[api-server] fix typings, update dependencies (#886)

* upate deps

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

* make pylance happy

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

* tests finally passing

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

* make pylint happy

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

* fix imports

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

* fix imports

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

* ignore pyright false positive

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

* fix stub authenticator

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

* fix health not being written to db

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

---------

Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>

Pipfile

@@ -10,6 +10,7 @@ pylint = "==2.10.2"
 coverage = "~=5.5"
 # api-server
 api-server = {editable = true, path = "./packages/api-server"}
+httpx = "~=0.26.0"
 asyncpg = "~=0.25.0"
 datamodel-code-generator = "==0.11.19"
 requests = "~=2.25"

package.json

@@ -18,7 +18,7 @@
     "husky": "^8.0.1",
     "lint-staged": "^10.5.4",
     "prettier": "^2.7.1",
-    "pyright": "^1.1.257",
+    "pyright": "1.1.257",
     "typescript": "~4.4.4"
   },
   "lint-staged": {

packages/api-server/api_server/app.py

@@ -2,7 +2,7 @@
 import os
 import signal
 import threading
-from typing import Any, Callable, Coroutine, List, Optional, Union
+from typing import Any, Callable, Coroutine, Union
 
 import schedule
 from fastapi import Depends
@@ -37,7 +37,7 @@
 from .types import is_coroutine
 
 
-async def on_sio_connect(sid: str, _environ: dict, auth: Optional[dict] = None):
+async def on_sio_connect(sid: str, _environ: dict, auth: dict | None = None) -> bool:
     session = await app.sio.get_session(sid)
     token = None
     if auth:
@@ -83,7 +83,7 @@ async def on_sio_connect(sid: str, _environ: dict, auth: Optional[dict] = None):
 )
 
 # will be called in reverse order on app shutdown
-shutdown_cbs: List[Union[Coroutine[Any, Any, Any], Callable[[], None]]] = []
+shutdown_cbs: list[Union[Coroutine[Any, Any, Any], Callable[[], None]]] = []
 
 rmf_bookkeeper = RmfBookKeeper(rmf_events, logger=logger.getChild("BookKeeper"))
 
@@ -257,7 +257,7 @@ async def _load_states():
     logger.info(f"loaded {len(door_states)} door states")
 
     door_health = [
-        await DoorHealth.from_tortoise(x) for x in await ttm.DoorHealth.all()
+        await DoorHealth.from_tortoise_orm(x) for x in await ttm.DoorHealth.all()
     ]
     for health in door_health:
         rmf_events.door_health.on_next(health)
@@ -269,7 +269,7 @@ async def _load_states():
     logger.info(f"loaded {len(lift_states)} lift states")
 
     lift_health = [
-        await LiftHealth.from_tortoise(x) for x in await ttm.LiftHealth.all()
+        await LiftHealth.from_tortoise_orm(x) for x in await ttm.LiftHealth.all()
     ]
     for health in lift_health:
         rmf_events.lift_health.on_next(health)
@@ -283,7 +283,8 @@ async def _load_states():
     logger.info(f"loaded {len(dispenser_states)} dispenser states")
 
     dispenser_health = [
-        await DispenserHealth.from_tortoise(x) for x in await ttm.DispenserHealth.all()
+        await DispenserHealth.from_tortoise_orm(x)
+        for x in await ttm.DispenserHealth.all()
     ]
     for health in dispenser_health:
         rmf_events.dispenser_health.on_next(health)
@@ -297,7 +298,8 @@ async def _load_states():
     logger.info(f"loaded {len(ingestor_states)} ingestor states")
 
     ingestor_health = [
-        await IngestorHealth.from_tortoise(x) for x in await ttm.IngestorHealth.all()
+        await IngestorHealth.from_tortoise_orm(x)
+        for x in await ttm.IngestorHealth.all()
     ]
     for health in ingestor_health:
         rmf_events.ingestor_health.on_next(health)

packages/api-server/api_server/app_config.py

@@ -4,7 +4,7 @@
 import urllib.parse
 from dataclasses import dataclass
 from importlib.abc import Loader
-from typing import Any, List, Optional, cast
+from typing import List, Optional, cast
 
 
 @dataclass
@@ -47,7 +47,7 @@ def load_config(config_file: str) -> AppConfig:
         raise RuntimeError("unable to load module")
     sys.path.append(os.path.dirname(config_file))
     loader.exec_module(module)
-    config = AppConfig(**cast(Any, module).config)
+    config = AppConfig(**module.config)
     if "RMF_API_SERVER_LOG_LEVEL" in os.environ:
         config.log_level = os.environ["RMF_API_SERVER_LOG_LEVEL"]
     return config

packages/api-server/api_server/authenticator.py

@@ -1,7 +1,9 @@
-from typing import Any, Callable, Coroutine, Optional, Union
+import base64
+import json
+from typing import Any, Callable, Coroutine, Optional, Protocol, Union
 
 import jwt
-from fastapi import Depends, HTTPException
+from fastapi import Depends, Header, HTTPException
 from fastapi.security import OpenIdConnect
 
 from .app_config import app_config
@@ -13,13 +15,22 @@ class AuthenticationError(Exception):
     pass
 
 
-class JwtAuthenticator:
+class Authenticator(Protocol):
+    async def verify_token(self, token: Optional[str]) -> User:
+        ...
+
+    def fastapi_dep(self) -> Callable[..., Union[Coroutine[Any, Any, User], User]]:
+        ...
+
+
+class JwtAuthenticator(Authenticator):
     def __init__(self, pem_file: str, aud: str, iss: str, *, oidc_url: str = ""):
         """
         Authenticates with a JWT token, the client must send an auth params with
         a "token" key.
         :param pem_file: path to a pem encoded certificate used to verify a token.
         """
+        super().__init__()
         self.aud = aud
         self.iss = iss
         self.oidc_url = oidc_url
@@ -65,15 +76,31 @@ async def dep(
         return dep
 
 
-class StubAuthenticator(JwtAuthenticator):
-    def __init__(self):  # pylint: disable=super-init-not-called
-        self._user = User(username="stub", is_admin=True)
+class StubAuthenticator(Authenticator):
+    """
+    StubAuthenticator will authenticate as an admin user called "stub" if no tokens are
+    present. If there is a bearer token in the `Authorization` header, then it decodes the jwt
+    WITHOUT verifying the signature and authenticated as the user given.
+    """
 
-    async def verify_token(self, token: Optional[str]) -> User:
-        return self._user
+    async def verify_token(self, token: Optional[str]):
+        if not token:
+            return User(username="stub", is_admin=True)
+        # decode the jwt without verifying signature
+        parts = token.split(".")
+        # add padding to ignore incorrect padding errors
+        payload = base64.b64decode(parts[1] + "==")
+        username = json.loads(payload)["preferred_username"]
+        return await User.load_or_create_from_db(username)
 
-    def fastapi_dep(self) -> Callable[..., Union[Coroutine[Any, Any, User], User]]:
-        return lambda: self._user
+    def fastapi_dep(self):
+        async def dep(authorization: str | None = Header(None)):
+            if not authorization:
+                return await self.verify_token(None)
+            token = authorization.split(" ")[1]
+            return await self.verify_token(token)
+
+        return dep
 
 
 if app_config.jwt_public_key:

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

@@ -21,7 +21,7 @@
 from fastapi import APIRouter, FastAPI
 from fastapi.exceptions import HTTPException
 from fastapi.routing import APIRoute
-from rx.core.observable.observable import Observable
+from reactivex import Observable
 from starlette.routing import compile_path
 
 from api_server.logger import logger

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

@@ -2,6 +2,7 @@
 from .building_map import *
 from .dispensers import *
 from .doors import *
+from .fleets import *
 from .health import *
 from .ingestors import *
 from .lifts import *

packages/api-server/api_server/models/building_map.py

@@ -1,5 +1,3 @@
-from typing import List
-
 from . import tortoise_models as ttm
 from .ros_pydantic import rmf_building_map_msgs
 
@@ -9,11 +7,11 @@ class AffineImage(rmf_building_map_msgs.AffineImage):
 
 
 class Level(rmf_building_map_msgs.Level):
-    images: List[AffineImage]
+    images: list[AffineImage]
 
 
 class BuildingMap(rmf_building_map_msgs.BuildingMap):
-    levels: List[Level]
+    levels: list[Level]
 
     @staticmethod
     def from_tortoise(tortoise: ttm.BuildingMap) -> "BuildingMap":

packages/api-server/api_server/models/dispensers.py

@@ -1,10 +1,18 @@
 from pydantic import BaseModel
 
 from . import tortoise_models as ttm
-from .health import basic_health_model
+from .health import BasicHealth, HealthStatus
 from .ros_pydantic import rmf_dispenser_msgs
 
-DispenserHealth = basic_health_model(ttm.DispenserHealth)
+
+class DispenserHealth(BasicHealth):
+    @classmethod
+    async def from_tortoise_orm(cls, obj: ttm.DispenserHealth) -> "DispenserHealth":
+        return DispenserHealth(
+            id_=obj.id_,
+            health_status=HealthStatus(obj.health_status),
+            health_message=obj.health_message,
+        )
 
 
 class Dispenser(BaseModel):

packages/api-server/api_server/models/doors.py

@@ -1,12 +1,21 @@
 from pydantic import BaseModel, Field
 
 from . import tortoise_models as ttm
-from .health import basic_health_model
+from .health import BasicHealth, HealthStatus
 from .ros_pydantic import rmf_building_map_msgs, rmf_door_msgs
 
 Door = rmf_building_map_msgs.Door
 DoorMode = rmf_door_msgs.DoorMode
-DoorHealth = basic_health_model(ttm.DoorHealth)
+
+
+class DoorHealth(BasicHealth):
+    @classmethod
+    async def from_tortoise_orm(cls, obj: ttm.DoorHealth) -> "DoorHealth":
+        return DoorHealth(
+            id_=obj.id_,
+            health_status=HealthStatus(obj.health_status),
+            health_message=obj.health_message,
+        )
 
 
 class DoorState(rmf_door_msgs.DoorState):

packages/api-server/api_server/models/fleets.py

@@ -0,0 +1,12 @@
+from . import tortoise_models as ttm
+from .health import BasicHealth, HealthStatus
+
+
+class RobotHealth(BasicHealth):
+    @classmethod
+    async def from_tortoise_orm(cls, obj: ttm.RobotHealth) -> "RobotHealth":
+        return RobotHealth(
+            id_=obj.id_,
+            health_status=HealthStatus(obj.health_status),
+            health_message=obj.health_message,
+        )

packages/api-server/api_server/models/health.py

@@ -1,57 +1,15 @@
-from abc import ABC, abstractmethod
-from typing import Generic, Optional, Type, TypeVar, cast
+from enum import Enum
 
-from tortoise.contrib.pydantic.base import PydanticModel
-from tortoise.contrib.pydantic.creator import pydantic_model_creator
+from pydantic import BaseModel
 
-from . import tortoise_models as ttm
 
-
-class HealthStatus:
+class HealthStatus(str, Enum):
     HEALTHY = "Healthy"
     UNHEALTHY = "Unhealthy"
     DEAD = "Dead"
 
 
-HealthModelT = TypeVar("HealthModelT", bound=ttm.BasicHealthModel)
-
-
-class BaseBasicHealth(Generic[HealthModelT], ABC, PydanticModel):
+class BasicHealth(BaseModel):
     id_: str
-    health_status: str
-    health_message: Optional[str]
-
-    @staticmethod
-    @abstractmethod
-    async def from_tortoise(_tortoise: HealthModelT) -> "BaseBasicHealth":
-        pass
-
-    @abstractmethod
-    async def save(self) -> None:
-        pass
-
-
-def basic_health_model(
-    TortoiseModel: Type[HealthModelT],
-) -> Type[BaseBasicHealth[HealthModelT]]:
-    """
-    Creates a pydantic model from a tortoise basic health model.
-    """
-
-    class _BasicHealth(pydantic_model_creator(TortoiseModel)):
-        id_: str
-        health_status: str
-        health_message: Optional[str]
-
-        @classmethod
-        async def from_tortoise(cls, tortoise: ttm.BasicHealthModel):
-            return await cls.from_tortoise_orm(tortoise)
-
-        async def save(self):
-            dic = self.dict()
-            del dic["id_"]
-            await TortoiseModel.update_or_create(dic, id_=self.id_)
-
-    _BasicHealth.__name__ = TortoiseModel.__name__
-
-    return cast(Type[BaseBasicHealth[HealthModelT]], _BasicHealth)
+    health_status: HealthStatus
+    health_message: str | None

packages/api-server/api_server/models/ingestors.py

@@ -1,10 +1,18 @@
 from pydantic import BaseModel
 
 from . import tortoise_models as ttm
-from .health import basic_health_model
+from .health import BasicHealth, HealthStatus
 from .ros_pydantic import rmf_ingestor_msgs
 
-IngestorHealth = basic_health_model(ttm.IngestorHealth)
+
+class IngestorHealth(BasicHealth):
+    @classmethod
+    async def from_tortoise_orm(cls, obj: ttm.IngestorHealth) -> "IngestorHealth":
+        return IngestorHealth(
+            id_=obj.id_,
+            health_status=HealthStatus(obj.health_status),
+            health_message=obj.health_message,
+        )
 
 
 class Ingestor(BaseModel):

packages/api-server/api_server/models/lifts.py

@@ -1,17 +1,24 @@
-from typing import List
-
 from pydantic import BaseModel, Field
 
 from . import tortoise_models as ttm
-from .health import basic_health_model
+from .health import BasicHealth, HealthStatus
 from .ros_pydantic import rmf_building_map_msgs, rmf_lift_msgs
 
 Lift = rmf_building_map_msgs.Lift
-LiftHealth = basic_health_model(ttm.LiftHealth)
+
+
+class LiftHealth(BasicHealth):
+    @classmethod
+    async def from_tortoise_orm(cls, obj: ttm.LiftHealth) -> "LiftHealth":
+        return LiftHealth(
+            id_=obj.id_,
+            health_status=HealthStatus(obj.health_status),
+            health_message=obj.health_message,
+        )
 
 
 class LiftState(rmf_lift_msgs.LiftState):
-    available_modes: List[int]
+    available_modes: list[int]
 
     @staticmethod
     def from_tortoise(tortoise: ttm.LiftState) -> "LiftState":