Hammer/fix dangling delivery alerts (#905)

* First working attempt, retrieving fleet state directly through DB instead of repo Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Properly logging and exception handling Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Align QoS for delivery alert topic Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * New route for responding to delivery alerts Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clean up unused interactions when closing error delivery alerts Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove unused close ID interactions Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clean up unsused routes and explicit delivery alert model with enums Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Feb 26, 2024 · e0e76bc · e0e76bc
1 parent 988f5c5
commit e0e76bc
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Showing 11 changed files with 422 additions and 1,104 deletions.
diff --git a/packages/api-client/lib/index.ts b/packages/api-client/lib/index.ts
@@ -4,7 +4,7 @@ import {
   ApiServerModelsTortoiseModelsAlertsAlertLeaf,
   ApiServerModelsTortoiseModelsBeaconsBeaconStateLeaf as BeaconState,
   BuildingMap,
-  ApiServerModelsTortoiseModelsDeliveryAlertsDeliveryAlertLeaf as DeliveryAlert,
+  DeliveryAlert,
   DispenserHealth,
   DispenserState,
   DoorHealth,

diff --git a/packages/api-client/lib/openapi/api.ts b/packages/api-client/lib/openapi/api.ts
diff --git a/packages/api-client/lib/version.ts b/packages/api-client/lib/version.ts
@@ -3,6 +3,6 @@ import { version as rmfModelVer } from 'rmf-models';
 
 export const version = {
   rmfModels: rmfModelVer,
-  rmfServer: '4f6e8567a0a3a44896f60898e84130c2be8a94c7',
+  rmfServer: '1403b63032764b781ef1ba349e50a9d895204bbb',
   openapiGenerator: '6.2.1',
 };
diff --git a/packages/api-client/schema/index.ts b/packages/api-client/schema/index.ts
diff --git a/packages/api-server/api_server/gateway.py b/packages/api-server/api_server/gateway.py
@@ -215,7 +215,12 @@ def convert_delivery_alert(delivery_alert: RmfDeliveryAlert):
             RmfDeliveryAlert,
             "delivery_alert_request",
             lambda msg: rmf_events.delivery_alerts.on_next(convert_delivery_alert(msg)),
-            10,
+            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(delivery_alert_request_sub)
 

diff --git a/packages/api-server/api_server/models/delivery_alerts.py b/packages/api-server/api_server/models/delivery_alerts.py
@@ -1,64 +1,64 @@
-# pyright: reportGeneralTypeIssues=false
+from enum import Enum
 
-from . import tortoise_models as ttm
+from pydantic import BaseModel
 
-# TODO(AC): These conversions need to exactly match the enum values defined
+# NOTE: These conversions need to exactly match the enum values defined
 # in rmf_fleet_msgs::msgs::DeliveryAlert* messages. Any changes to them will
 # require these conversions to be modified.
 
 
 def category_from_msg(category: int) -> str:
-    value = ttm.DeliveryAlert.Category.Wrong
+    value = DeliveryAlert.Category.Wrong
     match (category):
         case 0:
-            value = ttm.DeliveryAlert.Category.Missing
+            value = DeliveryAlert.Category.Missing
         case 1:
-            value = ttm.DeliveryAlert.Category.Wrong
+            value = DeliveryAlert.Category.Wrong
         case 2:
-            value = ttm.DeliveryAlert.Category.Obstructed
+            value = DeliveryAlert.Category.Obstructed
         case 3:
-            value = ttm.DeliveryAlert.Category.Cancelled
+            value = DeliveryAlert.Category.Cancelled
         case _:
             pass
     return value
 
 
 def tier_from_msg(tier: int) -> str:
-    value = ttm.DeliveryAlert.Tier.Error
+    value = DeliveryAlert.Tier.Error
     match (tier):
         case 0:
-            value = ttm.DeliveryAlert.Tier.Warning
+            value = DeliveryAlert.Tier.Warning
         case 1:
-            value = ttm.DeliveryAlert.Tier.Error
+            value = DeliveryAlert.Tier.Error
         case _:
             pass
     return value
 
 
 def action_from_msg(action: int) -> str:
-    value = ttm.DeliveryAlert.Action.Waiting
+    value = DeliveryAlert.Action.Waiting
     match (action):
         case 0:
-            value = ttm.DeliveryAlert.Action.Waiting
+            value = DeliveryAlert.Action.Waiting
         case 1:
-            value = ttm.DeliveryAlert.Action.Cancel
+            value = DeliveryAlert.Action.Cancel
         case 2:
-            value = ttm.DeliveryAlert.Action.Override
+            value = DeliveryAlert.Action.Override
         case 3:
-            value = ttm.DeliveryAlert.Action.Resume
+            value = DeliveryAlert.Action.Resume
     return value
 
 
 def category_to_msg(category: str) -> int:
     value = 1
     match (category):
-        case ttm.DeliveryAlert.Category.Missing:
+        case DeliveryAlert.Category.Missing:
             value = 0
-        case ttm.DeliveryAlert.Category.Wrong:
+        case DeliveryAlert.Category.Wrong:
             value = 1
-        case ttm.DeliveryAlert.Category.Obstructed:
+        case DeliveryAlert.Category.Obstructed:
             value = 2
-        case ttm.DeliveryAlert.Category.Cancelled:
+        case DeliveryAlert.Category.Cancelled:
             value = 3
         case _:
             pass
@@ -68,9 +68,9 @@ def category_to_msg(category: str) -> int:
 def tier_to_msg(tier: str) -> int:
     value = 1
     match (tier):
-        case ttm.DeliveryAlert.Tier.Warning:
+        case DeliveryAlert.Tier.Warning:
             value = 0
-        case ttm.DeliveryAlert.Tier.Error:
+        case DeliveryAlert.Tier.Error:
             value = 1
         case _:
             pass
@@ -80,49 +80,39 @@ def tier_to_msg(tier: str) -> int:
 def action_to_msg(action: str) -> int:
     value = 0
     match (action):
-        case ttm.DeliveryAlert.Action.Waiting:
+        case DeliveryAlert.Action.Waiting:
             value = 0
-        case ttm.DeliveryAlert.Action.Cancel:
+        case DeliveryAlert.Action.Cancel:
             value = 1
-        case ttm.DeliveryAlert.Action.Override:
+        case DeliveryAlert.Action.Override:
             value = 2
-        case ttm.DeliveryAlert.Action.Resume:
+        case DeliveryAlert.Action.Resume:
             value = 3
         case _:
             pass
     return value
 
 
-class DeliveryAlert(ttm.DeliveryAlertPydantic):
-    @staticmethod
-    def from_tortoise(tortoise: ttm.DeliveryAlert) -> "DeliveryAlert":
-        return DeliveryAlert(
-            id=tortoise.id,
-            category=tortoise.category,
-            tier=tortoise.tier,
-            action=tortoise.action,
-            task_id=tortoise.task_id,
-            message=tortoise.message,
-        )
-
-    async def save(self) -> None:
-        # Get previous delivery alert for this task ID
-        prev_waiting_delivery_alert = await ttm.DeliveryAlert.get_or_none(
-            task_id=self.task_id, action="waiting"
-        )
-
-        await ttm.DeliveryAlert.update_or_create(
-            {
-                "category": self.category,
-                "tier": self.tier,
-                "task_id": self.task_id,
-                "action": self.action,
-                "message": self.message,
-            },
-            id=self.id,
-        )
-
-        # If there was a previous delivery alert for this task ID, we cancel it
-        if prev_waiting_delivery_alert is not None:
-            await prev_waiting_delivery_alert.update_from_dict({"action": "cancelled"})
-            await prev_waiting_delivery_alert.save()
+class DeliveryAlert(BaseModel):
+    class Category(str, Enum):
+        Missing = "missing"
+        Wrong = "wrong"
+        Obstructed = "obstructed"
+        Cancelled = "cancelled"
+
+    class Tier(str, Enum):
+        Warning = "warning"
+        Error = "error"
+
+    class Action(str, Enum):
+        Waiting = "waiting"
+        Cancel = "cancelled"
+        Override = "override"
+        Resume = "resume"
+
+    id: str
+    category: Category
+    tier: Tier
+    action: Action
+    task_id: str
+    message: str
diff --git a/packages/api-server/api_server/rmf_io/book_keeper.py b/packages/api-server/api_server/rmf_io/book_keeper.py
@@ -10,7 +10,6 @@
 from api_server.models import (
     BeaconState,
     BuildingMap,
-    DeliveryAlert,
     DispenserHealth,
     DispenserState,
     DoorHealth,
@@ -37,7 +36,6 @@ class RmfBookKeeper:
         [
             "beacon_state",
             "building_map",
-            "delivery_alert",
             "door_state",
             "door_health",
             "lift_state",
@@ -67,7 +65,6 @@ def __init__(
         self._loggers = self._ChildLoggers(
             self._main_logger.getChild("beacon_state"),
             self._main_logger.getChild("building_map"),
-            self._main_logger.getChild("delivery_alert"),
             self._main_logger.getChild("door_state"),
             self._main_logger.getChild("door_health"),
             self._main_logger.getChild("lift_state"),
@@ -82,7 +79,6 @@ def __init__(
         )
 
         self._loggers.beacon_state.parent = self._main_logger
-        self._loggers.delivery_alert.parent = self._main_logger
         self._loggers.door_state.parent = self._main_logger
         self._loggers.door_health.parent = self._main_logger
         self._loggers.lift_state.parent = self._main_logger
@@ -100,7 +96,6 @@ def __init__(
     async def start(self):
         self._loop = asyncio.get_event_loop()
         self._record_beacon_state()
-        self._record_delivery_alert()
         self._record_building_map()
         self._record_door_state()
         self._record_door_health()
@@ -142,15 +137,6 @@ async def update(beacon_state: BeaconState):
             self.rmf.beacons.subscribe(lambda x: self._create_task(update(x)))
         )
 
-    def _record_delivery_alert(self):
-        async def update(delivery_alert: DeliveryAlert):
-            await delivery_alert.save()
-            self._loggers.delivery_alert.info(json.dumps(delivery_alert.dict()))
-
-        self._subscriptions.append(
-            self.rmf.delivery_alerts.subscribe(lambda x: self._create_task(update(x)))
-        )
-
     def _record_building_map(self):
         async def update(building_map: BuildingMap):
             if not building_map: