[api-server] fix typings, update dependencies

[koonpeng]

What's new

• Fix typing issues, reduce use of casting.
• Update rxpy (now called reactivex) to improve typings
• Update fastapi to fix some typings

tortoise-orm and pydantic are pretty outdated as well. We should look into updating them soon.

Self-checks

• I have prototyped this new feature (if necessary) on Figma
• I'm familiar with and follow this Typescript guideline
• I added unit-tests for new components
• I tried testing edge cases
• I tested the behavior of the components that interact with the backend, with an e2e test

Discussion

[codecov]

Codecov Report

Attention: 34 lines in your changes are missing coverage. Please review.

Comparison is base (5840346) 51.51% compared to head (be1e919) 50.48%.

Files	Patch %	Lines
packages/api-server/api_server/authenticator.py	46.15%	14 Missing ⚠️
packages/api-server/api_server/repositories/rmf.py	77.77%	4 Missing ⚠️
...ckages/api-server/api_server/rmf_io/book_keeper.py	60.00%	4 Missing ⚠️
...ackages/api-server/api_server/models/dispensers.py	80.00%	1 Missing ⚠️
packages/api-server/api_server/models/doors.py	80.00%	1 Missing ⚠️
packages/api-server/api_server/models/fleets.py	83.33%	1 Missing ⚠️
packages/api-server/api_server/models/ingestors.py	80.00%	1 Missing ⚠️
packages/api-server/api_server/models/lifts.py	83.33%	1 Missing ⚠️
...es/api-server/api_server/rmf_io/health_watchdog.py	88.88%	1 Missing ⚠️
...ver/api_server/rmf_io/operators/filter_not_none.py	83.33%	1 Missing ⚠️
... and 5 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #886      +/-   ##
==========================================
- Coverage   51.51%   50.48%   -1.04%     
==========================================
  Files         282      283       +1     
  Lines        7159     7179      +20     
  Branches      960      960              
==========================================
- Hits         3688     3624      -64     
- Misses       3323     3407      +84     
  Partials      148      148              

Flag	Coverage Δ
api-server	78.75% <85.21%> (-2.78%)	⬇️
dashboard	16.60% <ø> (ø)
rmf-auth	∅ <ø> (∅)

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[aaronchongth]

Thanks for handling this! Just did a quick review, and things look good so far since there're not really any behavioral changes

Moving forwards, should we be avoiding any use of typing (where possible), and try to stick to python's base types?

I did notice that the door and lift app is broken now, probably due to model changes. You can check by navigating to localhost:3000/robots

[koonpeng]

Moving forwards, should we be avoiding any use of typing (where possible), and try to stick to python's base types?

Yeah in general we should aim for that, but in practice it may be hard so I think it's not something that we need to enforce.

I did notice that the door and lift app is broken now, probably due to model changes. You can check by navigating to localhost:3000/robots

Thanks for pointing out, I will look into it.

[koonpeng]

I did notice that the door and lift app is broken now, probably due to model changes. You can check by navigating to localhost:3000/robots

Should be fixed now.

[aaronchongth]

Sorry for the delay! Thanks for the fix, I don't see any issues running through sim