        run: . /rmf_demos_ws/install/setup.bash && pnpm run test:coverage
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:

.github/workflows/ghpages.yml

@@ -49,12 +49,9 @@ jobs:
         uses: ./.github/actions/bootstrap
         with:
           package: api-server
-      - name: overlay
-        uses: ./.github/actions/overlay
       - name: Extract docs
         run: |
           . /rmf_demos_ws/install/setup.bash
-          . ~/hammer_overlay_ws/install/setup.bash
           pipenv run python3 scripts/extract_docs.py -o docs
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v1

.github/workflows/nightly.yml

@@ -44,16 +44,13 @@ jobs:
   #       with:
   #         package: rmf-dashboard-e2e
   #         skip-build: true
-  #     - name: overlay
-  #       uses: ./.github/actions/overlay
   #     - name: test
   #       uses: nick-fields/retry@v2
   #       with:
   #         timeout_minutes: 20
   #         max_attempts: 3
   #         command: |
   #           . /rmf_demos_ws/install/setup.bash
-  #           . ~/hammer_overlay_ws/install/setup.bash
   #           cd packages/dashboard-e2e
   #           pnpm test
   #         shell: bash

packages/api-client/lib/index.spec.ts

@@ -8,31 +8,9 @@ describe('subscriptions', () => {
     spyOn(sioClient.sio, 'emit');
   });
 
-  it('multiplexes subscriptions', () => {
-    const s1 = sioClient.subscribe('test', () => {
-      // empty
-    });
-    const s2 = sioClient.subscribe('test', () => {
-      // empty
-    });
-    expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('subscribe', jasmine.anything());
-    (sioClient.sio.emit as jasmine.Spy).calls.reset();
-
-    sioClient.unsubscribe(s1);
-    sioClient.unsubscribe(s2);
-    expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('unsubscribe', jasmine.anything());
-  });
-
-  it('does not unsubscribe early when there are multiple subscriptions with the same listener', () => {
-    const listener = jasmine.createSpy();
-    const s1 = sioClient.subscribe('test', listener);
-    const s2 = sioClient.subscribe('test', listener);
-    expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('subscribe', jasmine.anything());
-    (sioClient.sio.emit as jasmine.Spy).calls.reset();
-
-    sioClient.unsubscribe(s1);
-    expect(sioClient.sio.emit).not.toHaveBeenCalled();
-    sioClient.unsubscribe(s2);
-    expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('unsubscribe', jasmine.anything());
+  it('dummy', () => {
+    // Dummy test to ci passes.
+    // #940 removed multiplexing in order to support resubscribe on reconnect.
+    // With it gone, there is no more tests and ci fails as a result.
   });
 });

packages/api-client/lib/index.ts

@@ -9,7 +9,8 @@ import {
   DispenserState,
   DoorHealth,
   DoorState,
-  ApiServerModelsRmfApiFleetStateFleetState,
+  FireAlarmTriggerState,
+  FleetState,
   IngestorHealth,
   IngestorState,
   LiftHealth,
@@ -19,7 +20,6 @@ import {
 } from './openapi';
 
 type Alert = ApiServerModelsTortoiseModelsAlertsAlertLeaf;
-type FleetState = ApiServerModelsRmfApiFleetStateFleetState;
 
 const debug = Debug('rmf-client');
 
@@ -32,41 +32,21 @@ export interface Subscription {
 
 export class SioClient {
   public sio: Socket;
-  private _subscriptions: Record<string, number> = {};
 
   constructor(...args: Parameters<typeof io>) {
     this.sio = io(...args);
   }
 
   subscribe<T>(room: string, listener: Listener<T>): Subscription {
-    const subs = this._subscriptions[room] || 0;
-    if (subs === 0) {
-      this.sio.emit('subscribe', { room });
-      debug(`subscribed to ${room}`);
-    } else {
-      debug(`reusing previous subscription to ${room}`);
-    }
+    this.sio.emit('subscribe', { room });
+    debug(`subscribed to ${room}`);
     this.sio.on(room, listener);
-    this._subscriptions[room] = subs + 1;
     return { room, listener };
   }
 
   unsubscribe(sub: Subscription): void {
-    const subCount = this._subscriptions[sub.room] || 0;
-    if (!subCount) {
-      debug(`tried to unsubscribe from ${sub.room}, but no subscriptions exist`);
-      // continue regardless
-    }
-    if (subCount <= 1) {
-      this.sio.emit('unsubscribe', { room: sub.room });
-      delete this._subscriptions[sub.room];
-      debug(`unsubscribed to ${sub.room}`);
-    } else {
-      this._subscriptions[sub.room] = subCount - 1;
-      debug(
-        `skipping unsubscribe to ${sub.room} because there are still ${subCount - 1} subscribers`,
-      );
-    }
+    this.sio.emit('unsubscribe', { room: sub.room });
+    debug(`unsubscribed to ${sub.room}`);
     this.sio.off(sub.room, sub.listener);
   }
 
@@ -129,6 +109,10 @@ export class SioClient {
   subscribeDeliveryAlerts(listener: Listener<DeliveryAlert>): Subscription {
     return this.subscribe<DeliveryAlert>(`/delivery_alerts`, listener);
   }
+
+  subscribeFireAlarmTrigger(listener: Listener<FireAlarmTriggerState>): Subscription {
+    return this.subscribe<FireAlarmTriggerState>('/fire_alarm_trigger', listener);
+  }
 }
 
 export * from './openapi';