Feature/beacons backend (#726)

* Beacon state database model created

Signed-off-by: Aaron Chong <[email protected]>

* Beacons backend

Signed-off-by: Aaron Chong <[email protected]>

* Added route to app, fixed return value as tuple

Signed-off-by: Aaron Chong <[email protected]>

* Small fix in alerts on_next call

Signed-off-by: Aaron Chong <[email protected]>

* Set any newly saved beacon state to next event for subscription

Signed-off-by: Aaron Chong <[email protected]>

* Fix typo on subs call and raise HTTP exception when state is not found

Signed-off-by: Aaron Chong <[email protected]>

* Lint

Signed-off-by: Aaron Chong <[email protected]>

* Fix parameter name

Signed-off-by: Aaron Chong <[email protected]>

---------

Signed-off-by: Aaron Chong <[email protected]>

packages/api-server/api_server/app.py

@@ -78,6 +78,9 @@ async def on_sio_connect(sid: str, _environ: dict, auth: Optional[dict] = None):
 app.include_router(
     routes.alerts_router, prefix="/alerts", dependencies=[Depends(user_dep)]
 )
+app.include_router(
+    routes.beacons_router, prefix="/beacons", dependencies=[Depends(user_dep)]
+)
 app.include_router(
     routes.building_map_router, prefix="/building_map", dependencies=[Depends(user_dep)]
 )

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

@@ -1,5 +1,6 @@
 from .alerts import *
 from .authorization import *
+from .beacons import *
 from .building_map import BuildingMap
 from .dispenser_state import DispenserState
 from .door_state import DoorState

packages/api-server/api_server/models/tortoise_models/beacons.py

@@ -0,0 +1,14 @@
+from tortoise.contrib.pydantic.creator import pydantic_model_creator
+from tortoise.fields import BooleanField, CharField
+from tortoise.models import Model
+
+
+class BeaconState(Model):
+    id = CharField(255, pk=True)
+    online = BooleanField(index=True)
+    category = CharField(255, null=True, index=True)
+    activated = BooleanField(index=True)
+    level = CharField(255, null=True, index=True)
+
+
+BeaconStatePydantic = pydantic_model_creator(BeaconState)

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

@@ -3,6 +3,7 @@
     RmfEvents,
     TaskEvents,
     alert_events,
+    beacon_events,
     fleet_events,
     rmf_events,
     task_events,

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

@@ -45,3 +45,11 @@ def __init__(self):
 
 
 alert_events = AlertEvents()
+
+
+class BeaconEvents:
+    def __init__(self):
+        self.beacons = Subject()  # Beacons
+
+
+beacon_events = BeaconEvents()

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

@@ -1,5 +1,6 @@
 from .admin import router as admin_router
 from .alerts import router as alerts_router
+from .beacons import router as beacons_router
 from .building_map import router as building_map_router
 from .dispensers import router as dispensers_router
 from .doors import router as doors_router

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

@@ -0,0 +1,54 @@
+from typing import List
+
+from fastapi import HTTPException
+from rx import operators as rxops
+
+from api_server.fast_io import FastIORouter, SubscriptionRequest
+from api_server.models import tortoise_models as ttm
+from api_server.rmf_io import beacon_events
+
+router = FastIORouter(tags=["Beacons"])
+
+
+@router.sub("", response_model=ttm.BeaconStatePydantic)
+async def sub_beacons(_req: SubscriptionRequest):
+    return beacon_events.beacons.pipe(rxops.filter(lambda x: x is not None))
+
+
+@router.get("", response_model=List[ttm.BeaconStatePydantic])
+async def get_beacons():
+    beacons = await ttm.BeaconState.all()
+    return [await ttm.BeaconStatePydantic.from_tortoise_orm(a) for a in beacons]
+
+
+@router.get("/{beacon_id}", response_model=ttm.BeaconStatePydantic)
+async def get_beacon(beacon_id: str):
+    beacon_state = await ttm.BeaconState.get_or_none(id=beacon_id)
+    if beacon_state is None:
+        raise HTTPException(404, f"Beacon with ID {beacon_id} not found")
+    beacon_state_pydantic = await ttm.BeaconStatePydantic.from_tortoise_orm(
+        beacon_state
+    )
+    return beacon_state_pydantic
+
+
+@router.post("", status_code=201, response_model=ttm.BeaconStatePydantic)
+async def save_beacon_state(
+    beacon_id: str, online: bool, category: str, activated: bool, level: str
+):
+    beacon_state, _ = await ttm.BeaconState.update_or_create(
+        {
+            "online": online,
+            "category": category,
+            "activated": activated,
+            "level": level,
+        },
+        id=beacon_id,
+    )
+    if beacon_state is None:
+        raise HTTPException(404, f"Could not save beacon state with ID {beacon_id}")
+    beacon_state_pydantic = await ttm.BeaconStatePydantic.from_tortoise_orm(
+        beacon_state
+    )
+    beacon_events.beacons.on_next(beacon_state_pydantic)
+    return beacon_state_pydantic

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

@@ -59,7 +59,8 @@ async def process_msg(msg: Dict[str, Any], fleet_repo: FleetRepository) -> None:
 
         if task_state.status == mdl.Status.completed:
             alert = await alert_repo.create_alert(task_state.booking.id, "task")
-            alert_events.alerts.on_next(alert)
+            if alert is not None:
+                alert_events.alerts.on_next(alert)
 
     elif payload_type == "task_log_update":
         task_log = mdl.TaskEventLog(**msg["data"])
@@ -68,7 +69,8 @@ async def process_msg(msg: Dict[str, Any], fleet_repo: FleetRepository) -> None:
 
         if task_log_has_error(task_log):
             alert = await alert_repo.create_alert(task_log.task_id, "task")
-            alert_events.alerts.on_next(alert)
+            if alert is not None:
+                alert_events.alerts.on_next(alert)
 
     elif payload_type == "fleet_state_update":
         fleet_state = mdl.FleetState(**msg["data"])