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Refactor robot status
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@oysand
oysand committed May 24, 2024
1 parent 9aa3030 commit 1b2fa4f
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Showing 11 changed files with 46 additions and 75 deletions.
22 changes: 6 additions & 16 deletions backend/api.test/EventHandlers/TestMissionEventHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -206,21 +206,16 @@ public async void NewMissionIsStartedWhenRobotBecomesAvailable()
Thread.Sleep(100);

var mqttEventArgs = new MqttReceivedArgs(
new IsarRobotStatusMessage
new IsarStatusMessage
{
RobotName = robot.Name,
IsarId = robot.IsarId,
RobotStatus = RobotStatus.Available,
PreviousRobotStatus = RobotStatus.Busy,
CurrentState = "idle",
CurrentMissionId = "",
CurrentTaskId = "",
CurrentStepId = "",
Status = RobotStatus.Available,
Timestamp = DateTime.UtcNow
});

// Act
_mqttService.RaiseEvent(nameof(MqttService.MqttIsarRobotStatusReceived), mqttEventArgs);
_mqttService.RaiseEvent(nameof(MqttService.MqttIsarStatusReceived), mqttEventArgs);
Thread.Sleep(500);

// Assert
Expand All @@ -239,21 +234,16 @@ public async void ReturnToHomeMissionIsStartedIfQueueIsEmptyWhenRobotBecomesAvai
var robot = await _databaseUtilities.NewRobot(RobotStatus.Busy, installation, area);

var mqttEventArgs = new MqttReceivedArgs(
new IsarRobotStatusMessage
new IsarStatusMessage
{
RobotName = robot.Name,
IsarId = robot.IsarId,
RobotStatus = RobotStatus.Available,
PreviousRobotStatus = RobotStatus.Busy,
CurrentState = "idle",
CurrentMissionId = "",
CurrentTaskId = "",
CurrentStepId = "",
Status = RobotStatus.Available,
Timestamp = DateTime.UtcNow
});

// Act
_mqttService.RaiseEvent(nameof(MqttService.MqttIsarRobotStatusReceived), mqttEventArgs);
_mqttService.RaiseEvent(nameof(MqttService.MqttIsarStatusReceived), mqttEventArgs);

// Assert
Thread.Sleep(1000);
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24 changes: 10 additions & 14 deletions backend/api/EventHandlers/MqttEventHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ public MqttEventHandler(ILogger<MqttEventHandler> logger, IServiceScopeFactory s

public override void Subscribe()
{
MqttService.MqttIsarRobotStatusReceived += OnIsarRobotStatus;
MqttService.MqttIsarStatusReceived += OnIsarStatus;
MqttService.MqttIsarRobotInfoReceived += OnIsarRobotInfo;
MqttService.MqttIsarMissionReceived += OnIsarMissionUpdate;
MqttService.MqttIsarTaskReceived += OnIsarTaskUpdate;
Expand All @@ -49,7 +49,7 @@ public override void Subscribe()

public override void Unsubscribe()
{
MqttService.MqttIsarRobotStatusReceived -= OnIsarRobotStatus;
MqttService.MqttIsarStatusReceived -= OnIsarStatus;
MqttService.MqttIsarRobotInfoReceived -= OnIsarRobotInfo;
MqttService.MqttIsarMissionReceived -= OnIsarMissionUpdate;
MqttService.MqttIsarTaskReceived -= OnIsarTaskUpdate;
Expand All @@ -63,33 +63,29 @@ public override void Unsubscribe()
protected override async Task ExecuteAsync(CancellationToken stoppingToken) { await stoppingToken; }


private async void OnIsarRobotStatus(object? sender, MqttReceivedArgs mqttArgs)
private async void OnIsarStatus(object? sender, MqttReceivedArgs mqttArgs)
{
var provider = GetServiceProvider();
var robotService = provider.GetRequiredService<IRobotService>();
var missionSchedulingService = provider.GetRequiredService<IMissionSchedulingService>();

var isarRobotStatus = (IsarRobotStatusMessage)mqttArgs.Message;
var isarStatus = (IsarStatusMessage)mqttArgs.Message;

var robot = await robotService.ReadByIsarId(isarRobotStatus.IsarId);
var robot = await robotService.ReadByIsarId(isarStatus.IsarId);

if (robot == null)
{
_logger.LogInformation("Received message from unknown ISAR instance {Id} with robot name {Name}", isarRobotStatus.IsarId, isarRobotStatus.RobotName);
_logger.LogInformation("Received message from unknown ISAR instance {Id} with robot name {Name}", isarStatus.IsarId, isarStatus.RobotName);
return;
}

if (robot.Status == isarRobotStatus.RobotStatus)
{
_logger.LogInformation("Robot {robotName} received a new isar robot status {isarRobotStatus}, but the robot status was already the same", robot.Name, isarRobotStatus.RobotStatus);
return;
}
if (robot.Status == isarStatus.Status) { return; }

robot.Status = isarRobotStatus.RobotStatus;
robot.Status = isarStatus.Status;
await robotService.Update(robot);
_logger.LogInformation("Updated status for robot {Name} to {Status}", robot.Name, isarRobotStatus.RobotStatus);
_logger.LogInformation("Updated status for robot {Name} to {Status}", robot.Name, isarStatus.Status);

if (isarRobotStatus.RobotStatus == RobotStatus.Available) missionSchedulingService.TriggerRobotAvailable(new RobotAvailableEventArgs(robot.Id));
if (isarStatus.Status == RobotStatus.Available) missionSchedulingService.TriggerRobotAvailable(new RobotAvailableEventArgs(robot.Id));
}

private async void OnIsarRobotInfo(object? sender, MqttReceivedArgs mqttArgs)
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35 changes: 0 additions & 35 deletions backend/api/MQTT/MessageModels/IsarRobotStatus.cs
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This file was deleted.

20 changes: 20 additions & 0 deletions backend/api/MQTT/MessageModels/IsarStatus.cs
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Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
using System.Text.Json.Serialization;
using Api.Database.Models;
namespace Api.Mqtt.MessageModels
{
#nullable disable
public class IsarStatusMessage : MqttMessage
{
[JsonPropertyName("robot_name")]
public string RobotName { get; set; }

[JsonPropertyName("isar_id")]
public string IsarId { get; set; }

[JsonPropertyName("status")]
public RobotStatus Status { get; set; }

[JsonPropertyName("timestamp")]
public DateTime Timestamp { get; set; }
}
}
8 changes: 4 additions & 4 deletions backend/api/MQTT/MqttService.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ public MqttService(ILogger<MqttService> logger, IConfiguration config)
var topics = mqttConfig.GetSection("Topics").Get<List<string>>() ?? [];
SubscribeToTopics(topics);
}
public static event EventHandler<MqttReceivedArgs>? MqttIsarRobotStatusReceived;
public static event EventHandler<MqttReceivedArgs>? MqttIsarStatusReceived;
public static event EventHandler<MqttReceivedArgs>? MqttIsarRobotInfoReceived;
public static event EventHandler<MqttReceivedArgs>? MqttIsarRobotHeartbeatReceived;
public static event EventHandler<MqttReceivedArgs>? MqttIsarMissionReceived;
Expand Down Expand Up @@ -122,8 +122,8 @@ private Task OnMessageReceived(MqttApplicationMessageReceivedEventArgs messageRe

switch (messageType)
{
case Type type when type == typeof(IsarRobotStatusMessage):
OnIsarTopicReceived<IsarRobotStatusMessage>(content);
case Type type when type == typeof(IsarStatusMessage):
OnIsarTopicReceived<IsarStatusMessage>(content);
break;
case Type type when type == typeof(IsarRobotInfoMessage):
OnIsarTopicReceived<IsarRobotInfoMessage>(content);
Expand Down Expand Up @@ -291,7 +291,7 @@ private void OnIsarTopicReceived<T>(string content) where T : MqttMessage
{
var raiseEvent = type switch
{
_ when type == typeof(IsarRobotStatusMessage) => MqttIsarRobotStatusReceived,
_ when type == typeof(IsarStatusMessage) => MqttIsarStatusReceived,
_ when type == typeof(IsarRobotInfoMessage) => MqttIsarRobotInfoReceived,
_ when type == typeof(IsarRobotHeartbeatMessage) => MqttIsarRobotHeartbeatReceived,
_ when type == typeof(IsarMissionMessage) => MqttIsarMissionReceived,
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2 changes: 1 addition & 1 deletion backend/api/MQTT/MqttTopics.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ public static class MqttTopics
new()
{
{
"isar/+/robot_status", typeof(IsarRobotStatusMessage)
"isar/+/status", typeof(IsarStatusMessage)
},
{
"isar/+/robot_info", typeof(IsarRobotInfoMessage)
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2 changes: 1 addition & 1 deletion backend/api/appsettings.Development.json
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Expand Up @@ -23,7 +23,7 @@
"Port": 1883,
"Username": "flotilla",
"Topics": [
"isar/+/robot_status",
"isar/+/status",
"isar/+/robot_info",
"isar/+/robot_heartbeat",
"isar/+/mission",
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2 changes: 1 addition & 1 deletion backend/api/appsettings.Local.json
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
"Port": 1883,
"Username": "flotilla",
"Topics": [
"isar/+/robot_status",
"isar/+/status",
"isar/+/robot_info",
"isar/+/robot_heartbeat",
"isar/+/mission",
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2 changes: 1 addition & 1 deletion backend/api/appsettings.Production.json
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
"Port": 1883,
"Username": "flotilla",
"Topics": [
"isar/+/robot_status",
"isar/+/status",
"isar/+/robot_info",
"isar/+/robot_heartbeat",
"isar/+/mission",
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2 changes: 1 addition & 1 deletion backend/api/appsettings.Staging.json
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
"Port": 1883,
"Username": "flotilla",
"Topics": [
"isar/+/robot_status",
"isar/+/status",
"isar/+/robot_info",
"isar/+/robot_heartbeat",
"isar/+/mission",
Expand Down
2 changes: 1 addition & 1 deletion backend/api/appsettings.Test.json
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
"Port": 1883,
"Username": "flotilla",
"Topics": [
"isar/+/robot_status",
"isar/+/status",
"isar/+/robot_info",
"isar/+/robot_heartbeat",
"isar/+/mission",
Expand Down

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