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Hammer/generic alerts without location #951

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Jun 20, 2024
Merged

Hammer/generic alerts without location #951

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eb83039
First round of cleanup
aaronchongth May 31, 2024
e05a1f8
Regenerate API
aaronchongth May 31, 2024
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122 changes: 0 additions & 122 deletions packages/api-client/lib/openapi/api.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down
2 changes: 1 addition & 1 deletion packages/api-client/lib/version.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,6 @@ import { version as rmfModelVer } from 'rmf-models';

export const version = {
rmfModels: rmfModelVer,
rmfServer: 'b7c04a5019c749e898e3f59af95e43db1087a70d',
rmfServer: 'eb83039e43d7caee62ea130adf1f73b24d8465e6',
openapiGenerator: '6.2.1',
};
41 changes: 0 additions & 41 deletions packages/api-client/schema/index.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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'],
Expand Down
49 changes: 27 additions & 22 deletions packages/api-server/api_server/gateway.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@
from .models import (
AlertParameter,
AlertRequest,
AlertResponse,
BeaconState,
BuildingMap,
DeliveryAlert,
Expand All @@ -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

Expand Down Expand Up @@ -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(
Expand All @@ -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")
Expand Down
8 changes: 8 additions & 0 deletions packages/api-server/api_server/models/alerts.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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):
Expand Down
8 changes: 1 addition & 7 deletions packages/api-server/api_server/repositories/__init__.py
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Original file line number Diff line number Diff line change
@@ -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
Expand Down
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