Merge branch 'deploy/hammer' into hammer/use-labels

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

packages/api-client/lib/version.ts

@@ -3,6 +3,6 @@ import { version as rmfModelVer } from 'rmf-models';
 
 export const version = {
   rmfModels: rmfModelVer,
-  rmfServer: '4c9eb01b568dd3b5e98d46fd3571d2e5b173179e',
+  rmfServer: '6e3c9301f2d3c5f44ae8f08aad9d00d8ba60749d',
   openapiGenerator: '6.2.1',
 };

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

@@ -1,3 +1,4 @@
+import asyncio
 import sys
 from datetime import datetime
 from typing import Dict, List, Optional, Sequence, Tuple, cast
@@ -37,6 +38,7 @@ def __init__(
     ):
         self.user = user
         self.logger = logger
+        self.save_task_state_mutex = asyncio.Lock()
 
     async def save_task_request(
         self, task_state: TaskState, task_request: TaskRequest
@@ -101,7 +103,19 @@ async def save_task_state(self, task_state: TaskState) -> None:
                 task_state.unix_millis_warn_time / 1000
             )
 
-        await ttm.TaskState.update_or_create(task_state_dict, id_=task_state.booking.id)
+        # FIXME: If the task dispatcher is also provided websocket access to
+        # the API server, when a new task is dispatched via the API server,
+        # there may be a race condition where both the ROS 2 task response and
+        # task dispatcher websocket update may attempt to create a new task
+        # state model with the same task ID. This have unfortunately not been
+        # reproducible locally, only in the production environment, which uses
+        # Postgres instead of sqlite. This may be fixed upstream in DB or ORM,
+        # this mutex can be removed once these libraries have been updated and
+        # tested to be fixed.
+        async with self.save_task_state_mutex:
+            await ttm.TaskState.update_or_create(
+                task_state_dict, id_=task_state.booking.id
+            )
 
     async def query_task_states(
         self, query: QuerySet[DbTaskState], pagination: Optional[Pagination] = None

packages/api-server/api_server/routes/delivery_alerts.py

@@ -1,13 +1,9 @@
-import logging
-
 from fastapi import Depends
 from rx import operators as rxops
 
-from api_server.authenticator import user_dep
 from api_server.fast_io import FastIORouter, SubscriptionRequest
 from api_server.gateway import rmf_gateway
-from api_server.logging import get_logger
-from api_server.models import User
+from api_server.logging import LoggerAdapter, get_logger
 from api_server.models.delivery_alerts import (
     DeliveryAlert,
     action_to_msg,
@@ -32,8 +28,7 @@ async def respond_to_delivery_alert(
     task_id: str,
     action: DeliveryAlert.Action,
     message: str,
-    user: User = Depends(user_dep),
-    logger: logging.Logger = Depends(get_logger),
+    logger: LoggerAdapter = Depends(get_logger),
 ):
     delivery_alert = DeliveryAlert(
         id=delivery_alert_id,
@@ -43,7 +38,6 @@ async def respond_to_delivery_alert(
         task_id=task_id,
         message=message,
     )
-    logger.info(f"Delivery alert responded by {user.username}")
     logger.info(delivery_alert)
     rmf_gateway().respond_to_delivery_alert(
         alert_id=delivery_alert.id,

packages/api-server/api_server/routes/internal.py

@@ -83,12 +83,12 @@ async def process_msg(
     logger: LoggerAdapter,
 ) -> None:
     if "type" not in msg:
-        logger.warn(msg)
-        logger.warn("Ignoring message, 'type' must include in msg field")
+        logger.warning(msg)
+        logger.warning("Ignoring message, 'type' must include in msg field")
         return
     payload_type: str = msg["type"]
     if not isinstance(payload_type, str):
-        logger.warn("error processing message, 'type' must be a string")
+        logger.warning("error processing message, 'type' must be a string")
         return
     logger.debug(msg)
 
@@ -152,4 +152,4 @@ async def rmf_gateway(
             await process_msg(msg, fleet_repo, task_repo, alert_repo, logger)
     except (WebSocketDisconnect, ConnectionClosed):
         connection_manager.disconnect(websocket)
-        logger.warn("Client websocket disconnected")
+        logger.warning("Client websocket disconnected")

packages/dashboard/src/components/delivery-alert-store.tsx

@@ -219,6 +219,19 @@ const DeliveryWarningDialog = React.memo((props: DeliveryWarningDialogProps) =>
             >
               Cancelled
             </Button>
+          ) : deliveryAlert.message && deliveryAlert.message.includes(' latch ') ? (
+            <Button
+              size="small"
+              variant="contained"
+              disabled
+              autoFocus
+              sx={{
+                fontSize: isScreenHeightLessThan800 ? '0.8rem' : '1rem',
+                padding: isScreenHeightLessThan800 ? '4px 8px' : '6px 12px',
+              }}
+            >
+              Cancel
+            </Button>
           ) : newTaskState ? (
             <Tooltip title="Cancels the current delivery task.">
               <TaskCancelButton