Merge branch 'deploy/hammer' into hammer/bump-node

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

packages/api-server/api_server/__main__.py

@@ -1,6 +1,7 @@
 import os
 
 import uvicorn
+from uvicorn.config import LOGGING_CONFIG
 
 from .app import app
 from .app_config import app_config, load_config
@@ -16,6 +17,9 @@
 
 
 def main():
+    LOGGING_CONFIG["formatters"]["access"][
+        "fmt"
+    ] = '%(asctime)s %(levelprefix)s %(client_addr)s - "%(request_line)s" %(status_code)s'
     uvicorn.run(
         app,
         host=app_config.host,

packages/api-server/api_server/authenticator.py

@@ -59,7 +59,17 @@ async def verify_token(self, token: Optional[str]) -> User:
                 issuer=self.iss,
             )
             return await self._get_user(claims)
+        except jwt.InvalidSignatureError as e:
+            logger.error("JWT invalid signature error")
+            raise AuthenticationError(str(e)) from e
+        except jwt.DecodeError as e:
+            logger.error("JWT decode error")
+            raise AuthenticationError(str(e)) from e
+        except jwt.ExpiredSignatureError as e:
+            logger.error("JWT expired signature error")
+            raise AuthenticationError(str(e)) from e
         except jwt.InvalidTokenError as e:
+            logger.error("JWT invalid token error")
             raise AuthenticationError(str(e)) from e
 
     def fastapi_dep(self) -> Callable[..., Union[Coroutine[Any, Any, User], User]]:
@@ -72,6 +82,7 @@ async def dep(
             try:
                 return await self.verify_token(parts[1])
             except AuthenticationError as e:
+                logger.error("Failed to verify token")
                 raise HTTPException(401, str(e)) from e
 
         return dep

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

@@ -136,7 +136,7 @@ def _report_health(health: BaseBasicHealth, logger: logging.Logger):
     def _record_beacon_state(self):
         async def update(beacon_state: BeaconState):
             await beacon_state.save()
-            self._loggers.beacon_state.info(json.dumps(beacon_state.dict()))
+            self._loggers.beacon_state.debug(json.dumps(beacon_state.dict()))
 
         self._subscriptions.append(
             self.rmf.beacons.subscribe(lambda x: self._create_task(update(x)))
@@ -165,7 +165,7 @@ async def update(building_map: BuildingMap):
     def _record_door_state(self):
         async def update(door_state: DoorState):
             await door_state.save()
-            self._loggers.door_state.info(json.dumps(door_state.dict()))
+            self._loggers.door_state.debug(json.dumps(door_state.dict()))
 
         self._subscriptions.append(
             self.rmf.door_states.subscribe(lambda x: self._create_task(update(x)))
@@ -183,7 +183,7 @@ async def update(health: DoorHealth):
     def _record_lift_state(self):
         async def update(lift_state: LiftState):
             await lift_state.save()
-            self._loggers.lift_state.info(lift_state.json())
+            self._loggers.lift_state.debug(lift_state.json())
 
         self._subscriptions.append(
             self.rmf.lift_states.subscribe(lambda x: self._create_task(update(x)))
@@ -201,7 +201,7 @@ async def update(health: LiftHealth):
     def _record_dispenser_state(self):
         async def update(dispenser_state: DispenserState):
             await dispenser_state.save()
-            self._loggers.dispenser_state.info(dispenser_state.json())
+            self._loggers.dispenser_state.debug(dispenser_state.json())
 
         self._subscriptions.append(
             self.rmf.dispenser_states.subscribe(lambda x: self._create_task(update(x)))
@@ -219,7 +219,7 @@ async def update(health: DispenserHealth):
     def _record_ingestor_state(self):
         async def update(ingestor_state: IngestorState):
             await ingestor_state.save()
-            self._loggers.ingestor_state.info(ingestor_state.json())
+            self._loggers.ingestor_state.debug(ingestor_state.json())
 
         self._subscriptions.append(
             self.rmf.ingestor_states.subscribe(lambda x: self._create_task(update(x)))

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

@@ -103,4 +103,4 @@ async def rmf_gateway(websocket: WebSocket):
             msg: Dict[str, Any] = await websocket.receive_json()
             await process_msg(msg, fleet_repo)
     except WebSocketDisconnect:
-        pass
+        logger.warn("Client websocket disconnected")

packages/api-server/sqlite_local_config.py

@@ -10,5 +10,6 @@
         "db_url": f"sqlite://{run_dir}/db.sqlite3",
         "cache_directory": f"{run_dir}/cache",  # The directory where cached files should be stored.
         "ros_args": ["-p", "use_sim_time:=true"],
+        "log_level": "INFO",
     }
 )