Shuts down server if internal websocket connections exceed max allowed defined in config

[aaronchongth]

What's new

Implements an optional static limit to the number of internal websocket connections allowed. Supercedes #895

Temporary fix for #897

• Removes WebsocketHealthManager, just uses ConnectionManager
• New configurable parameter max_internal_websocket_connections. This value should be number of fleet adapters using BroadcastClient + number of task dispatchers

To test

• add "max_internal_websocket_connections": 1, to packages/api-server/sqlite_local_config.py, we only allow one fleet adapter connection
• launch office demo, ros2 launch rmf_demos_gz office.launch.xml server_uri:="ws://localhost:8000/_internal" headless:=1, this launches rmf_task_dispatcher without server connection at the moment
• in a separate terminal start a new task dispatcher and provide it with the server URI, ros2 run rmf_task_ros2 rmf_task_dispatcher --ros-args -p use_sim_time:=true -p server_uri:="ws://localhost:8000/_internal"
• The server will announce that the number of internal websocket connections was exceeded and shut down

Self-checks

• I have prototyped this new feature (if necessary) on Figma
• I'm familiar with and follow this Typescript guideline
• I added unit-tests for new components
• I tried testing edge cases
• I tested the behavior of the components that interact with the backend, with an e2e test

[codecov]

Codecov Report

Attention: 216 lines in your changes are missing coverage. Please review.

Comparison is base (fe0e808) 49.35% compared to head (9366c0d) 74.77%.
Report is 60 commits behind head on deploy/hammer.

Files	Patch %	Lines
...es/api-server/api_server/models/delivery_alerts.py	12.94%	74 Missing ⚠️
...ckages/api-server/api_server/repositories/tasks.py	36.76%	43 Missing ⚠️
packages/api-server/api_server/authenticator.py	38.88%	22 Missing ⚠️
...es/api-server/api_server/routes/delivery_alerts.py	26.66%	22 Missing ⚠️
...ckages/api-server/api_server/routes/tasks/tasks.py	42.42%	19 Missing ⚠️
...-server/api_server/routes/tasks/scheduled_tasks.py	34.61%	17 Missing ⚠️
packages/api-server/api_server/dependencies.py	37.50%	5 Missing ⚠️
...pi_server/models/tortoise_models/scheduled_task.py	54.54%	5 Missing ⚠️
...ckages/api-server/api_server/rmf_io/book_keeper.py	78.57%	3 Missing ⚠️
packages/api-server/api_server/routes/internal.py	86.95%	3 Missing ⚠️
... and 2 more

Additional details and impacted files

@@                Coverage Diff                 @@
##           deploy/hammer     #899       +/-   ##
==================================================
+ Coverage          49.35%   74.77%   +25.42%     
==================================================
  Files                285      134      -151     
  Lines               7564     3279     -4285     
  Branches            1050        0     -1050     
==================================================
- Hits                3733     2452     -1281     
+ Misses              3682      827     -2855     
+ Partials             149        0      -149     

Flag	Coverage Δ
api-server	74.77% <39.49%> (-6.03%)	⬇️
dashboard	?
react-components	?
rmf-auth	?

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