Merge branch 'koonpeng/hammer-jazzy-base' into ac/fix-build

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

packages/api-client/lib/version.ts

@@ -1,5 +1,5 @@
 // THIS FILE IS GENERATED
 export const version = {
-  rmfServer: 'd027eea607b0ccbd8ce18ec320fb83b06ea6aa3e',
+  rmfServer: '4484e98b95f71637026e2ce89d14d31033e5d615',
   openapiGenerator: '',
 };

packages/api-client/schema/index.ts

@@ -890,39 +890,39 @@ export default {
             in: 'query',
             required: false,
             schema: {
-              type: 'string',
+              anyOf: [{ type: 'string' }, { type: 'null' }],
               description:
-                '\n            The period of request time to fetch, in unix millis.\n\n            This must be a comma separated string, \'X,Y\' to fetch between X millis and Y millis inclusive.\n\n            Example:\n                "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            ',
+                '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
               title: 'Request Time Between',
             },
             description:
-              '\n            The period of request time to fetch, in unix millis.\n\n            This must be a comma separated string, \'X,Y\' to fetch between X millis and Y millis inclusive.\n\n            Example:\n                "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            ',
+              '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
           },
           {
             name: 'start_time_between',
             in: 'query',
             required: false,
             schema: {
-              type: 'string',
+              anyOf: [{ type: 'string' }, { type: 'null' }],
               description:
-                '\n            The period of request time to fetch, in unix millis.\n\n            This must be a comma separated string, \'X,Y\' to fetch between X millis and Y millis inclusive.\n\n            Example:\n                "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            ',
+                '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
               title: 'Start Time Between',
             },
             description:
-              '\n            The period of request time to fetch, in unix millis.\n\n            This must be a comma separated string, \'X,Y\' to fetch between X millis and Y millis inclusive.\n\n            Example:\n                "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            ',
+              '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
           },
           {
             name: 'finish_time_between',
             in: 'query',
             required: false,
             schema: {
-              type: 'string',
+              anyOf: [{ type: 'string' }, { type: 'null' }],
               description:
-                '\n            The period of request time to fetch, in unix millis.\n\n            This must be a comma separated string, \'X,Y\' to fetch between X millis and Y millis inclusive.\n\n            Example:\n                "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            ',
+                '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
               title: 'Finish Time Between',
             },
             description:
-              '\n            The period of request time to fetch, in unix millis.\n\n            This must be a comma separated string, \'X,Y\' to fetch between X millis and Y millis inclusive.\n\n            Example:\n                "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            ',
+              '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
           },
           {
             name: 'limit',
@@ -1078,14 +1078,14 @@ export default {
             in: 'query',
             required: false,
             schema: {
-              type: 'string',
+              anyOf: [{ type: 'string' }, { type: 'null' }],
               description:
-                '\n        The period of time to fetch, in unix millis.\n\n        This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n        Example:\n            "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            "-60000" - Fetches logs in the last minute.\n        ',
+                '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
               default: '-60000',
               title: 'Between',
             },
             description:
-              '\n        The period of time to fetch, in unix millis.\n\n        This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n        Example:\n            "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            "-60000" - Fetches logs in the last minute.\n        ',
+              '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
           },
           {
             name: 'authorization',
@@ -2113,14 +2113,14 @@ export default {
             in: 'query',
             required: false,
             schema: {
-              type: 'string',
+              anyOf: [{ type: 'string' }, { type: 'null' }],
               description:
-                '\n        The period of time to fetch, in unix millis.\n\n        This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n        Example:\n            "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            "-60000" - Fetches logs in the last minute.\n        ',
+                '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
               default: '-60000',
               title: 'Between',
             },
             description:
-              '\n        The period of time to fetch, in unix millis.\n\n        This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n        Example:\n            "1000,2000" - Fetches logs between unix millis 1000 and 2000.\n            "-60000" - Fetches logs in the last minute.\n        ',
+              '\n            The period of request time to fetch, in unix millis.\n\n            This can be either a comma separated string or a string prefixed with \'-\' to fetch the last X millis.\n\n            Example:\n                "1000,2000" - Fetch resources between unix millis 1000 and 2000.\n                "-60000" - Fetch resources in the last minute.\n            ',
           },
           {
             name: 'authorization',

packages/api-server/api_server/dependencies.py

@@ -1,4 +1,4 @@
-from datetime import datetime
+from datetime import datetime, timezone
 
 from fastapi import Depends, Query
 
@@ -24,58 +24,37 @@ def pagination_query(
     )
 
 
-def between_query(
-    between: str = Query(
-        "-60000",
-        description="""
-        The period of time to fetch, in unix millis.
-
-        This can be either a comma separated string or a string prefixed with '-' to fetch the last X millis.
-
-        Example:
-            "1000,2000" - Fetches logs between unix millis 1000 and 2000.
-            "-60000" - Fetches logs in the last minute.
-        """,
-    ),
-    now: int = Depends(ros_time.now),
-) -> tuple[int, int]:
-    if between.startswith("-"):
-        period = (now - int(between[1:]), now)
-    else:
-        parts = between.split(",")
-        period = (int(parts[0]), int(parts[1]))
-    return period
-
-
-def time_between_query(alias: str):
+def time_between_query(alias: str, *, default: str | None = None):
     def dep(
-        time_between: str = Query(
-            None,
+        time_between: str | None = Query(
+            default,
             alias=alias,
             description="""
             The period of request time to fetch, in unix millis.
 
-            This must be a comma separated string, 'X,Y' to fetch between X millis and Y millis inclusive.
+            This can be either a comma separated string or a string prefixed with '-' to fetch the last X millis.
 
             Example:
-                "1000,2000" - Fetches logs between unix millis 1000 and 2000.
+                "1000,2000" - Fetch resources between unix millis 1000 and 2000.
+                "-60000" - Fetch resources in the last minute.
             """,
         ),
         now: int = Depends(ros_time.now),
     ) -> tuple[datetime, datetime] | None:
         if time_between is None:
             return None
         if time_between.startswith("-"):
-            # Cap at 0 millis
             period = (
-                datetime.fromtimestamp(0),
-                datetime.fromtimestamp(now / 1000),
+                datetime.fromtimestamp(
+                    (now - int(time_between[1:])) / 1000, timezone.utc
+                ),
+                datetime.fromtimestamp(now / 1000, timezone.utc),
             )
         else:
             parts = time_between.split(",")
             period = (
-                datetime.fromtimestamp(int(parts[0]) / 1000),
-                datetime.fromtimestamp(int(parts[1]) / 1000),
+                datetime.fromtimestamp(int(parts[0]) / 1000, timezone.utc),
+                datetime.fromtimestamp(int(parts[1]) / 1000, timezone.utc),
             )
         return period
 

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

@@ -10,7 +10,7 @@
 from fastapi.exceptions import HTTPException
 from fastapi.requests import HTTPConnection
 from fastapi.routing import APIRoute
-from reactivex import Observable, of
+from reactivex import Observable
 from reactivex.abc import DisposableBase
 from starlette.routing import compile_path
 
@@ -243,7 +243,7 @@ def _match_routes(
                 return match, r
         return None
 
-    async def _on_connect(self, sid: str, environ: dict, auth: dict | None):
+    async def _on_connect(self, sid: str, environ: dict, auth: dict | None = None):
         logger = get_logger(HTTPConnection(environ))
         user = (
             await self._socketio_connect(sid, environ, auth)

packages/api-server/api_server/gateway.py

@@ -61,13 +61,15 @@ def __init__(
         ros_node: rclpy.node.Node,
         rmf_events: RmfEvents,
         rmf_repo: RmfRepository,
+        loop: asyncio.AbstractEventLoop,
         *,
         logger: logging.Logger | None = None,
     ):
         self._cached_files = cached_files
         self._ros_node = ros_node
         self._rmf_events = rmf_events
         self._rmf_repo = rmf_repo
+        self._loop = loop
         self._logger = logger or logging.getLogger()
 
         self._door_req = self._ros_node.create_publisher(
@@ -171,7 +173,7 @@ async def save(door_state: DoorState):
                 self._rmf_events.door_states.on_next(door_state)
                 logging.debug("%s", door_state)
 
-            asyncio.create_task(save(DoorState.model_validate(msg)))
+            self._loop.create_task(save(DoorState.model_validate(msg)))
 
         door_states_sub = self._ros_node.create_subscription(
             RmfDoorState,
@@ -188,7 +190,7 @@ async def save(lift_state: LiftState):
                 logging.debug("%s", lift_state)
 
             dic = message_to_ordereddict(msg)
-            asyncio.create_task(save(LiftState(**dic)))
+            self._loop.create_task(save(LiftState(**dic)))
 
         lift_states_sub = self._ros_node.create_subscription(
             RmfLiftState,
@@ -204,7 +206,7 @@ async def save(dispenser_state: DispenserState):
                 self._rmf_events.dispenser_states.on_next(dispenser_state)
                 logging.debug("%s", dispenser_state)
 
-            asyncio.create_task(save(DispenserState.model_validate(msg)))
+            self._loop.create_task(save(DispenserState.model_validate(msg)))
 
         dispenser_states_sub = self._ros_node.create_subscription(
             RmfDispenserState,
@@ -220,7 +222,7 @@ async def save(ingestor_state: IngestorState):
                 self._rmf_events.ingestor_states.on_next(ingestor_state)
                 logging.debug("%s", ingestor_state)
 
-            asyncio.create_task(save(IngestorState.model_validate(msg)))
+            self._loop.create_task(save(IngestorState.model_validate(msg)))
 
         ingestor_states_sub = self._ros_node.create_subscription(
             RmfIngestorState,
@@ -237,7 +239,7 @@ async def save(building_map: BuildingMap):
                 logging.debug("%s", building_map)
 
             bm = self._process_building_map(cast(RmfBuildingMap, msg))
-            asyncio.create_task(save(bm))
+            self._loop.create_task(save(bm))
 
         map_sub = self._ros_node.create_subscription(
             RmfBuildingMap,
@@ -266,7 +268,7 @@ async def save(beachandle_state: BeaconState):
                 activated=msg.activated,
                 level=msg.level,
             )
-            asyncio.create_task(save(bs))
+            self._loop.create_task(save(bs))
 
         beachandle_sub = self._ros_node.create_subscription(
             RmfBeaconState,
@@ -407,4 +409,5 @@ def get_rmf_gateway():
         get_ros_node(),
         get_rmf_events(),
         RmfRepository(User.get_system_user()),
+        asyncio.get_event_loop(),
     )

packages/api-server/api_server/repositories/alerts.py

@@ -1,5 +1,5 @@
 import logging
-from datetime import datetime
+from datetime import datetime, timezone
 
 from fastapi import Depends
 
@@ -66,7 +66,7 @@ async def acknowledge_alert(self, alert_id: str) -> Alert | None:
             return acknowledged_alert_pydantic
 
         ack_time = datetime.now()
-        epoch = datetime.fromtimestamp(0)
+        epoch = datetime.fromtimestamp(0, timezone.utc)
         ack_unix_millis = round((ack_time - epoch).total_seconds() * 1000)
         new_id = f"{alert_id}__{ack_unix_millis}"
 

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

@@ -1,3 +1,4 @@
+from datetime import datetime
 from typing import Annotated, Sequence, cast
 
 from fastapi import Depends
@@ -32,15 +33,18 @@ async def get_fleet_state(self, name: str) -> FleetState | None:
         return FleetState(**cast(dict, result.data))
 
     async def get_fleet_log(
-        self, name: str, between: tuple[int, int]
+        self, name: str, between: tuple[datetime, datetime] | None
     ) -> FleetLog | None:
         """
         :param between: The period in unix millis to fetch.
         """
-        between_filters = {
-            "unix_millis_time__gte": between[0],
-            "unix_millis_time__lte": between[1],
-        }
+        if between:
+            between_filters = {
+                "unix_millis_time__gte": between[0].timestamp() * 1000,
+                "unix_millis_time__lte": between[1].timestamp() * 1000,
+            }
+        else:
+            between_filters = {}
         result = cast(
             ttm.FleetLog | None,
             await ttm.FleetLog.get_or_none(name=name).prefetch_related(