Updated rmf_api to latest before adding decommission related schema

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

packages/api-client/lib/index.ts

@@ -9,7 +9,7 @@ import {
   DispenserState,
   DoorHealth,
   DoorState,
-  ApiServerModelsRmfApiFleetStateFleetState,
+  FleetState,
   IngestorHealth,
   IngestorState,
   LiftHealth,
@@ -19,7 +19,6 @@ import {
 } from './openapi';
 
 type Alert = ApiServerModelsTortoiseModelsAlertsAlertLeaf;
-type FleetState = ApiServerModelsRmfApiFleetStateFleetState;
 
 const debug = Debug('rmf-client');
 

packages/api-client/lib/version.ts

@@ -3,6 +3,6 @@ import { version as rmfModelVer } from 'rmf-models';
 
 export const version = {
   rmfModels: rmfModelVer,
-  rmfServer: '6d36e1be8116a741a6e7206a90481171536e029c',
+  rmfServer: 'aa96f48b48cdc810a8e26c65bdc241fed828daf7',
   openapiGenerator: '6.2.1',
 };

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

@@ -14,7 +14,7 @@
 from .rmf_api.cancel_task_response import TaskCancelResponse
 from .rmf_api.dispatch_task_request import DispatchTaskRequest
 from .rmf_api.dispatch_task_response import *
-from .rmf_api.fleet_log import FleetState as FleetLog
+from .rmf_api.fleet_log import FleetLog as FleetLog
 from .rmf_api.fleet_log_request import FleetLogRequest
 from .rmf_api.fleet_log_response import FleetLogResponse
 from .rmf_api.fleet_log_update import TaskEventLogUpdate as FleetLogUpdate
@@ -29,7 +29,7 @@
 from .rmf_api.resume_task_response import TaskResumeResponse
 from .rmf_api.rewind_task_request import TaskRewindRequest
 from .rmf_api.rewind_task_response import TaskRewindResponse
-from .rmf_api.robot_state import RobotState, Status2
+from .rmf_api.robot_state import RobotState, Status
 from .rmf_api.robot_task_request import RobotTaskRequest
 from .rmf_api.robot_task_response import *
 from .rmf_api.skip_phase_request import TaskPhaseSkipRequest

packages/api-server/api_server/models/rmf_api/fleet_log.py

@@ -10,7 +10,7 @@
 from . import log_entry
 
 
-class FleetState(BaseModel):
+class FleetLog(BaseModel):
     name: Optional[str] = None
     log: Optional[List[log_entry.LogEntry]] = Field(
         None, description="Log for the overall fleet"

packages/api-server/api_server/models/rmf_api/fleet_log_response.py

@@ -21,7 +21,7 @@ class Success(Enum):
 
 class FleetLogResponseItem(BaseModel):
     success: Success
-    data: fleet_log.FleetState
+    data: fleet_log.FleetLog
 
 
 class FleetLogResponseItem1(BaseModel):

packages/api-server/api_server/models/rmf_api/fleet_log_update.py

@@ -13,4 +13,4 @@ class TaskEventLogUpdate(BaseModel):
     type: Literal["fleet_log_update"] = Field(
         ..., description="Indicate that this is a fleet log update"
     )
-    data: fleet_log.FleetState
+    data: fleet_log.FleetLog

packages/api-server/api_server/models/rmf_api/robot_state.py

@@ -11,7 +11,7 @@
 from . import location_2D
 
 
-class Status2(Enum):
+class Status(Enum):
     uninitialized = "uninitialized"
     offline = "offline"
     shutdown = "shutdown"
@@ -30,7 +30,7 @@ class Issue(BaseModel):
 
 class RobotState(BaseModel):
     name: Optional[str] = None
-    status: Optional[Status2] = Field(
+    status: Optional[Status] = Field(
         None, description="A simple token representing the status of the robot"
     )
     task_id: Optional[str] = Field(

packages/api-server/api_server/models/rmf_api/rtls_tag_state.py

@@ -0,0 +1,60 @@
+# generated by datamodel-codegen:
+#   filename:  rtls_tag_state.json
+
+from __future__ import annotations
+
+from enum import Enum
+from typing import Any, Dict, List, Optional, Union
+
+from pydantic import BaseModel, Field, confloat
+
+from . import location_2D
+
+
+class Status2(Enum):
+    uninitialized = "uninitialized"
+    offline = "offline"
+    shutdown = "shutdown"
+    idle = "idle"
+    charging = "charging"
+    working = "working"
+    error = "error"
+
+
+class LocationType(Enum):
+    zone = "zone"
+    coord = "coord"
+
+
+class AssetType(BaseModel):
+    asset_type: Optional[str] = Field(None, description="type of the asset")
+    asset_subtype: Optional[str] = Field(None, description="subtype of the asset")
+
+
+class Issue(BaseModel):
+    category: Optional[str] = Field(None, description="Category of the tag's issue")
+    detail: Optional[Union[Dict[str, Any], List, str]] = Field(
+        None, description="Detailed information about the issue"
+    )
+
+
+class RtlsTagState(BaseModel):
+    tag_id: str = Field(..., description="The ID of the rtls tag.")
+    status: Optional[Status2] = Field(
+        None, description="A simple token representing the status of the tag"
+    )
+    location_type: Optional[LocationType] = Field(
+        None, description="The type location information provided by the tag."
+    )
+    asset_type: Optional[AssetType] = Field(
+        None, description="The type of the tagged asset."
+    )
+    unix_millis_time: Optional[int] = None
+    location: Optional[location_2D.Location2D] = None
+    battery: Optional[confloat(ge=0.0, le=1.0)] = Field(
+        None,
+        description="State of charge of the battery. Values range from 0.0 (depleted) to 1.0 (fully charged)",
+    )
+    issues: Optional[List[Issue]] = Field(
+        None, description="A list of issues with the tag that operators need to address"
+    )

packages/api-server/api_server/models/rmf_api/task_request.py

@@ -31,6 +31,10 @@ class TaskRequest(BaseModel):
         None,
         description="(Optional) An identifier for the entity that requested this task",
     )
+    fleet_name: Optional[str] = Field(
+        None,
+        description="(Optional) The name of the fleet that should perform this task. If specified, other fleets will not bid for this task.",
+    )
     unix_millis_warn_time: Optional[int] = Field(
         None,
         description="(Optional) The time at which a warning will be issued if the estimated completion time is later than expected",

packages/api-server/api_server/models/rmf_api/transformation_2D.py

@@ -0,0 +1,15 @@
+# generated by datamodel-codegen:
+#   filename:  transformation_2D.json
+
+from __future__ import annotations
+
+from pydantic import BaseModel
+
+
+class Transformation2D(BaseModel):
+    target_map: str
+    ref_map: str
+    x: float
+    y: float
+    yaw: float
+    scale: float

packages/api-server/api_server/models/rmf_api/version.py

@@ -1,5 +1,5 @@
 # THIS FILE IS GENERATED
 version = {
-    "rmf_api_msgs": "91295892192d24ec73c9a1c6fa54334963586784",
+    "rmf_api_msgs": "a77c3a2d53f7f61aa379bf2ba64a41f98998c9f5",
     "datamodel-code-generator": "0.11.19",
 }

packages/api-server/generate-models.sh

@@ -4,7 +4,7 @@ shopt -s globstar
 
 RMF_BUILDING_MAP_MSGS_VER=c5e0352e2dfd3d11e4d292a1c2901cad867c1441
 RMF_INTERNAL_MSGS_VER=3690a47055ef45466cf970587d8b8e09df1a8825
-RMF_API_MSGS_VER=91295892192d24ec73c9a1c6fa54334963586784
+RMF_API_MSGS_VER=a77c3a2d53f7f61aa379bf2ba64a41f98998c9f5
 RMF_ROS2_VER=bf038461b5b0fb7d4594461a724bc9e5e7cb97c6
 CODEGEN_VER=$(pipenv run datamodel-codegen --version)
 

packages/dashboard/src/components/map-app.tsx

@@ -1,5 +1,5 @@
 import { Box, styled, Typography, useMediaQuery } from '@mui/material';
-import { BuildingMap, ApiServerModelsRmfApiFleetStateFleetState, Level, Lift } from 'api-client';
+import { BuildingMap, FleetState, Level, Lift } from 'api-client';
 import { Door as DoorModel } from 'rmf-models';
 import Debug from 'debug';
 import React, { ChangeEvent, Suspense } from 'react';
@@ -31,8 +31,6 @@ import { Lifts, Door, RobotThree } from './three-fiber';
 import { DoorSummary } from './door-summary';
 import { LiftSummary } from './lift-summary';
 
-type FleetState = ApiServerModelsRmfApiFleetStateFleetState;
-
 const debug = Debug('MapApp');
 
 const TrajectoryUpdateInterval = 2000;

packages/dashboard/src/components/rmf-app/rmf-ingress.ts

@@ -17,7 +17,7 @@ import {
   DoorsApi,
   DoorState,
   FleetsApi,
-  ApiServerModelsRmfApiFleetStateFleetState,
+  FleetState,
   Ingestor,
   IngestorsApi,
   IngestorState,
@@ -40,7 +40,6 @@ import {
 } from '../../managers/robot-trajectory-manager';
 
 type Alert = ApiServerModelsTortoiseModelsAlertsAlertLeaf;
-type FleetState = ApiServerModelsRmfApiFleetStateFleetState;
 
 export class RmfIngress {
   // This should be private because socketio does not support "replaying" subscription. If

packages/dashboard/src/components/robots/robot-decommission.tsx

@@ -1,6 +1,6 @@
 import { Button, ButtonProps, Theme, Tooltip, Typography } from '@mui/material';
 import { AppEvents } from '../app-events';
-import { RobotState, Status2 } from 'api-client';
+import { RobotState, ApiServerModelsRmfApiRobotStateStatus as Status } from 'api-client';
 import React from 'react';
 import { AppControllerContext } from '../app-contexts';
 import { RmfAppContext } from '../rmf-app';
@@ -41,7 +41,7 @@ export function RobotDecommissionButton({
   );
 
   const robotDecommissioned =
-    robotState && robotState.status && robotState.status === Status2.Uninitialized;
+    robotState && robotState.status && robotState.status === Status.Uninitialized;
   // TODO: use authz for decommissioning robot
   // const profile: UserProfile | null = React.useContext(UserProfileContext);
   // const userCanDecommissionRobot = profile && Enforcer.canDecommissionRobot(profile);

packages/dashboard/src/components/robots/robot-summary.tsx

@@ -17,7 +17,7 @@ import { makeStyles, createStyles } from '@mui/styles';
 import React from 'react';
 import { RmfAppContext } from '../rmf-app';
 import { RobotTableData, base } from 'react-components';
-import { RobotState, Status2, TaskState } from 'api-client';
+import { RobotState, ApiServerModelsRmfApiRobotStateStatus as Status, TaskState } from 'api-client';
 import { EMPTY, combineLatest, mergeMap, of } from 'rxjs';
 import { TaskInspector } from '../tasks/task-inspector';
 import {
@@ -46,16 +46,16 @@ const useStyles = makeStyles((theme: Theme) =>
   }),
 );
 
-const setTaskDialogColor = (robotStatus: Status2 | undefined) => {
+const setTaskDialogColor = (robotStatus: Status | undefined) => {
   if (!robotStatus) {
     return base.palette.background.default;
   }
 
   switch (robotStatus) {
-    case Status2.Error:
+    case Status.Error:
       return base.palette.error.dark;
 
-    case Status2.Working:
+    case Status.Working:
       return base.palette.success.dark;
 
     default:
@@ -84,7 +84,7 @@ interface RobotSummaryProps {
 }
 
 const showBatteryIcon = (robot: RobotState, robotBattery: number) => {
-  if (robot.status === Status2.Charging) {
+  if (robot.status === Status.Charging) {
     return <BatteryChargingFull />;
   }
 

packages/dashboard/src/components/tasks/task-alert.tsx

@@ -3,7 +3,7 @@ import {
   ApiServerModelsRmfApiLogEntryTier as Tier,
   ApiServerModelsTortoiseModelsAlertsAlertLeaf,
   LogEntry,
-  Status,
+  ApiServerModelsRmfApiTaskStateStatus as Status,
   Status1,
   TaskEventLog,
   TaskState,

packages/dashboard/src/components/tasks/task-logs.tsx

@@ -1,5 +1,10 @@
 import { Box, Divider, Grid, Paper, Typography, useTheme } from '@mui/material';
-import { EventState, Status, TaskEventLog, TaskState } from 'api-client';
+import {
+  EventState,
+  ApiServerModelsRmfApiTaskStateStatus as Status,
+  TaskEventLog,
+  TaskState,
+} from 'api-client';
 import { format } from 'date-fns';
 
 interface TaskLogProps {

packages/dashboard/src/components/tasks/task-summary.tsx

@@ -14,7 +14,7 @@ import DialogActions from '@mui/material/DialogActions';
 import DialogContent from '@mui/material/DialogContent';
 import DialogTitle from '@mui/material/DialogTitle';
 import { makeStyles, createStyles } from '@mui/styles';
-import { Status, TaskRequest, TaskState } from 'api-client';
+import { ApiServerModelsRmfApiTaskStateStatus as Status, TaskRequest, TaskState } from 'api-client';
 import { base, parseCartId, parseCategory, parseDestination, parsePickup } from 'react-components';
 import { TaskInspector } from './task-inspector';
 import { RmfAppContext } from '../rmf-app';

packages/dashboard/src/util/common-subscriptions.ts

@@ -1,16 +1,8 @@
 import React from 'react';
 import * as RmfModels from 'rmf-models';
-import {
-  ApiServerModelsRmfApiFleetStateFleetState,
-  SioClient,
-  Ingestor,
-  Dispenser,
-  Subscription,
-} from 'api-client';
+import { FleetState, SioClient, Ingestor, Dispenser, Subscription } from 'api-client';
 import { RmfIngress } from '../components/rmf-app/rmf-ingress';
 
-type FleetState = ApiServerModelsRmfApiFleetStateFleetState;
-
 export const useFleets = (
   rmfIngress: RmfIngress | undefined,
   setFleets: React.Dispatch<React.SetStateAction<FleetState[]>>,

packages/react-components/lib/robots/robot-table-datagrid.spec.tsx

@@ -1,5 +1,5 @@
 import { render, fireEvent } from '@testing-library/react';
-import { Status2 as RobotStatus } from 'api-client';
+import { ApiServerModelsRmfApiRobotStateStatus as RobotStatus } from 'api-client';
 import React from 'react';
 import { RobotTableData } from './robot-table';
 import { makeRobot } from './test-utils.spec';

packages/react-components/lib/robots/robot-table-datagrid.stories.tsx

@@ -1,7 +1,7 @@
 import React from 'react';
 import { storiesOf } from '@storybook/react';
 import { RobotDataGridTable } from './robot-table-datagrid';
-import { Status2 as RobotStatus } from 'api-client';
+import { ApiServerModelsRmfApiRobotStateStatus as RobotStatus } from 'api-client';
 import { RobotTableData } from './robot-table';
 
 // Define the stories

packages/react-components/lib/robots/robot-table-datagrid.tsx

@@ -9,9 +9,8 @@ import {
 } from '@mui/x-data-grid';
 import { Box, SxProps, Typography, useTheme, useMediaQuery } from '@mui/material';
 import * as React from 'react';
-import { Status2 } from 'api-client';
+import { ApiServerModelsRmfApiRobotStateStatus as Status } from 'api-client';
 import { RobotTableData } from './robot-table';
-import { robotStatusToUpperCase } from './utils';
 
 export interface RobotDataGridTableProps {
   onRobotClick?(ev: MuiEvent<React.MouseEvent<HTMLElement>>, robotName: RobotTableData): void;
@@ -30,7 +29,7 @@ export function RobotDataGridTable({ onRobotClick, robots }: RobotDataGridTableP
     }
   };
 
-  const Status = (params: GridCellParams): React.ReactNode => {
+  const StatusCell = (params: GridCellParams): React.ReactNode => {
     const theme = useTheme();
     const statusLabelStyle: SxProps = (() => {
       const error = {
@@ -50,14 +49,14 @@ export function RobotDataGridTable({ onRobotClick, robots }: RobotDataGridTableP
       };
 
       switch (params.row.status) {
-        case Status2.Error:
+        case Status.Error:
           return error;
-        case Status2.Offline:
-        case Status2.Uninitialized:
+        case Status.Offline:
+        case Status.Uninitialized:
           return disabled;
-        case Status2.Charging:
+        case Status.Charging:
           return charging;
-        case Status2.Working:
+        case Status.Working:
           return working;
         default:
           return defaultColor;
@@ -74,7 +73,7 @@ export function RobotDataGridTable({ onRobotClick, robots }: RobotDataGridTableP
             fontSize: isScreenHeightLessThan800 ? 10 : 16,
           }}
         >
-          {robotStatusToUpperCase(params.row.status)}
+          {params.row.status.toUpperCase()}
         </Typography>
       </Box>
     );
@@ -141,7 +140,7 @@ export function RobotDataGridTable({ onRobotClick, robots }: RobotDataGridTableP
       headerName: 'Status',
       editable: false,
       flex: 1,
-      renderCell: Status,
+      renderCell: StatusCell,
       filterable: true,
     },
   ];