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robot-control-manager
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jobs waiting

main
alex 2023-10-14 23:26:25 +02:00
parent e13598dfda
commit e2c68c8c69
7 changed files with 185 additions and 30 deletions
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3
modules/cache/robots.go vendored
View File

@ -48,10 +48,9 @@ func GetAllRobots(query rspagination.PageQuery) structs.RobotsResponse {
Name: v.Name,
Status: v.Status,
Address: v.Address,
CurrentJobId: v.CurrentJobId,
CurrentJobName: v.CurrentJobName,
JobsWaitingCount: v.JobsWaitingCount,
JobsWaitingNameList: v.JobsWaitingNameList,
JobsWaitingNameList: utils.GetJobsWaitingNameList(v.JobsWaitingNameList),
FirmwareVersion: v.FirmwareVersion,
ConnectedAt: v.ConnectedAt,
CreatedAt: v.CreatedAt,

130
modules/robot/robot.go
View File

@ -2,6 +2,7 @@ package robot
import (
"encoding/json"
"fmt"
"jannex/robot-control-manager/modules/cache"
"jannex/robot-control-manager/modules/database"
"jannex/robot-control-manager/modules/logger"
@ -91,6 +92,114 @@ func UpdateRobotStatus(robot *structs.Robot, status uint8) {
})
}
func ProcessJobTask(r *structs.Robot, jobId string, jobName string) {
if r.CurrentJobId == "" {
UpdateRobotCurrentJob(r, jobId, jobName)
}
if r.CurrentJobId != "" && r.CurrentJobId != jobId {
CountUpJobsWaiting(r, jobId, jobName)
}
for r.CurrentJobId != "" && r.CurrentJobId != jobId {
// wait for current job to finish
fmt.Println("job is processing", r.CurrentJobId, jobId, r.JobsWaitingCount)
time.Sleep(2 * time.Second)
}
RemoveJobFromJobsWaitingList(r, jobId)
UpdateRobotCurrentJob(r, jobId, jobName)
fmt.Println("processing job", jobId)
}
func UpdateRobotCurrentJob(r *structs.Robot, jobId string, jobName string) {
r.JobMutex.Lock()
defer r.JobMutex.Unlock()
if r.CurrentJobId == jobId {
return
}
r.CurrentJobId = jobId
r.CurrentJobName = jobName
database.DB.Model(&structs.Robot{}).
Where("id = ?", r.Id).
Updates(map[string]interface{}{"current_job_id": jobId, "current_job_name": jobName})
log.Info().Msgf("Robot %s current job id updated to %s", r.Name, jobId)
BroadcastSSEMessage(structs.SSEMessage{
Cmd: utils.SSESentCmdUpdateRobotCurrentJob,
Body: struct {
RobotId string
JobName string
JobsWaitingNameList []string
}{
RobotId: r.Id,
JobName: jobName,
JobsWaitingNameList: utils.GetJobsWaitingNameList(r.JobsWaitingNameList),
},
})
}
func CountUpJobsWaiting(r *structs.Robot, jobId string, jobName string) {
r.JobMutex.Lock()
defer r.JobMutex.Unlock()
r.JobsWaitingCount++
r.JobsWaitingNameList = append(r.JobsWaitingNameList, structs.JobWaitingName{
JobId: jobId,
Name: jobName,
})
BroadcastSSEMessage(structs.SSEMessage{
Cmd: utils.SSESentCmdUpdateRobotJobsWaitingCount,
Body: struct {
RobotId string
JobsWaitingCount int
JobsWaitingNameList []string
}{
RobotId: r.Id,
JobsWaitingCount: r.JobsWaitingCount,
JobsWaitingNameList: utils.GetJobsWaitingNameList(r.JobsWaitingNameList),
},
})
}
func RemoveJobFromJobsWaitingList(r *structs.Robot, jobId string) {
for i, j := range r.JobsWaitingNameList {
if j.JobId == jobId {
r.JobsWaitingNameList = append(r.JobsWaitingNameList[:i], r.JobsWaitingNameList[i+1:]...)
break
}
}
}
func CountDownJobsWaiting(r *structs.Robot, jobId string) {
r.JobMutex.Lock()
defer r.JobMutex.Unlock()
if r.JobsWaitingCount > 0 {
r.JobsWaitingCount--
}
BroadcastSSEMessage(structs.SSEMessage{
Cmd: utils.SSESentCmdUpdateRobotJobsWaitingCount,
Body: struct {
RobotId string
JobsWaitingCount int
JobsWaitingNameList []string
}{
RobotId: r.Id,
JobsWaitingCount: r.JobsWaitingCount,
JobsWaitingNameList: utils.GetJobsWaitingNameList(r.JobsWaitingNameList),
},
})
}
func BroadcastSSEMessage(message structs.SSEMessage) {
marshaledMessage, err := json.Marshal(message)
@ -106,3 +215,24 @@ func BroadcastSSEMessage(message structs.SSEMessage) {
}
}
}
/*
func AddJobNameToJobsWaitingList(r *structs.Robot, jobName string) {
r.JobMutex.Lock()
defer r.JobMutex.Unlock()
r.JobsWaitingNameList = append(r.JobsWaitingNameList, jobName)
}
func RemoveJobNameFromJobsWaitingList(r *structs.Robot, jobName string) {
r.JobMutex.Lock()
defer r.JobMutex.Unlock()
for i, j := range r.JobsWaitingNameList {
if j == jobName {
r.JobsWaitingNameList = append(r.JobsWaitingNameList[:i], r.JobsWaitingNameList[i+1:]...)
break
}
}
}
*/

26
modules/structs/robot.go
View File

@ -1,7 +1,6 @@
package structs
import (
"fmt"
"sync"
"time"
)
@ -18,19 +17,23 @@ type Robot struct {
CurrentJobName string
JobMutex sync.Mutex `gorm:"-"`
JobsWaitingCount int `gorm:"-"`
JobsWaitingNameList []string `gorm:"-"`
JobsWaitingNameList []JobWaitingName `gorm:"-"`
LastTaskAt time.Time `gorm:"-"`
ConnectedAt time.Time `gorm:"-"`
CreatedAt time.Time
}
type JobWaitingName struct {
JobId string
Name string
}
type APIRobot struct {
Id string
Type uint8
Name string
Status uint8
Address string
CurrentJobId string
CurrentJobName string
JobsWaitingCount int
JobsWaitingNameList []string
@ -39,13 +42,14 @@ type APIRobot struct {
CreatedAt time.Time
}
/*
func (r *Robot) CountUpJobsWaiting() {
r.JobMutex.Lock()
defer r.JobMutex.Unlock()
r.JobsWaitingCount++
}
} */
/*
func (r *Robot) CountDownJobsWaiting() {
r.JobMutex.Lock()
defer r.JobMutex.Unlock()
@ -54,12 +58,13 @@ func (r *Robot) CountDownJobsWaiting() {
r.JobsWaitingCount--
}
}
*/
/*
func (r *Robot) ProcessJobTask(jobId string) {
fmt.Println("wait for job", jobId)
if r.CurrentJobId == "" {
r.SetCurrentJobId(jobId)
robot.UpdateRobotCurrentJobId(r, jobId)
}
if r.CurrentJobId != "" && r.CurrentJobId != jobId {
@ -72,17 +77,18 @@ func (r *Robot) ProcessJobTask(jobId string) {
time.Sleep(2 * time.Second)
}
r.SetCurrentJobId(jobId)
robot.UpdateRobotCurrentJobId(r, jobId)
fmt.Println("processing job", jobId)
}
} */
/*
func (r *Robot) SetCurrentJobId(jobId string) {
r.JobMutex.Lock()
defer r.JobMutex.Unlock()
r.CurrentJobId = jobId
}
} */
type UnauthorizedRobot struct {
Id string

2
modules/utils/globals.go
View File

@ -30,6 +30,8 @@ const (
SSESentCmdRemoveUnauthorizedRobot = 4
SSESentCmdRemoveRobot = 5
SSESentCmdRobotUpdated = 6
SSESentCmdUpdateRobotCurrentJob = 7
SSESentCmdUpdateRobotJobsWaitingCount = 8
)
var (

12
modules/utils/utils.go
View File

@ -1,5 +1,7 @@
package utils
import "jannex/robot-control-manager/modules/structs"
func GetRobotTypeString(t uint8) string {
switch t {
case RobotTypeRex:
@ -27,3 +29,13 @@ func GetRobotStatusString(s uint8) string {
return "unknown"
}
}
func GetJobsWaitingNameList(list []structs.JobWaitingName) []string {
var jobsWaitingNameList []string
for _, j := range list {
jobsWaitingNameList = append(jobsWaitingNameList, j.Name)
}
return jobsWaitingNameList
}

20
routers/api/v1/control/control.go
View File

@ -3,7 +3,9 @@ package control
import (
"jannex/robot-control-manager/modules/cache"
"jannex/robot-control-manager/modules/request"
"jannex/robot-control-manager/modules/robot"
"jannex/robot-control-manager/modules/structs"
"jannex/robot-control-manager/modules/utils"
"git.ex.umbach.dev/Alex/roese-utils/rsutils"
"github.com/gofiber/fiber/v2"
@ -47,18 +49,21 @@ func ControlRex(c *fiber.Ctx) error {
fmt.Printf("y-value: %d\n", *body.Task.Y)
} */
robot := cache.GetRobotByName(body.RobotName)
r := cache.GetRobotByName(body.RobotName)
if robot == nil {
if r == nil {
return c.SendStatus(fiber.StatusUnprocessableEntity)
}
robot.ProcessJobTask(body.JobId)
robot.ProcessJobTask(r, body.JobId, body.JobName)
robot.UpdateRobotStatus(r, utils.RobotStatusRunning)
if err := request.Request(fiber.MethodPost, robot.Address+":5000/api/v1/control", body.Task); err != nil {
if err := request.Request(fiber.MethodPost, r.Address+":5000/api/v1/control", body.Task); err != nil {
return c.JSON(structs.StatusResponse{Status: "err"})
}
robot.UpdateRobotStatus(r, utils.RobotStatusIdle)
return c.JSON(structs.StatusResponse{Status: "ok"})
}
@ -86,13 +91,14 @@ func FinishControlRex(c *fiber.Ctx) error {
return c.SendStatus(fiber.StatusBadRequest)
}
robot := cache.GetRobotByName(body.RobotName)
r := cache.GetRobotByName(body.RobotName)
if robot == nil || robot.CurrentJobId != body.JobId {
if r == nil || r.CurrentJobId != body.JobId {
return c.SendStatus(fiber.StatusUnprocessableEntity)
}
robot.SetCurrentJobId("")
robot.CountDownJobsWaiting(r, body.JobId)
robot.UpdateRobotCurrentJob(r, "", "")
return c.SendStatus(fiber.StatusOK)
}

2
testclient/testrobot.py
View File

@ -35,7 +35,7 @@ def hello():
print("controlling robot", body)
time.sleep(15)
time.sleep(3)
print("robot controlled")