job handling

modules/cache/robots.go

@@ -48,17 +48,17 @@ func IsRobotInList(robotId string) bool {
 	return false
 }
 
-func GetRobotByName(robotId string) structs.Robot {
+func GetRobotByName(robotName string) *structs.Robot {
 	rMu.RLock()
 	defer rMu.RUnlock()
 
 	for _, r := range robots {
-		if r.Id == robotId {
-			return *r
+		if r.Name == robotName {
+			return r
 		}
 	}
 
-	return structs.Robot{}
+	return nil
 }
 
 func RemoveRobotById(robotId string) {

modules/structs/robot.go

@@ -10,6 +10,7 @@ type Robot struct {
 	Address      string `gorm:"-"`
 	CurrentJobId string
 	CurrentTask  string
+	LastTaskAt   time.Time `gorm:"-"`
 	ConnectedAt  time.Time `gorm:"-"`
 	CreatedAt    time.Time
 }
@@ -48,3 +49,7 @@ type GetRobotsResponse struct {
 type RobotIdParams struct {
 	RobotId string
 }
+
+type RobotNameParams struct {
+	RobotName string
+}

routers/api/v1/control/control.go

@@ -1,9 +1,10 @@
 package control
 
 import (
+	"encoding/json"
 	"fmt"
+	"jannex/robot-control-manager/modules/cache"
 	"jannex/robot-control-manager/modules/structs"
-	"time"
 
 	"git.ex.umbach.dev/Alex/roese-utils/rsutils"
 	"github.com/gofiber/fiber/v2"
@@ -30,6 +31,10 @@ func ControlRex(c *fiber.Ctx) error {
 	// responses:
 	//   "200":
 	//    description: Control Rex
+	//   "400":
+	//    description: Invalid request body
+	//   "422":
+	//    description: Robot not found
 
 	log.Info().Msgf("body %v", string(c.Body()))
 
@@ -47,7 +52,94 @@ func ControlRex(c *fiber.Ctx) error {
 		fmt.Printf("y-value: %d\n", *body.Task.Y)
 	}
 
-	time.Sleep(10 * time.Second)
+	robot := cache.GetRobotByName(body.RobotName)
+
+	if robot.Id == "" {
+		return c.SendStatus(fiber.StatusUnprocessableEntity)
+	}
+
+	log.Info().Msgf("robot %v", robot)
+
+	// wait until the robot finished the job
+
+	for robot.CurrentJobId != "" {
+		robot.CurrentJobId = body.JobId
+		log.Debug().Msgf("robot is free %v", body.JobId)
+
+		controlRexRequest(robot.Address, body)
+		break
+	}
+
+	return c.SendStatus(fiber.StatusOK)
+}
+
+func controlRexRequest(address string, body any) {
+	a := fiber.AcquireAgent()
+
+	// TODO: port only for testing - remove it
+	url := "http://" + address + ":5000" + "/api/v1/control"
+
+	req := a.Request()
+	req.Header.SetMethod(fiber.MethodPost)
+	req.SetRequestURI(url)
+	req.Header.SetContentType("application/json")
+
+	log.Info().Msgf("url %s", url)
+
+	reqestBodyBytes, err := json.Marshal(body)
+
+	if err != nil {
+		log.Error().Msgf("Failed to marshal request body, err: %s", err)
+		return
+	}
+
+	req.SetBody(reqestBodyBytes)
+
+	if err := a.Parse(); err != nil {
+		log.Error().Msgf("Failed to parse request, err: %s", err)
+		return
+	}
+
+	code, body, _ := a.Bytes()
+
+	log.Info().Msgf("code %v body %v", code, body)
+}
+
+func FinishControlRex(c *fiber.Ctx) error {
+	// swagger:operation POST /control/0/finish/{robotName} control finishControlRex
+	// ---
+	// summary: Finish control Rex.
+	// description: |
+	//   This is used to finish control Rex.
+	// consumes:
+	// - application/json
+	// produces:
+	// - application/json
+	// responses:
+	//   "200":
+	//    description: Finish control Rex
+	//   "400":
+	//    description: Invalid robot name
+	//   "422":
+	//    description: Robot not found
+
+	var params structs.RobotNameParams
+
+	if err := rsutils.ParamsParserHelper(c, &params); err != nil {
+		return c.SendStatus(fiber.StatusBadRequest)
+	}
+
+	log.Debug().Msgf("before finish control robot %v", cache.GetRobotByName(params.RobotName).CurrentJobId)
+
+	robot := cache.GetRobotByName(params.RobotName)
+
+	if robot.Id == "" {
+		return c.SendStatus(fiber.StatusUnprocessableEntity)
+	}
+
+	robot.CurrentJobId = ""
+
+	log.Debug().Msgf("finish control robot %v", cache.GetRobotByName(params.RobotName).CurrentJobId)
 
 	return c.SendStatus(fiber.StatusOK)
 }

routers/api/v1/permitjoin/permitjoin.go

@@ -27,6 +27,8 @@ func SetPermitJoin(c *fiber.Ctx) error {
 	// responses:
 	//   "200":
 	//    description: Permit join set
+	//   "400":
+	//    description: Invalid request body
 
 	var params structs.PermitJoinParam
 

routers/api/v1/robot/robot.go

@@ -36,6 +36,10 @@ func FirstRequest(c *fiber.Ctx) error {
 	//    description: Robot identified
 	//    schema:
 	//     "$ref": "#/definitions/StatusResponse"
+	//   "400":
+	//    description: Invalid request body
+	//   "403":
+	//    description: Permit join is enabled
 
 	var body structs.FirstRequestBody
 
@@ -118,6 +122,8 @@ func AuthorizeRobot(c *fiber.Ctx) error {
 	// responses:
 	//   "200":
 	//    description: Robot authorized
+	//   "400":
+	//    description: Invalid robot id
 	//   "422":
 	//    description: Robot not found
 

routers/router/router.go

@@ -23,6 +23,7 @@ func SetupRoutes(app *fiber.App) {
 
 	c := v1.Group("/control")
 	c.Post("/0", control.ControlRex)
+	c.Post("/0/finish/:robotName", control.FinishControlRex)
 
 	pj := v1.Group("/permitjoin")
 	pj.Post("/:enabled", permitjoin.SetPermitJoin)

testclient/testrobot.py

@@ -2,6 +2,7 @@
 
 from flask import Flask, request, jsonify
 import requests
+import time
 
 robot_control_server_url = 'http://localhost:50055/v1'
 
@@ -9,6 +10,7 @@ class RexRobot:
     def __init__(self):
         self.id = "B24"
         self.version = "0.0.1"
+        self.currentJobId = ""
 
         # connecting with robot server
         print("connecting with robot server")
@@ -20,13 +22,24 @@ class RexRobot:
             print("permit join disabled")
             exit(1) # esp should here restart
 
-RexRobot()
+    def setCurrentJobId(self, jobId):
+        self.currentJobId = jobId
+
+rex = RexRobot()
 
 app = Flask(__name__)
 
-@app.route('/api/control', methods=['POST'])
+@app.route('/api/v1/control', methods=['POST'])
 def hello():
-    print("Hallo, Welt!")
+    body = request.get_json()
+
+    print("controlling robot", body)
+
+    time.sleep(15)
+
+
+    print("robot controlled")
+
     return jsonify({'status': 'ok'})
 
 if __name__ == '__main__':