Direct dispatch to fleet or robot (#1004)

* Basic implementation of priority based on legacy implementation Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use icons for favorite Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix warning time, use switch and made buttons nicer Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * To display priority Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Helper function to handle null and undefined priority, clean up creation Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use switch for priority, flip low priority icon Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove getDefaultTaskPriorty Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic implementation working, still with frontend errors Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix component render sequence issues Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix capitalization, disable scheuling for robot dispatch, allow edit scheduled fleet task Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Comments and consolidate logs Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Slight tree view for robots, change dropdown size, use const enum Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Refactor dispatch and schedule callbacks, fix edit schedule event, add comments Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove stale print Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Make task form more generically named, new callback for schedule editing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Document props Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Sep 18, 2024 · 5d670b5 · 5d670b5
1 parent 89c9d72
commit 5d670b5
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Showing 14 changed files with 514 additions and 204 deletions.
diff --git a/packages/dashboard/src/components/appbar.tsx b/packages/dashboard/src/components/appbar.tsx
@@ -43,19 +43,19 @@ import {
 import { AlertRequest, FireAlarmTriggerState, TaskFavorite } from 'api-client';
 import { formatDistance } from 'date-fns';
 import React from 'react';
-import { ConfirmationDialog, CreateTaskForm, CreateTaskFormProps } from 'react-components';
+import { ConfirmationDialog, TaskForm, TaskFormProps } from 'react-components';
 import { Subscription } from 'rxjs';
 
 import { useAppController } from '../hooks/use-app-controller';
 import { useAuthenticator } from '../hooks/use-authenticator';
-import { useCreateTaskFormData } from '../hooks/use-create-task-form';
+import { useTaskFormData } from '../hooks/use-create-task-form';
 import { useResources } from '../hooks/use-resources';
 import { useRmfApi } from '../hooks/use-rmf-api';
 import { useSettings } from '../hooks/use-settings';
 import { useTaskRegistry } from '../hooks/use-task-registry';
 import { useUserProfile } from '../hooks/use-user-profile';
 import { AppEvents } from './app-events';
-import { toApiSchedule } from './tasks/utils';
+import { dispatchTask, scheduleTask } from './tasks/utils';
 import { DashboardThemes } from './theme';
 
 export const APP_BAR_HEIGHT = '3.5rem';
@@ -116,8 +116,8 @@ export const AppBar = React.memo(
       FireAlarmTriggerState | undefined
     >(undefined);
 
-    const { waypointNames, pickupPoints, dropoffPoints, cleaningZoneNames } =
-      useCreateTaskFormData(rmfApi);
+    const { waypointNames, pickupPoints, dropoffPoints, cleaningZoneNames, fleets } =
+      useTaskFormData(rmfApi);
     const username = profile.user.username;
 
     async function handleLogout(): Promise<void> {
@@ -147,30 +147,23 @@ export const AppBar = React.memo(
       return () => subs.forEach((s) => s.unsubscribe());
     }, [rmfApi]);
 
-    const submitTasks = React.useCallback<Required<CreateTaskFormProps>['submitTasks']>(
-      async (taskRequests, schedule) => {
-        if (!schedule) {
-          await Promise.all(
-            taskRequests.map((request) => {
-              console.debug('submitTask:');
-              console.debug(request);
-              return rmfApi.tasksApi.postDispatchTaskTasksDispatchTaskPost({
-                type: 'dispatch_task_request',
-                request,
-              });
-            }),
-          );
-        } else {
-          const scheduleRequests = taskRequests.map((req) => {
-            console.debug('schedule task:');
-            console.debug(req);
-            console.debug(schedule);
-            return toApiSchedule(req, schedule);
-          });
-          await Promise.all(
-            scheduleRequests.map((req) => rmfApi.tasksApi.postScheduledTaskScheduledTasksPost(req)),
-          );
+    const dispatchTaskCallback = React.useCallback<Required<TaskFormProps>['onDispatchTask']>(
+      async (taskRequest, robotDispatchTarget) => {
+        if (!rmfApi) {
+          throw new Error('tasks api not available');
+        }
+        await dispatchTask(rmfApi, taskRequest, robotDispatchTarget);
+        AppEvents.refreshTaskApp.next();
+      },
+      [rmfApi],
+    );
+
+    const scheduleTaskCallback = React.useCallback<Required<TaskFormProps>['onScheduleTask']>(
+      async (taskRequest, schedule) => {
+        if (!rmfApi) {
+          throw new Error('tasks api not available');
         }
+        await scheduleTask(rmfApi, taskRequest, schedule);
         AppEvents.refreshTaskApp.next();
       },
       [rmfApi],
@@ -189,19 +182,15 @@ export const AppBar = React.memo(
       return () => sub.unsubscribe();
     }, [rmfApi]);
 
-    const submitFavoriteTask = React.useCallback<
-      Required<CreateTaskFormProps>['submitFavoriteTask']
-    >(
+    const submitFavoriteTask = React.useCallback<Required<TaskFormProps>['submitFavoriteTask']>(
       async (taskFavoriteRequest) => {
         await rmfApi.tasksApi.postFavoriteTaskFavoriteTasksPost(taskFavoriteRequest);
         AppEvents.refreshFavoriteTasks.next();
       },
       [rmfApi],
     );
 
-    const deleteFavoriteTask = React.useCallback<
-      Required<CreateTaskFormProps>['deleteFavoriteTask']
-    >(
+    const deleteFavoriteTask = React.useCallback<Required<TaskFormProps>['deleteFavoriteTask']>(
       async (favoriteTask) => {
         if (!favoriteTask.id) {
           throw new Error('Id is needed');
@@ -464,8 +453,9 @@ export const AppBar = React.memo(
         </Menu>
 
         {openCreateTaskForm && (
-          <CreateTaskForm
+          <TaskForm
             user={username ? username : 'unknown user'}
+            fleets={fleets}
             tasksToDisplay={taskRegistry.taskDefinitions}
             patrolWaypoints={waypointNames}
             cleaningZones={cleaningZoneNames}
@@ -476,7 +466,9 @@ export const AppBar = React.memo(
             favoritesTasks={favoritesTasks}
             open={openCreateTaskForm}
             onClose={() => setOpenCreateTaskForm(false)}
-            submitTasks={submitTasks}
+            onDispatchTask={dispatchTaskCallback}
+            onScheduleTask={scheduleTaskCallback}
+            onEditScheduleTask={undefined}
             submitFavoriteTask={submitFavoriteTask}
             deleteFavoriteTask={deleteFavoriteTask}
             onSuccess={() => {

diff --git a/packages/dashboard/src/components/tasks/task-schedule.tsx b/packages/dashboard/src/components/tasks/task-schedule.tsx
@@ -13,14 +13,14 @@ import { ScheduledTask, ScheduledTaskScheduleOutput as ApiSchedule } from 'api-c
 import React from 'react';
 import {
   ConfirmationDialog,
-  CreateTaskForm,
-  CreateTaskFormProps,
   EventEditDeletePopup,
   Schedule,
+  TaskForm,
+  TaskFormProps,
 } from 'react-components';
 
 import { useAppController } from '../../hooks/use-app-controller';
-import { useCreateTaskFormData } from '../../hooks/use-create-task-form';
+import { useTaskFormData } from '../../hooks/use-create-task-form';
 import { useRmfApi } from '../../hooks/use-rmf-api';
 import { useTaskRegistry } from '../../hooks/use-task-registry';
 import { useUserProfile } from '../../hooks/use-user-profile';
@@ -33,7 +33,7 @@ import {
   scheduleWithSelectedDay,
   toISOStringWithTimezone,
 } from './task-schedule-utils';
-import { toApiSchedule } from './utils';
+import { dispatchTask, editScheduledTaskEvent, editScheduledTaskSchedule } from './utils';
 
 enum EventScopes {
   ALL = 'all',
@@ -71,8 +71,8 @@ export const TaskSchedule = () => {
   const rmfApi = useRmfApi();
   const { showAlert } = useAppController();
 
-  const { waypointNames, pickupPoints, dropoffPoints, cleaningZoneNames } =
-    useCreateTaskFormData(rmfApi);
+  const { waypointNames, pickupPoints, dropoffPoints, cleaningZoneNames, fleets } =
+    useTaskFormData(rmfApi);
   const username = useUserProfile().user.username;
   const taskRegistry = useTaskRegistry();
   const [eventScope, setEventScope] = React.useState<string>(EventScopes.CURRENT);
@@ -191,30 +191,51 @@ export const TaskSchedule = () => {
     );
   };
 
-  const submitTasks = React.useCallback<Required<CreateTaskFormProps>['submitTasks']>(
-    async (taskRequests, schedule) => {
-      if (!schedule || !currentScheduleTask) {
-        throw new Error('No schedule or task selected for submission.');
+  const dispatchTaskCallback = React.useCallback<Required<TaskFormProps>['onDispatchTask']>(
+    async (taskRequest, robotDispatchTarget) => {
+      if (!rmfApi) {
+        throw new Error('tasks api not available');
       }
+      await dispatchTask(rmfApi, taskRequest, robotDispatchTarget);
+      AppEvents.refreshTaskApp.next();
+    },
+    [rmfApi],
+  );
 
-      const scheduleRequests = taskRequests.map((req) => toApiSchedule(req, schedule));
+  const editScheduledTaskCallback = React.useCallback<
+    Required<TaskFormProps>['onEditScheduleTask']
+  >(
+    async (taskRequest, schedule) => {
+      if (!rmfApi) {
+        throw new Error('tasks api not available');
+      }
 
-      let exceptDate: string | undefined = undefined;
-      if (eventScope === EventScopes.CURRENT) {
-        exceptDate = toISOStringWithTimezone(exceptDateRef.current);
-        console.debug(`Editing schedule id ${currentScheduleTask.id}, event date ${exceptDate}`);
-      } else {
-        console.debug(`Editing schedule id ${currentScheduleTask.id}`);
+      if (!currentScheduleTask) {
+        throw new Error('No schedule task selected for submission.');
       }
 
-      await Promise.all(
-        scheduleRequests.map((req) =>
-          rmfApi.tasksApi.updateScheduleTaskScheduledTasksTaskIdUpdatePost(
-            currentScheduleTask.id,
-            req,
-            exceptDate,
-          ),
-        ),
+      // Edit entire schedule
+      if (eventScope !== EventScopes.CURRENT) {
+        console.debug(
+          `Editing schedule id [${currentScheduleTask.id}] with new schedule: ${schedule}`,
+        );
+        await editScheduledTaskSchedule(rmfApi, taskRequest, schedule, currentScheduleTask.id);
+
+        setEventScope(EventScopes.CURRENT);
+        AppEvents.refreshTaskSchedule.next();
+        return;
+      }
+
+      // Edit a single event
+      console.debug(
+        `Editing schedule id [${currentScheduleTask.id}] event [${exceptDateRef.current}] with new schedule: ${schedule}`,
+      );
+      await editScheduledTaskEvent(
+        rmfApi,
+        taskRequest,
+        schedule,
+        exceptDateRef.current,
+        currentScheduleTask.id,
       );
 
       setEventScope(EventScopes.CURRENT);
@@ -316,22 +337,25 @@ export const TaskSchedule = () => {
         onSelectedDateChange={setSelectedDate}
       />
       {openCreateTaskForm && (
-        <CreateTaskForm
+        <TaskForm
           user={username ? username : 'unknown user'}
+          fleets={fleets}
           tasksToDisplay={taskRegistry.taskDefinitions}
           patrolWaypoints={waypointNames}
           cleaningZones={cleaningZoneNames}
           pickupPoints={pickupPoints}
           dropoffPoints={dropoffPoints}
           open={openCreateTaskForm}
-          scheduleToEdit={scheduleToEdit}
-          requestTask={currentScheduleTask?.task_request}
+          schedule={scheduleToEdit}
+          taskRequest={currentScheduleTask?.task_request}
           onClose={() => {
             setOpenCreateTaskForm(false);
             setEventScope(EventScopes.CURRENT);
             AppEvents.refreshTaskSchedule.next();
           }}
-          submitTasks={submitTasks}
+          onDispatchTask={dispatchTaskCallback}
+          onScheduleTask={undefined}
+          onEditScheduleTask={editScheduledTaskCallback}
           onSuccess={() => {
             setOpenCreateTaskForm(false);
             showAlert('success', 'Successfully created task');

diff --git a/packages/dashboard/src/components/tasks/utils.ts b/packages/dashboard/src/components/tasks/utils.ts
@@ -1,5 +1,14 @@
-import { PostScheduledTaskRequest, TaskRequest, TaskStateOutput as TaskState } from 'api-client';
-import { getTaskBookingLabelFromTaskState, Schedule } from 'react-components';
+import {
+  AddExceptDateRequest,
+  PostScheduledTaskRequest,
+  RobotTaskRequest,
+  TaskRequest,
+  TaskStateOutput as TaskState,
+} from 'api-client';
+import { getTaskBookingLabelFromTaskState, RobotDispatchTarget, Schedule } from 'react-components';
+
+import { RmfApi } from '../../services/rmf-api';
+import { toISOStringWithTimezone } from './task-schedule-utils';
 
 export function exportCsvFull(timestamp: Date, allTasks: TaskState[]) {
   const columnSeparator = ';';
@@ -115,3 +124,72 @@ export const toApiSchedule = (
     schedules: apiSchedules,
   };
 };
+
+export async function dispatchTask(
+  rmf: RmfApi,
+  taskRequest: TaskRequest,
+  robotDispatchTarget: RobotDispatchTarget | null,
+) {
+  if (robotDispatchTarget) {
+    const robotTask: RobotTaskRequest = {
+      type: 'robot_task_request',
+      robot: robotDispatchTarget.robot,
+      fleet: robotDispatchTarget.fleet,
+      request: taskRequest,
+    };
+    console.debug(`dispatch robot task: ${robotTask}`);
+    await rmf.tasksApi.postRobotTaskTasksRobotTaskPost(robotTask);
+    return;
+  }
+
+  console.debug(`dispatch task: ${taskRequest}`);
+  await rmf.tasksApi.postDispatchTaskTasksDispatchTaskPost({
+    type: 'dispatch_task_request',
+    request: taskRequest,
+  });
+}
+
+export async function scheduleTask(rmf: RmfApi, taskRequest: TaskRequest, schedule: Schedule) {
+  console.debug(`schedule task: ${taskRequest}\nschedule: ${schedule}`);
+  const scheduleRequest = toApiSchedule(taskRequest, schedule);
+  await rmf.tasksApi.postScheduledTaskScheduledTasksPost(scheduleRequest);
+}
+
+export async function editScheduledTaskEvent(
+  rmf: RmfApi,
+  taskRequest: TaskRequest,
+  newEventSchedule: Schedule,
+  newEventDate: Date,
+  originalScheduleTaskId: number,
+) {
+  const addExceptDateRequest: AddExceptDateRequest = {
+    except_date: toISOStringWithTimezone(newEventDate),
+  };
+  console.debug(
+    `Adding [${addExceptDateRequest.except_date}] to except date of scheduled task [${originalScheduleTaskId}]`,
+  );
+  await rmf.tasksApi.addExceptDateScheduledTasksTaskIdExceptDatePost(
+    originalScheduleTaskId,
+    addExceptDateRequest,
+  );
+
+  console.debug(
+    `creating new schedule for edited event: ${taskRequest}\nschedule: ${newEventSchedule}`,
+  );
+  const newScheduleRequest = toApiSchedule(taskRequest, newEventSchedule);
+  await rmf.tasksApi.postScheduledTaskScheduledTasksPost(newScheduleRequest);
+}
+
+export async function editScheduledTaskSchedule(
+  rmf: RmfApi,
+  taskRequest: TaskRequest,
+  newSchedule: Schedule,
+  scheduleTaskId: number,
+) {
+  const scheduleRequest = toApiSchedule(taskRequest, newSchedule);
+
+  await rmf.tasksApi.updateScheduleTaskScheduledTasksTaskIdUpdatePost(
+    scheduleTaskId,
+    scheduleRequest,
+  );
+}
diff --git a/packages/dashboard/src/hooks/use-create-task-form.tsx b/packages/dashboard/src/hooks/use-create-task-form.tsx
@@ -4,11 +4,12 @@ import { Subscription } from 'rxjs';
 
 import { RmfApi } from '../services/rmf-api';
 
-export const useCreateTaskFormData = (rmfApi: RmfApi | undefined) => {
+export const useTaskFormData = (rmfApi: RmfApi | undefined) => {
   const [waypointNames, setWaypointNames] = React.useState<string[]>([]);
   const [cleaningZoneNames, setCleaningZoneNames] = React.useState<string[]>([]);
   const [pickupPoints, setPickupPoints] = React.useState<Record<string, string>>({});
   const [dropoffPoints, setDropoffPoints] = React.useState<Record<string, string>>({});
+  const [fleets, setFleets] = React.useState<Record<string, string[]>>({});
 
   React.useEffect(() => {
     if (!rmfApi) {
@@ -42,9 +43,21 @@ export const useCreateTaskFormData = (rmfApi: RmfApi | undefined) => {
         setWaypointNames(waypointNames);
       }),
     );
+    subs.push(
+      rmfApi.fleetsObs.subscribe((fleetStates) => {
+        const result: Record<string, string[]> = {};
+        for (const fleet of fleetStates) {
+          if (!fleet.name || !fleet.robots) {
+            continue;
+          }
+          result[fleet.name] = Object.keys(fleet.robots);
+        }
+        setFleets(result);
+      }),
+    );
 
     return () => subs.forEach((s) => s.unsubscribe());
   }, [rmfApi]);
 
-  return { waypointNames, pickupPoints, dropoffPoints, cleaningZoneNames };
+  return { waypointNames, pickupPoints, dropoffPoints, cleaningZoneNames, fleets };
 };
diff --git a/packages/dashboard/src/services/rmf-api.ts b/packages/dashboard/src/services/rmf-api.ts
@@ -304,6 +304,7 @@ export class DefaultRmfApi implements RmfApi {
     return this._ingestorStateObsStore[guid];
   }
 
+  // NOTE: This only emits once and doesn't update when the fleet changes.
   fleetsObs: Observable<FleetState[]>;
   private _fleetStateObsStore: Record<string, Observable<FleetState>> = {};
   getFleetStateObs(name: string): Observable<FleetState> {