resubscribe on reconnect (#940)

* resubscribe on reconnect Signed-off-by: Teo Koon Peng <[email protected]> * retry ci Signed-off-by: Teo Koon Peng <[email protected]> * throttle so ui is only updated once every 5s Signed-off-by: Teo Koon Peng <[email protected]> * use dummy test to make ci pass Signed-off-by: Teo Koon Peng <[email protected]> * reduce throttle on map; remove unused code Signed-off-by: Teo Koon Peng <[email protected]> * reduce throttle to 3s Signed-off-by: Teo Koon Peng <[email protected]> --------- Signed-off-by: Teo Koon Peng <[email protected]>
open-rmf · Apr 25, 2024 · a764368 · a764368
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Showing 15 changed files with 156 additions and 612 deletions.
diff --git a/packages/api-client/lib/index.spec.ts b/packages/api-client/lib/index.spec.ts
@@ -8,31 +8,9 @@ describe('subscriptions', () => {
     spyOn(sioClient.sio, 'emit');
   });
 
-  it('multiplexes subscriptions', () => {
-    const s1 = sioClient.subscribe('test', () => {
-      // empty
-    });
-    const s2 = sioClient.subscribe('test', () => {
-      // empty
-    });
-    expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('subscribe', jasmine.anything());
-    (sioClient.sio.emit as jasmine.Spy).calls.reset();
-
-    sioClient.unsubscribe(s1);
-    sioClient.unsubscribe(s2);
-    expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('unsubscribe', jasmine.anything());
-  });
-
-  it('does not unsubscribe early when there are multiple subscriptions with the same listener', () => {
-    const listener = jasmine.createSpy();
-    const s1 = sioClient.subscribe('test', listener);
-    const s2 = sioClient.subscribe('test', listener);
-    expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('subscribe', jasmine.anything());
-    (sioClient.sio.emit as jasmine.Spy).calls.reset();
-
-    sioClient.unsubscribe(s1);
-    expect(sioClient.sio.emit).not.toHaveBeenCalled();
-    sioClient.unsubscribe(s2);
-    expect(sioClient.sio.emit).toHaveBeenCalledOnceWith('unsubscribe', jasmine.anything());
+  it('dummy', () => {
+    // Dummy test to ci passes.
+    // #940 removed multiplexing in order to support resubscribe on reconnect.
+    // With it gone, there is no more tests and ci fails as a result.
   });
 });
diff --git a/packages/api-client/lib/index.ts b/packages/api-client/lib/index.ts
@@ -31,41 +31,21 @@ export interface Subscription {
 
 export class SioClient {
   public sio: Socket;
-  private _subscriptions: Record<string, number> = {};
 
   constructor(...args: Parameters<typeof io>) {
     this.sio = io(...args);
   }
 
   subscribe<T>(room: string, listener: Listener<T>): Subscription {
-    const subs = this._subscriptions[room] || 0;
-    if (subs === 0) {
-      this.sio.emit('subscribe', { room });
-      debug(`subscribed to ${room}`);
-    } else {
-      debug(`reusing previous subscription to ${room}`);
-    }
+    this.sio.emit('subscribe', { room });
+    debug(`subscribed to ${room}`);
     this.sio.on(room, listener);
-    this._subscriptions[room] = subs + 1;
     return { room, listener };
   }
 
   unsubscribe(sub: Subscription): void {
-    const subCount = this._subscriptions[sub.room] || 0;
-    if (!subCount) {
-      debug(`tried to unsubscribe from ${sub.room}, but no subscriptions exist`);
-      // continue regardless
-    }
-    if (subCount <= 1) {
-      this.sio.emit('unsubscribe', { room: sub.room });
-      delete this._subscriptions[sub.room];
-      debug(`unsubscribed to ${sub.room}`);
-    } else {
-      this._subscriptions[sub.room] = subCount - 1;
-      debug(
-        `skipping unsubscribe to ${sub.room} because there are still ${subCount - 1} subscribers`,
-      );
-    }
+    this.sio.emit('unsubscribe', { room: sub.room });
+    debug(`unsubscribed to ${sub.room}`);
     this.sio.off(sub.room, sub.listener);
   }
 

diff --git a/packages/api-server/api_server/fast_io/__init__.py b/packages/api-server/api_server/fast_io/__init__.py
@@ -249,6 +249,34 @@ def _match_routes(
                 return match, r
         return None
 
+    async def _add_subscription(
+        self,
+        req: SubscriptionRequest,
+        handler: Callable[[], Observable | Coroutine[Any, Any, Observable]],
+    ):
+        if "_subscriptions" in req.session and req.session["_subscriptions"].get(
+            req.room
+        ):
+            return
+
+        maybe_coro = handler()
+        if asyncio.iscoroutine(maybe_coro):
+            obs = await maybe_coro
+        else:
+            obs = maybe_coro
+        obs = cast(Observable, obs)
+
+        loop = asyncio.get_event_loop()
+
+        def on_next(data):
+            async def emit():
+                await self.sio.emit(req.room, data, to=req.sid)
+
+            loop.create_task(emit())
+
+        sub = obs.subscribe(on_next)
+        req.session.setdefault("_subscriptions", {})[req.room] = sub
+
     async def _on_subscribe(self, sid: str, data: dict):
         try:
             sub_data = self._parse_sub_data(data)
@@ -270,23 +298,8 @@ async def _on_subscribe(self, sid: str, data: dict):
             req = SubscriptionRequest(
                 sid=sid, sio=self.sio, room=sub_data.room, session=session
             )
-            maybe_coro = route.endpoint(req, **match.groupdict())
-            if asyncio.iscoroutine(maybe_coro):
-                obs = await maybe_coro
-            else:
-                obs = maybe_coro
-            obs = cast(Observable, obs)
-
-            loop = asyncio.get_event_loop()
-
-            def on_next(data):
-                async def emit():
-                    await self.sio.emit(sub_data.room, data, to=sid)
-
-                loop.create_task(emit())
-
-            sub = obs.subscribe(on_next)
-            session.setdefault("_subscriptions", {})[sub_data.room] = sub
+            handler = lambda: route.endpoint(req, **match.groupdict())
+            await self._add_subscription(req, handler)
 
         except HTTPException as e:
             await self.sio.emit(

diff --git a/packages/dashboard/src/components/doors-app.tsx b/packages/dashboard/src/components/doors-app.tsx
@@ -1,8 +1,9 @@
 import { BuildingMap } from 'api-client';
 import React from 'react';
 import { DoorDataGridTable, DoorTableData } from 'react-components';
-import { AppEvents } from './app-events';
 import { DoorMode as RmfDoorMode } from 'rmf-models';
+import { throttleTime } from 'rxjs';
+import { AppEvents } from './app-events';
 import { createMicroApp } from './micro-app';
 import { RmfAppContext } from './rmf-app';
 import { getApiErrorMessage } from './utils';
@@ -31,29 +32,32 @@ export const DoorsApp = createMicroApp('Doors', () => {
         try {
           const { data } = await rmf.doorsApi.getDoorHealthDoorsDoorNameHealthGet(door.name);
           const { health_status } = data;
-          const sub = rmf.getDoorStateObs(door.name).subscribe((doorState) => {
-            setDoorTableData((prev) => {
-              return {
-                ...prev,
-                [door.name]: {
-                  index: doorIndex++,
-                  doorName: door.name,
-                  opMode: health_status ? health_status : 'N/A',
-                  levelName: level.name,
-                  doorType: door.door_type,
-                  doorState: doorState,
-                  onClickOpen: () =>
-                    rmf?.doorsApi.postDoorRequestDoorsDoorNameRequestPost(door.name, {
-                      mode: RmfDoorMode.MODE_OPEN,
-                    }),
-                  onClickClose: () =>
-                    rmf?.doorsApi.postDoorRequestDoorsDoorNameRequestPost(door.name, {
-                      mode: RmfDoorMode.MODE_CLOSED,
-                    }),
-                },
-              };
+          const sub = rmf
+            .getDoorStateObs(door.name)
+            .pipe(throttleTime(3000, undefined, { leading: true, trailing: true }))
+            .subscribe((doorState) => {
+              setDoorTableData((prev) => {
+                return {
+                  ...prev,
+                  [door.name]: {
+                    index: doorIndex++,
+                    doorName: door.name,
+                    opMode: health_status ? health_status : 'N/A',
+                    levelName: level.name,
+                    doorType: door.door_type,
+                    doorState: doorState,
+                    onClickOpen: () =>
+                      rmf?.doorsApi.postDoorRequestDoorsDoorNameRequestPost(door.name, {
+                        mode: RmfDoorMode.MODE_OPEN,
+                      }),
+                    onClickClose: () =>
+                      rmf?.doorsApi.postDoorRequestDoorsDoorNameRequestPost(door.name, {
+                        mode: RmfDoorMode.MODE_CLOSED,
+                      }),
+                  },
+                };
+              });
             });
-          });
           return () => sub.unsubscribe();
         } catch (error) {
           console.error(`Failed to get lift health: ${getApiErrorMessage(error)}`);

diff --git a/packages/dashboard/src/components/doors-overlay.tsx b/packages/dashboard/src/components/doors-overlay.tsx
diff --git a/packages/dashboard/src/components/lifts-app.tsx b/packages/dashboard/src/components/lifts-app.tsx
@@ -1,13 +1,14 @@
+import { TableContainer } from '@mui/material';
 import { BuildingMap, Lift } from 'api-client';
 import React from 'react';
+import { LiftDataGridTable, LiftTableData } from 'react-components';
 import { LiftRequest as RmfLiftRequest } from 'rmf-models';
-import { LiftTableData, LiftDataGridTable } from 'react-components';
+import { throttleTime } from 'rxjs';
 import { AppEvents } from './app-events';
+import { LiftSummary } from './lift-summary';
 import { createMicroApp } from './micro-app';
 import { RmfAppContext } from './rmf-app';
 import { getApiErrorMessage } from './utils';
-import { TableContainer } from '@mui/material';
-import { LiftSummary } from './lift-summary';
 
 export const LiftsApp = createMicroApp('Lifts', () => {
   const rmf = React.useContext(RmfAppContext);
@@ -34,47 +35,50 @@ export const LiftsApp = createMicroApp('Lifts', () => {
 
     buildingMap?.lifts.map(async (lift, i) => {
       try {
-        const sub = rmf.getLiftStateObs(lift.name).subscribe((liftState) => {
-          setLiftTableData((prev) => {
-            return {
-              ...prev,
-              [lift.name]: [
-                {
-                  index: i,
-                  name: lift.name,
-                  mode: liftState.current_mode,
-                  currentFloor: liftState.current_floor,
-                  destinationFloor: liftState.destination_floor,
-                  doorState: liftState.door_state,
-                  motionState: liftState.motion_state,
-                  sessionId: liftState.session_id,
-                  lift: lift,
-                  onRequestSubmit: async (_ev, doorState, requestType, destination) => {
-                    let fleet_session_ids: string[] = [];
-                    if (requestType === RmfLiftRequest.REQUEST_END_SESSION) {
-                      const fleets = (await rmf?.fleetsApi.getFleetsFleetsGet()).data;
-                      for (const fleet of fleets) {
-                        if (!fleet.robots) {
-                          continue;
-                        }
-                        for (const robotName of Object.keys(fleet.robots)) {
-                          fleet_session_ids.push(`${fleet.name}/${robotName}`);
+        const sub = rmf
+          .getLiftStateObs(lift.name)
+          .pipe(throttleTime(3000, undefined, { leading: true, trailing: true }))
+          .subscribe((liftState) => {
+            setLiftTableData((prev) => {
+              return {
+                ...prev,
+                [lift.name]: [
+                  {
+                    index: i,
+                    name: lift.name,
+                    mode: liftState.current_mode,
+                    currentFloor: liftState.current_floor,
+                    destinationFloor: liftState.destination_floor,
+                    doorState: liftState.door_state,
+                    motionState: liftState.motion_state,
+                    sessionId: liftState.session_id,
+                    lift: lift,
+                    onRequestSubmit: async (_ev, doorState, requestType, destination) => {
+                      let fleet_session_ids: string[] = [];
+                      if (requestType === RmfLiftRequest.REQUEST_END_SESSION) {
+                        const fleets = (await rmf?.fleetsApi.getFleetsFleetsGet()).data;
+                        for (const fleet of fleets) {
+                          if (!fleet.robots) {
+                            continue;
+                          }
+                          for (const robotName of Object.keys(fleet.robots)) {
+                            fleet_session_ids.push(`${fleet.name}/${robotName}`);
+                          }
                         }
                       }
-                    }
 
-                    return rmf?.liftsApi.postLiftRequestLiftsLiftNameRequestPost(lift.name, {
-                      destination,
-                      door_mode: doorState,
-                      request_type: requestType,
-                      additional_session_ids: fleet_session_ids,
-                    });
+                      return rmf?.liftsApi.postLiftRequestLiftsLiftNameRequestPost(lift.name, {
+                        destination,
+                        door_mode: doorState,
+                        request_type: requestType,
+                        additional_session_ids: fleet_session_ids,
+                      });
+                    },
                   },
-                },
-              ],
-            };
+                ],
+              };
+            });
           });
-        });
         return () => sub.unsubscribe();
       } catch (error) {
         console.error(`Failed to get lift state: ${getApiErrorMessage(error)}`);