cleanup

Signed-off-by: Teo Koon Peng <[email protected]>

.pylintrc

@@ -443,6 +443,7 @@ disable=raw-checker-failed,
         line-too-long,
         global-statement,
         unnecessary-dunder-call,
+        too-many-lines,
 
 # Enable the message, report, category or checker with the given id(s). You can
 # either give multiple identifier separated by comma (,) or put this option

packages/api-server/api_server/__main__.py

@@ -1,6 +1,3 @@
-import logging
-import os
-
 import uvicorn
 import uvicorn.logging
 from uvicorn.config import LOGGING_CONFIG

packages/api-server/api_server/app.py

@@ -6,7 +6,7 @@
 from typing import Any, Callable, Coroutine, Union
 
 import schedule
-from fastapi import Depends, FastAPI
+from fastapi import Depends
 from fastapi.middleware.cors import CORSMiddleware
 from fastapi.openapi.docs import (
     get_redoc_html,
@@ -23,7 +23,7 @@
 from . import gateway, ros, routes
 from .app_config import app_config
 from .authenticator import AuthenticationError, authenticator, user_dep
-from .fast_io import FastIO, SioSession
+from .fast_io import FastIO
 from .logging import default_logger
 from .models import DispenserState, DoorState, IngestorState, LiftState, User
 from .models import tortoise_models as ttm
@@ -32,7 +32,7 @@
 from .types import is_coroutine
 
 
-async def on_sio_connect(sid: str, environ: dict, auth: dict | None = None):
+async def on_sio_connect(_sid: str, _environ: dict, auth: dict | None = None):
     token = None
     if auth:
         token = auth["token"]
@@ -90,9 +90,8 @@ async def lifespan(_app: FastIO):
         cached_files, ros_node.node, rmf_events, RmfRepository(User.get_system_user())
     )
     await stack.enter_async_context(gateway.RmfGateway.set_instance(rmf_gateway))
-    await stack.enter_async_context(
-        TasksService.set_instance(TasksService(ros_node.node))
-    )
+    tasks_service = TasksService(ros_node.node)
+    await stack.enter_async_context(TasksService.set_instance(tasks_service))
 
     # shutdown event is not called when the app crashes, this can cause the app to be
     # "locked up" as some dependencies like tortoise does not allow python to exit until
@@ -126,7 +125,13 @@ def on_signal(sig, frame):
             default_logger.warning(f"user [{t.created_by}] does not exist")
             continue
         task_repo = TaskRepository(user, default_logger)
-        await routes.scheduled_tasks.schedule_task(t, task_repo, default_logger)
+        await routes.scheduled_tasks.schedule_task(
+            t,
+            RmfRepository(User.get_system_user()),
+            task_repo,
+            tasks_service,
+            default_logger,
+        )
         scheduled += 1
     default_logger.info(f"loaded {scheduled} tasks")
     default_logger.info("successfully started scheduler")

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 Any, cast
 
 
 @dataclass
@@ -16,11 +16,11 @@ class AppConfig:
     cache_directory: str
     log_level: str
     builtin_admin: str
-    jwt_public_key: Optional[str]
-    oidc_url: Optional[str]
+    jwt_public_key: str | None
+    oidc_url: str | None
     aud: str
-    iss: Optional[str]
-    ros_args: List[str]
+    iss: str | None
+    ros_args: list[str]
 
     def __post_init__(self):
         self.public_url = urllib.parse.urlparse(cast(str, self.public_url))

packages/api-server/api_server/authenticator.py

@@ -1,7 +1,7 @@
 import base64
 import json
 import logging
-from typing import Any, Callable, Coroutine, Optional, Protocol, Union
+from typing import Any, Callable, Coroutine, Protocol
 
 import jwt
 from fastapi import Depends, Header, HTTPException
@@ -16,9 +16,9 @@ class AuthenticationError(Exception):
 
 
 class Authenticator(Protocol):
-    async def verify_token(self, token: Optional[str]) -> User: ...
+    async def verify_token(self, token: str | None) -> User: ...
 
-    def fastapi_dep(self) -> Callable[..., Union[Coroutine[Any, Any, User], User]]: ...
+    def fastapi_dep(self) -> Callable[..., Coroutine[Any, Any, User] | User]: ...
 
 
 class JwtAuthenticator:
@@ -62,7 +62,7 @@ async def _get_user(self, claims: dict) -> User:
 
         return user
 
-    async def verify_token(self, token: Optional[str]) -> User:
+    async def verify_token(self, token: str | None) -> User:
         if not token:
             raise AuthenticationError("authentication required")
         try:
@@ -79,7 +79,7 @@ async def verify_token(self, token: Optional[str]) -> User:
         except jwt.InvalidTokenError as e:
             raise AuthenticationError(str(e)) from e
 
-    def fastapi_dep(self) -> Callable[..., Union[Coroutine[Any, Any, User], User]]:
+    def fastapi_dep(self) -> Callable[..., Coroutine[Any, Any, User] | User]:
         async def dep(
             auth_header: str = Depends(OpenIdConnect(openIdConnectUrl=self.oidc_url)),
         ):
@@ -101,7 +101,7 @@ class StubAuthenticator(Authenticator):
     WITHOUT verifying the signature and authenticated as the user given.
     """
 
-    async def verify_token(self, token: Optional[str]):
+    async def verify_token(self, token: str | None):
         if not token:
             return User(username="stub", is_admin=True)
         # decode the jwt without verifying signature

packages/api-server/api_server/dependencies.py

@@ -4,8 +4,7 @@
 
 from api_server import ros_time
 
-from .fast_io import SubscriptionRequest
-from .models import Pagination, User
+from .models import Pagination
 
 
 def pagination_query(

packages/api-server/api_server/gateway.py

@@ -5,7 +5,7 @@
 import hashlib
 import logging
 from datetime import datetime
-from typing import Any, List, Optional, cast
+from typing import Any, cast
 
 import rclpy
 import rclpy.client
@@ -59,7 +59,7 @@ def __init__(
         rmf_events: RmfEvents,
         rmf_repo: RmfRepository,
         *,
-        logger: Optional[logging.Logger] = None,
+        logger: logging.Logger | None = None,
     ):
         self._cached_files = cached_files
         self._ros_node = ros_node
@@ -121,7 +121,7 @@ def __init__(
             ),
         )
 
-        self._subscriptions: List[Subscription] = []
+        self._subscriptions: list[Subscription] = []
 
         self._subscribe_all()
 
@@ -300,11 +300,6 @@ def handle_delivery_alert(msg):
         self._subscriptions.append(delivery_alert_request_sub)
 
         def handle_fire_alarm_trigger(msg):
-            async def save(delivery_alert: DeliveryAlert):
-                # await self._rmf_repo.(delivery_alert)
-                self._rmf_events.delivery_alerts.on_next(delivery_alert)
-                logging.debug("%s", delivery_alert)
-
             msg = cast(BoolMsg, msg)
             if msg.data:
                 logging.info("Fire alarm triggered")
@@ -350,7 +345,7 @@ def request_lift(
         destination: str,
         request_type: int,
         door_mode: int,
-        additional_session_ids: List[str],
+        additional_session_ids: list[str],
     ):
         msg = RmfLiftRequest(
             lift_name=lift_name,
@@ -386,7 +381,7 @@ def respond_to_delivery_alert(
 
     def manual_release_mutex_groups(
         self,
-        mutex_groups: List[str],
+        mutex_groups: list[str],
         fleet: str,
         robot: str,
     ):

packages/api-server/api_server/logging.py

@@ -2,7 +2,6 @@
 import typing
 from logging import LoggerAdapter
 
-from fastapi import Depends
 from fastapi.requests import HTTPConnection
 from termcolor import colored
 from termcolor._types import Color

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

@@ -3,7 +3,7 @@
 from pydantic import BaseModel, Field
 
 from . import tortoise_models as ttm
-from .ros_pydantic import builtin_interfaces, rmf_building_map_msgs, rmf_lift_msgs
+from .ros_pydantic import builtin_interfaces, rmf_building_map_msgs
 
 Lift = rmf_building_map_msgs.Lift
 

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

@@ -1,14 +1,14 @@
-from typing import Dict
-
-from pydantic import BaseModel
+from pydantic import BaseModel, ConfigDict
 
 
 class TaskFavorite(BaseModel):
+    model_config = ConfigDict(from_attributes=True)
+
     id: str
     name: str
     unix_millis_earliest_start_time: int
-    priority: Dict | None
+    priority: dict | None
     category: str
-    description: Dict | None
+    description: dict | None
     user: str
     task_definition_id: str

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

@@ -1,7 +1,6 @@
 import logging
 import os
 
-from api_server.app_config import app_config
 from api_server.fast_io.singleton_dep import SingletonDep
 
 

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

@@ -1,4 +1,4 @@
-from typing import Annotated, List, Optional, Sequence, Tuple, cast
+from typing import Annotated, Sequence, cast
 
 from fastapi import Depends
 from tortoise.exceptions import IntegrityError
@@ -20,20 +20,20 @@ def __init__(
         self.user = user
         self.logger = logger
 
-    async def get_all_fleets(self) -> List[FleetState]:
+    async def get_all_fleets(self) -> list[FleetState]:
         db_states = await ttm.FleetState.all().values_list("data")
         return [FleetState(**s[0]) for s in db_states]
 
-    async def get_fleet_state(self, name: str) -> Optional[FleetState]:
+    async def get_fleet_state(self, name: str) -> FleetState | None:
         # TODO: enforce with authz
         result = await ttm.FleetState.get_or_none(name=name)
         if result is None:
             return None
         return FleetState(**cast(dict, result.data))
 
     async def get_fleet_log(
-        self, name: str, between: Tuple[int, int]
-    ) -> Optional[FleetLog]:
+        self, name: str, between: tuple[int, int]
+    ) -> FleetLog | None:
         """
         :param between: The period in unix millis to fetch.
         """
@@ -42,7 +42,7 @@ async def get_fleet_log(
             "unix_millis_time__lte": between[1],
         }
         result = cast(
-            Optional[ttm.FleetLog],
+            ttm.FleetLog | None,
             await ttm.FleetLog.get_or_none(name=name).prefetch_related(
                 Prefetch(
                     "log",

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

@@ -1,4 +1,4 @@
-from typing import Annotated, List, Literal, Optional, cast
+from typing import Annotated, Literal, cast
 
 from fastapi import Depends
 from tortoise.queryset import ValuesListQuery
@@ -49,13 +49,13 @@ async def save_building_map(self, building_map: BuildingMap) -> None:
             {"data": building_map.model_dump()}, id_=building_map.name
         )
 
-    async def get_doors(self) -> List[Door]:
+    async def get_doors(self) -> list[Door]:
         building_map = await self.get_bulding_map()
         if building_map is None:
             return []
         return [door for level in building_map.levels for door in level.doors]
 
-    async def get_door_state(self, door_name: str) -> Optional[DoorState]:
+    async def get_door_state(self, door_name: str) -> DoorState | None:
         door_state = await ttm.DoorState.get_or_none(id_=door_name)
         if door_state is None:
             return None
@@ -66,13 +66,13 @@ async def save_door_state(self, door_state: DoorState) -> None:
             {"data": door_state.model_dump()}, id_=door_state.door_name
         )
 
-    async def get_lifts(self) -> List[Lift]:
+    async def get_lifts(self) -> list[Lift]:
         building_map = await self.get_bulding_map()
         if building_map is None:
             return []
         return building_map.lifts
 
-    async def get_lift_state(self, lift_name: str) -> Optional[LiftState]:
+    async def get_lift_state(self, lift_name: str) -> LiftState | None:
         lift_state = await ttm.LiftState.get_or_none(id_=lift_name)
         if lift_state is None:
             return None
@@ -83,7 +83,7 @@ async def save_lift_state(self, lift_state: LiftState) -> None:
             {"data": lift_state.model_dump()}, id_=lift_state.lift_name
         )
 
-    async def get_dispensers(self) -> List[Dispenser]:
+    async def get_dispensers(self) -> list[Dispenser]:
         states = await ttm.DispenserState.all()
         return [Dispenser.model_validate(state.data) for state in states]
 
@@ -92,13 +92,13 @@ async def save_dispenser_state(self, dispenser_state: DispenserState) -> None:
             {"data": dispenser_state.model_dump()}, id_=dispenser_state.guid
         )
 
-    async def get_dispenser_state(self, guid: str) -> Optional[DispenserState]:
+    async def get_dispenser_state(self, guid: str) -> DispenserState | None:
         dispenser_state = await ttm.DispenserState.get_or_none(id_=guid)
         if dispenser_state is None:
             return None
         return DispenserState.model_validate(dispenser_state.data)
 
-    async def get_ingestors(self) -> List[Ingestor]:
+    async def get_ingestors(self) -> list[Ingestor]:
         states = await ttm.IngestorState.all()
         return [Ingestor.model_validate(state.data) for state in states]
 
@@ -107,7 +107,7 @@ async def save_ingestor_state(self, ingestor_state: IngestorState) -> None:
             {"data": ingestor_state.model_dump()}, id_=ingestor_state.guid
         )
 
-    async def get_ingestor_state(self, guid: str) -> Optional[IngestorState]:
+    async def get_ingestor_state(self, guid: str) -> IngestorState | None:
         ingestor_state = await ttm.IngestorState.get_or_none(id_=guid)
         if ingestor_state is None:
             return None