Hammer/fire alarm

packages/api-client/lib/index.ts

@@ -9,6 +9,7 @@ import {
   DispenserState,
   DoorHealth,
   DoorState,
+  FireAlarmTriggerState,
   FleetState,
   IngestorHealth,
   IngestorState,
@@ -108,6 +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';

packages/api-client/lib/version.ts

@@ -3,6 +3,6 @@ import { version as rmfModelVer } from 'rmf-models';
 
 export const version = {
   rmfModels: rmfModelVer,
-  rmfServer: '55378951e4ae4161a348a1c106837076c4c56a72',
+  rmfServer: 'fd45675f94b75df6845303db4f45276d0998f3e6',
   openapiGenerator: '6.2.1',
 };

packages/api-server/api_server/gateway.py

@@ -4,6 +4,7 @@
 import base64
 import hashlib
 import logging
+from datetime import datetime
 from typing import Any, List, Optional
 
 import rclpy
@@ -33,13 +34,15 @@
 from rmf_task_msgs.srv import CancelTask as RmfCancelTask
 from rmf_task_msgs.srv import SubmitTask as RmfSubmitTask
 from rosidl_runtime_py.convert import message_to_ordereddict
+from std_msgs.msg import Bool as BoolMsg
 
 from .models import (
     BeaconState,
     BuildingMap,
     DeliveryAlert,
     DispenserState,
     DoorState,
+    FireAlarmTriggerState,
     IngestorState,
     LiftState,
 )
@@ -115,6 +118,17 @@ def __init__(self, cached_files: CachedFilesRepository):
             ),
         )
 
+        self._fire_alarm_trigger = ros_node().create_publisher(
+            BoolMsg,
+            "fire_alarm_trigger",
+            rclpy.qos.QoSProfile(
+                history=rclpy.qos.HistoryPolicy.KEEP_LAST,
+                depth=10,
+                reliability=rclpy.qos.ReliabilityPolicy.RELIABLE,
+                durability=rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL,
+            ),
+        )
+
         self.cached_files = cached_files
         self._subscriptions: List[Subscription] = []
 
@@ -234,6 +248,30 @@ def handle_delivery_alert(delivery_alert: DeliveryAlert):
         )
         self._subscriptions.append(delivery_alert_request_sub)
 
+        def handle_fire_alarm_trigger(fire_alarm_trigger_msg: BoolMsg):
+            if fire_alarm_trigger_msg.data:
+                logging.info("Fire alarm triggered")
+            else:
+                logging.info("Fire alarm trigger reset")
+            fire_alarm_trigger_state = FireAlarmTriggerState(
+                unix_millis_time=round(datetime.now().timestamp() * 1000),
+                trigger=fire_alarm_trigger_msg.data,
+            )
+            rmf_events.fire_alarm_trigger.on_next(fire_alarm_trigger_state)
+
+        fire_alarm_trigger_sub = ros_node().create_subscription(
+            BoolMsg,
+            "fire_alarm_trigger",
+            handle_fire_alarm_trigger,
+            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(fire_alarm_trigger_sub)
+
     @staticmethod
     def now() -> Optional[RosTime]:
         """
@@ -304,6 +342,11 @@ def manual_release_mutex_groups(
         msg.robot = robot
         self._mutex_group_release.publish(msg)
 
+    def reset_fire_alarm_trigger(self):
+        reset_msg = BoolMsg()
+        reset_msg.data = False
+        self._fire_alarm_trigger.publish(reset_msg)
+
 
 _rmf_gateway: RmfGateway
 

packages/api-server/api_server/models/building_map.py

@@ -1,5 +1,7 @@
 from typing import List
 
+from pydantic import BaseModel
+
 from . import tortoise_models as ttm
 from .ros_pydantic import rmf_building_map_msgs
 
@@ -25,3 +27,8 @@ async def save(self) -> None:
             if m.id_ != self.name:
                 await m.delete()
         await ttm.BuildingMap.update_or_create({"data": self.dict()}, id_=self.name)
+
+
+class FireAlarmTriggerState(BaseModel):
+    unix_millis_time: int
+    trigger: bool

packages/api-server/api_server/rmf_io/events.py

@@ -18,6 +18,9 @@ def __init__(self):
         self.building_map = BehaviorSubject(None)  # Optional[BuildingMap]
         self.beacons = Subject()  # BeaconState
         self.delivery_alerts = Subject()  # ttm.DeliveryAlertPydantic
+        self.fire_alarm_trigger = BehaviorSubject(
+            None
+        )  # Optional[FireAlarmTriggerState]
 
 
 rmf_events = RmfEvents()

packages/api-server/api_server/routes/building_map.py

@@ -1,8 +1,12 @@
+from datetime import datetime
+
 from fastapi import Depends, HTTPException
 from rx import operators as rxops
 
 from api_server.fast_io import FastIORouter, SubscriptionRequest
-from api_server.models import BuildingMap
+from api_server.gateway import rmf_gateway
+from api_server.logging import LoggerAdapter, get_logger
+from api_server.models import BuildingMap, FireAlarmTriggerState
 from api_server.repositories import RmfRepository
 from api_server.rmf_io import rmf_events
 
@@ -23,3 +27,29 @@ async def get_building_map(rmf_repo: RmfRepository = Depends(RmfRepository)):
 @router.sub("", response_model=BuildingMap)
 def sub_building_map(_req: SubscriptionRequest):
     return rmf_events.building_map.pipe(rxops.filter(lambda x: x is not None))
+
+
+@router.sub("/fire_alarm_trigger", response_model=FireAlarmTriggerState)
+async def sub_fire_alarm_trigger(_req: SubscriptionRequest):
+    return rmf_events.fire_alarm_trigger.pipe(rxops.filter(lambda x: x is not None))
+
+
+@router.get("/previous_fire_alarm_trigger", response_model=FireAlarmTriggerState)
+async def get_previous_fire_alarm_trigger():
+    previous_trigger = rmf_events.fire_alarm_trigger.value
+    if previous_trigger is None:
+        raise HTTPException(404, "previous fire alarm trigger not available")
+    return previous_trigger
+
+
+@router.post("/reset_fire_alarm_trigger", response_model=FireAlarmTriggerState)
+async def reset_fire_alarm_trigger(
+    logger: LoggerAdapter = Depends(get_logger),
+):
+    # TODO: enforce with authz
+    logger.info("Fire alarm trigger reset requested")
+    rmf_gateway().reset_fire_alarm_trigger()
+    fire_alarm_trigger_state = FireAlarmTriggerState(
+        unix_millis_time=round(datetime.now().timestamp() * 1000), trigger=False
+    )
+    return fire_alarm_trigger_state

packages/api-server/api_server/routes/test_building_map.py

@@ -1,5 +1,10 @@
 from api_server.rmf_io import rmf_events
-from api_server.test import AppFixture, make_building_map, try_until
+from api_server.test import (
+    AppFixture,
+    make_building_map,
+    make_fire_alarm_trigger,
+    try_until,
+)
 
 
 class TestBuildingMapRoute(AppFixture):
@@ -13,3 +18,31 @@ def test_get_building_map(self):
         self.assertEqual(200, resp.status_code)
         result_map = resp.json()
         self.assertEqual(building_map.name, result_map["name"])
+
+    def test_get_previous_fire_alarm_trigger(self):
+        true_trigger = make_fire_alarm_trigger(True)
+        rmf_events.fire_alarm_trigger.on_next(true_trigger)
+        resp = self.client.get("/building_map/previous_fire_alarm_trigger")
+        self.assertEqual(200, resp.status_code)
+        result = resp.json()
+        self.assertTrue(result["trigger"])
+
+        false_trigger = make_fire_alarm_trigger(False)
+        rmf_events.fire_alarm_trigger.on_next(false_trigger)
+        resp = self.client.get("/building_map/previous_fire_alarm_trigger")
+        self.assertEqual(200, resp.status_code)
+        result = resp.json()
+        self.assertFalse(result["trigger"])
+
+    def test_reset_fire_alarm_trigger(self):
+        true_trigger = make_fire_alarm_trigger(True)
+        rmf_events.fire_alarm_trigger.on_next(true_trigger)
+        resp = self.client.get("/building_map/previous_fire_alarm_trigger")
+        self.assertEqual(200, resp.status_code)
+        result = resp.json()
+        self.assertTrue(result["trigger"])
+
+        resp = self.client.post("/building_map/reset_fire_alarm_trigger")
+        self.assertEqual(200, resp.status_code)
+        result = resp.json()
+        self.assertFalse(result["trigger"])

packages/api-server/api_server/test/test_data.py

@@ -15,6 +15,7 @@
     Door,
     DoorMode,
     DoorState,
+    FireAlarmTriggerState,
     FleetLog,
     FleetState,
     IngestorState,
@@ -67,6 +68,10 @@ def make_building_map():
     )
 
 
+def make_fire_alarm_trigger(trigger: bool = True):
+    return FireAlarmTriggerState(unix_millis_time=1000, trigger=trigger)
+
+
 def make_door_state(name: str, mode: int = RmfDoorMode.MODE_CLOSED) -> DoorState:
     return DoorState(
         door_name=name,