Update to .net version 7

.github/workflows/backend_lint_and_test.yml

@@ -17,25 +17,25 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Set up .NET
-        uses: actions/setup-dotnet@v1
+        uses: actions/setup-dotnet@v3
         with:
-          dotnet-version: "6.0.x"
+          dotnet-version: "7.0.x"
       - name: Build project and dependencies
         run: dotnet build
 
   test_backend:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v2.1.0
+        uses: actions/checkout@v3
 
       - name: Set up .NET
-        uses: actions/setup-dotnet@v1
+        uses: actions/setup-dotnet@v3
         with:
-          dotnet-version: "6.0.x"
+          dotnet-version: "7.0.x"
 
       - name: Build project and dependencies
         run: dotnet build -warnaserror
@@ -46,14 +46,14 @@ jobs:
   check_formatting:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Setup .NET Core
-        uses: actions/setup-dotnet@v1
+        uses: actions/setup-dotnet@v3
         with:
-          dotnet-version: "6.0.x"
+          dotnet-version: "7.0.x"
 
-      # Dotnet format is included in the .NET6 SDK
+      # Dotnet format is included in the .NET7 SDK
       # By default, the task ensures the exit code is 0
       # If a file needs to be edited by dotnet format, the exit code will be a non-zero value
       # We are using severity level 'info' here.

backend/api.test/EndpointTest.cs

@@ -515,7 +515,7 @@ public async Task GetMissionsInAreaTest()
             Assert.True(areaMissionsResponse.IsSuccessStatusCode);
             var missions = await areaMissionsResponse.Content.ReadFromJsonAsync<IList<MissionRun>>(_serializerOptions);
             Assert.NotNull(missions);
-            Assert.Equal(1, missions.Count);
+            Assert.Single(missions);
             Assert.Equal(missions[0].Id, mission.MissionId);
         }
 

backend/api.test/EventHandlers/TestMissionEventHandler.cs

@@ -267,7 +267,7 @@ public async void NoMissionIsStartedIfQueueIsEmptyWhenRobotBecomesAvailable()
             _mqttService.RaiseEvent(nameof(MqttService.MqttIsarRobotStatusReceived), mqttEventArgs);
 
             // Assert
-            bool ongoingMission = _missionRunService.ReadAll(
+            var ongoingMission = await _missionRunService.ReadAll(
                 new MissionRunQueryStringParameters
                 {
                     Statuses = new List<MissionStatus>
@@ -276,9 +276,8 @@ public async void NoMissionIsStartedIfQueueIsEmptyWhenRobotBecomesAvailable()
                     },
                     OrderBy = "DesiredStartTime",
                     PageSize = 100
-                }).Result.Any();
-
-            Assert.False(ongoingMission);
+                });
+            Assert.False(ongoingMission.Any());
         }
 
         [Fact]

backend/api.test/Mocks/CustomMissionServiceMock.cs

@@ -21,9 +21,9 @@ public string UploadSource(List<MissionTask> tasks)
 
         public async Task<List<MissionTask>?> GetMissionTasksFromSourceId(string id)
         {
-            if (mockBlobStore.ContainsKey(id))
+            if (mockBlobStore.TryGetValue(id, out var value))
             {
-                var content = mockBlobStore[id];
+                var content = value;
                 foreach (var task in content)
                 {
                     task.Id = Guid.NewGuid().ToString(); // This is needed as tasks are owned by mission runs
@@ -44,8 +44,7 @@ public string CalculateHashFromTasks(IList<MissionTask> tasks)
             }
 
             string json = JsonSerializer.Serialize(genericTasks);
-            var hasher = SHA256.Create();
-            byte[] hash = hasher.ComputeHash(Encoding.UTF8.GetBytes(json));
+            byte[] hash = SHA256.HashData(Encoding.UTF8.GetBytes(json));
             return BitConverter.ToString(hash).Replace("-", "", StringComparison.CurrentCulture).ToUpperInvariant();
         }
     }

backend/api.test/Services/MissionService.cs

@@ -43,10 +43,8 @@ public async Task ReadIdDoesNotExist()
         public async Task Create()
         {
             var robot = _context.Robots.First();
-            int nReportsBefore = _missionRunService
-                .ReadAll(new MissionRunQueryStringParameters())
-                .Result.Count;
-
+            var reportsBefore = await _missionRunService.ReadAll(new MissionRunQueryStringParameters());
+            int nReportsBefore = reportsBefore.Count;
             var testInstallation = new Installation
             {
                 InstallationCode = "test",
@@ -86,10 +84,8 @@ public async Task Create()
                 };
 
             await _missionRunService.Create(missionRun);
-            int nReportsAfter = _missionRunService
-                .ReadAll(new MissionRunQueryStringParameters())
-                .Result.Count;
-
+            var reportsAfter = await _missionRunService.ReadAll(new MissionRunQueryStringParameters());
+            int nReportsAfter = reportsAfter.Count;
             Assert.Equal(nReportsBefore + 1, nReportsAfter);
         }
     }

backend/api.test/Services/RobotService.cs

@@ -58,7 +58,8 @@ public async Task ReadIdDoesNotExist()
         public async Task Create()
         {
             var robotService = new RobotService(_context);
-            int nRobotsBefore = robotService.ReadAll().Result.Count();
+            var robotsBefore = await robotService.ReadAll();
+            int nRobotsBefore = robotsBefore.Count();
             var videoStreamQuery = new CreateVideoStreamQuery()
             {
                 Name = "Front Camera",
@@ -84,7 +85,8 @@ public async Task Create()
             robot.Model = robotModel;
 
             await robotService.Create(robot);
-            int nRobotsAfter = robotService.ReadAll().Result.Count();
+            var robotsAfter = await robotService.ReadAll();
+            int nRobotsAfter = robotsAfter.Count();
 
             Assert.Equal(nRobotsBefore + 1, nRobotsAfter);
         }

backend/api.test/api.test.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
     <PropertyGroup>
-        <TargetFramework>net6.0</TargetFramework>
+        <TargetFramework>net7.0</TargetFramework>
         <Nullable>enable</Nullable>
 
         <IsPackable>false</IsPackable>
@@ -10,15 +10,15 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="16.11.0"/>
-        <PackageReference Include="Microsoft.AspNetCore.Mvc.Testing" Version="6.0.13"/>
-        <PackageReference Include="Moq" Version="4.18.4"/>
-        <PackageReference Include="xunit" Version="2.4.2"/>
-        <PackageReference Include="xunit.runner.visualstudio" Version="2.4.5">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.7.2"/>
+        <PackageReference Include="Microsoft.AspNetCore.Mvc.Testing" Version="7.0.11"/>
+        <PackageReference Include="Moq" Version="4.20.69"/>
+        <PackageReference Include="xunit" Version="2.5.1"/>
+        <PackageReference Include="xunit.runner.visualstudio" Version="2.5.1">
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
             <PrivateAssets>all</PrivateAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="3.1.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.0">
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
             <PrivateAssets>all</PrivateAssets>
         </PackageReference>

backend/api/MQTT/MqttService.cs

@@ -43,24 +43,24 @@ public MqttService(ILogger<MqttService> logger, IConfiguration config)
             ).Equals("Production", StringComparison.OrdinalIgnoreCase);*/
 
             var mqttConfig = config.GetSection("Mqtt");
-            string password = mqttConfig.GetValue<string>("Password");
-            string username = mqttConfig.GetValue<string>("Username");
-            _serverHost = mqttConfig.GetValue<string>("Host");
+            string password = mqttConfig.GetValue<string>("Password") ?? "";
+            string username = mqttConfig.GetValue<string>("Username") ?? "";
+            _serverHost = mqttConfig.GetValue<string>("Host") ?? "";
             _serverPort = mqttConfig.GetValue<int>("Port");
             _maxRetryAttempts = mqttConfig.GetValue<int>("MaxRetryAttempts");
             _shouldFailOnMaxRetries = mqttConfig.GetValue<bool>("ShouldFailOnMaxRetries");
 
+
+            var tlsOptions = new MqttClientTlsOptions
+            {
+                UseTls = true,
+                /* Currently disabled to use self-signed certificate in the internal broker communication */
+                //if (_notProduction)
+                IgnoreCertificateChainErrors = true
+            };
             var builder = new MqttClientOptionsBuilder()
                 .WithTcpServer(_serverHost, _serverPort)
-                .WithTls(
-                    o =>
-                    {
-                        o.UseTls = true;
-                        /* Currently disabled to use self-signed certificate in the internal broker communication */
-                        //if (_notProduction)
-                        o.IgnoreCertificateChainErrors = true;
-                    }
-                )
+                .WithTlsOptions(tlsOptions)
                 .WithCredentials(username, password);
 
             _options = new ManagedMqttClientOptionsBuilder()
@@ -70,7 +70,7 @@ public MqttService(ILogger<MqttService> logger, IConfiguration config)
 
             RegisterCallbacks();
 
-            var topics = mqttConfig.GetSection("Topics").Get<List<string>>();
+            var topics = mqttConfig.GetSection("Topics").Get<List<string>>() ?? new List<string>();
             SubscribeToTopics(topics);
         }
         public static event EventHandler<MqttReceivedArgs>? MqttIsarRobotStatusReceived;

backend/api/Program.cs

@@ -92,9 +92,9 @@
     .AddMicrosoftIdentityWebApi(builder.Configuration.GetSection("AzureAd"))
     .EnableTokenAcquisitionToCallDownstreamApi()
     .AddInMemoryTokenCaches()
-    .AddDownstreamWebApi(EchoService.ServiceName, builder.Configuration.GetSection("Echo"))
-    .AddDownstreamWebApi(StidService.ServiceName, builder.Configuration.GetSection("Stid"))
-    .AddDownstreamWebApi(IsarService.ServiceName, builder.Configuration.GetSection("Isar"));
+    .AddDownstreamApi(EchoService.ServiceName, builder.Configuration.GetSection("Echo"))
+    .AddDownstreamApi(StidService.ServiceName, builder.Configuration.GetSection("Stid"))
+    .AddDownstreamApi(IsarService.ServiceName, builder.Configuration.GetSection("Isar"));
 
 builder.Services.AddAuthorization(
     options =>
@@ -106,8 +106,7 @@
 );
 
 var app = builder.Build();
-
-string basePath = builder.Configuration["BackendBaseRoute"];
+string basePath = builder.Configuration["BackendBaseRoute"] ?? "";
 app.UseSwagger(
     c =>
     {
@@ -138,7 +137,7 @@
             new Dictionary<string, string>
             {
                 {
-                    "Resource", builder.Configuration["AzureAd:ClientId"]
+                    "Resource", builder.Configuration["AzureAd:ClientId"] ?? throw new ArgumentException("No Azure Ad ClientId")
                 }
             }
         );
@@ -150,10 +149,11 @@
 option.AddRedirect("^$", "swagger");
 app.UseRewriter(option);
 
+string[] allowedOrigins = builder.Configuration.GetSection("AllowedOrigins").Get<string[]>() ?? Array.Empty<string>();
 app.UseCors(
     corsBuilder =>
         corsBuilder
-            .WithOrigins(builder.Configuration.GetSection("AllowedOrigins").Get<string[]>())
+            .WithOrigins(allowedOrigins)
             .SetIsOriginAllowedToAllowWildcardSubdomains()
             .WithExposedHeaders(QueryStringParameters.PaginationHeader)
             .AllowAnyHeader()

backend/api/Services/CustomMissionService.cs

@@ -66,8 +66,7 @@ public string CalculateHashFromTasks(IList<MissionTask> tasks)
             }
 
             string json = JsonSerializer.Serialize(genericTasks);
-            var hasher = SHA256.Create();
-            byte[] hash = hasher.ComputeHash(Encoding.UTF8.GetBytes(json));
+            byte[] hash = SHA256.HashData(Encoding.UTF8.GetBytes(json));
             return BitConverter.ToString(hash).Replace("-", "", StringComparison.CurrentCulture).ToUpperInvariant();
         }
     }

backend/api/Services/EchoService.cs

@@ -3,7 +3,7 @@
 using Api.Database.Models;
 using Api.Services.Models;
 using Api.Utilities;
-using Microsoft.Identity.Web;
+using Microsoft.Identity.Abstractions;
 using Microsoft.IdentityModel.Tokens;
 namespace Api.Services
 {
@@ -20,10 +20,10 @@ public interface IEchoService
     public class EchoService : IEchoService
     {
         public const string ServiceName = "EchoApi";
-        private readonly IDownstreamWebApi _echoApi;
+        private readonly IDownstreamApi _echoApi;
         private readonly ILogger<EchoService> _logger;
 
-        public EchoService(IDownstreamWebApi downstreamWebApi, ILogger<EchoService> logger)
+        public EchoService(IDownstreamApi downstreamWebApi, ILogger<EchoService> logger)
         {
             _echoApi = downstreamWebApi;
             _logger = logger;
@@ -35,7 +35,7 @@ public async Task<IList<CondensedMissionDefinition>> GetAvailableMissions(string
                 ? "robots/robot-plan?Status=Ready"
                 : $"robots/robot-plan?InstallationCode={installationCode}&&Status=Ready";
 
-            var response = await _echoApi.CallWebApiForUserAsync(
+            var response = await _echoApi.CallApiForUserAsync(
                 ServiceName,
                 options =>
                 {
@@ -48,12 +48,7 @@ public async Task<IList<CondensedMissionDefinition>> GetAvailableMissions(string
 
             var echoMissions = await response.Content.ReadFromJsonAsync<
                 List<EchoMissionResponse>
-            >();
-            if (echoMissions is null)
-            {
-                throw new JsonException("Failed to deserialize missions from Echo");
-            }
-
+            >() ?? throw new JsonException("Failed to deserialize missions from Echo");
             var availableMissions = ProcessAvailableEchoMission(echoMissions);
 
             return availableMissions;
@@ -63,7 +58,7 @@ public async Task<EchoMission> GetMissionById(int missionId)
         {
             string relativePath = $"robots/robot-plan/{missionId}";
 
-            var response = await _echoApi.CallWebApiForUserAsync(
+            var response = await _echoApi.CallApiForUserAsync(
                 ServiceName,
                 options =>
                 {
@@ -74,26 +69,15 @@ public async Task<EchoMission> GetMissionById(int missionId)
 
             response.EnsureSuccessStatusCode();
 
-            var echoMission = await response.Content.ReadFromJsonAsync<EchoMissionResponse>();
-
-            if (echoMission is null)
-            {
-                throw new JsonException("Failed to deserialize mission from Echo");
-            }
-
-            var processedEchoMission = ProcessEchoMission(echoMission);
-            if (processedEchoMission == null)
-            {
-                throw new InvalidDataException($"EchoMission with id: {missionId} is invalid.");
-            }
-
+            var echoMission = await response.Content.ReadFromJsonAsync<EchoMissionResponse>() ?? throw new JsonException("Failed to deserialize mission from Echo");
+            var processedEchoMission = ProcessEchoMission(echoMission) ?? throw new InvalidDataException($"EchoMission with id: {missionId} is invalid.");
             return processedEchoMission;
         }
 
         public async Task<IList<EchoPlantInfo>> GetEchoPlantInfos()
         {
             string relativePath = "plantinfo";
-            var response = await _echoApi.CallWebApiForUserAsync(
+            var response = await _echoApi.CallApiForUserAsync(
                 ServiceName,
                 options =>
                 {
@@ -105,19 +89,15 @@ public async Task<IList<EchoPlantInfo>> GetEchoPlantInfos()
             response.EnsureSuccessStatusCode();
             var echoPlantInfoResponse = await response.Content.ReadFromJsonAsync<
                 List<EchoPlantInfoResponse>
-            >();
-            if (echoPlantInfoResponse is null)
-            {
-                throw new JsonException("Failed to deserialize plant information from Echo");
-            }
+            >() ?? throw new JsonException("Failed to deserialize plant information from Echo");
             var installations = ProcessEchoPlantInfos(echoPlantInfoResponse);
             return installations;
         }
 
         public async Task<EchoPoseResponse> GetRobotPoseFromPoseId(int poseId)
         {
             string relativePath = $"/robots/pose/{poseId}";
-            var response = await _echoApi.CallWebApiForUserAsync(
+            var response = await _echoApi.CallApiForUserAsync(
                 ServiceName,
                 options =>
                 {
@@ -126,11 +106,7 @@ public async Task<EchoPoseResponse> GetRobotPoseFromPoseId(int poseId)
                 }
             );
             response.EnsureSuccessStatusCode();
-            var echoPoseResponse = await response.Content.ReadFromJsonAsync<EchoPoseResponse>();
-            if (echoPoseResponse is null)
-            {
-                throw new JsonException("Failed to deserialize robot pose from Echo");
-            }
+            var echoPoseResponse = await response.Content.ReadFromJsonAsync<EchoPoseResponse>() ?? throw new JsonException("Failed to deserialize robot pose from Echo");
             return echoPoseResponse;
         }