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Remove duplicate scoped event handler
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The additional scoped service which was used to handle the
RobotAvailable event caused events to sometimes be handles by two
different objects at the same time.
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@aeshub
aeshub committed Nov 9, 2023
1 parent f9f5eba commit d7d425b
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Showing 5 changed files with 22 additions and 29 deletions.
15 changes: 6 additions & 9 deletions backend/api/EventHandlers/MissionEventHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,6 @@ IServiceScopeFactory scopeFactory

private IMissionScheduling MissionSchedulingService => _scopeFactory.CreateScope().ServiceProvider.GetRequiredService<IMissionScheduling>();

private IMqttEventHandler MqttEventHandlerService => _scopeFactory.CreateScope().ServiceProvider.GetRequiredService<IMqttEventHandler>();

private IList<MissionRun> MissionRunQueue(string robotId)
{
return MissionService
Expand All @@ -57,15 +55,15 @@ private IList<MissionRun> MissionRunQueue(string robotId)
public override void Subscribe()
{
MissionRunService.MissionRunCreated += OnMissionRunCreated;
MqttEventHandler.RobotAvailable += OnRobotAvailable;
MissionScheduling.RobotAvailable += OnRobotAvailable;
EmergencyActionService.EmergencyButtonPressedForRobot += OnEmergencyButtonPressedForRobot;
EmergencyActionService.EmergencyButtonDepressedForRobot += OnEmergencyButtonDepressedForRobot;
}

public override void Unsubscribe()
{
MissionRunService.MissionRunCreated -= OnMissionRunCreated;
MqttEventHandler.RobotAvailable -= OnRobotAvailable;
MissionScheduling.RobotAvailable -= OnRobotAvailable;
EmergencyActionService.EmergencyButtonPressedForRobot -= OnEmergencyButtonPressedForRobot;
EmergencyActionService.EmergencyButtonDepressedForRobot -= OnEmergencyButtonDepressedForRobot;
}
Expand Down Expand Up @@ -116,10 +114,10 @@ private async void OnRobotAvailable(object? sender, RobotAvailableEventArgs e)

var missionRun = (MissionRun?)null;

if (robot.MissionQueueFrozen == true)
if (robot.MissionQueueFrozen)
{
missionRun = MissionRunQueue(robot.Id).FirstOrDefault(missionRun => missionRun.Robot.Id == robot.Id &&
missionRun.MissionRunPriority == MissionRunPriority.Emergency);
missionRun.MissionRunPriority == MissionRunPriority.Emergency);
}
else
{
Expand Down Expand Up @@ -186,8 +184,7 @@ private async void OnEmergencyButtonPressedForRobot(object? sender, EmergencyBut
await MissionSchedulingService.UnfreezeMissionRunQueueForRobot(e.RobotId);
}

MqttEventHandlerService.TriggerRobotAvailable(new RobotAvailableEventArgs(robot.Id));

MissionSchedulingService.TriggerRobotAvailable(new RobotAvailableEventArgs(robot.Id));
}

private async void OnEmergencyButtonDepressedForRobot(object? sender, EmergencyButtonPressedForRobotEventArgs e)
Expand All @@ -213,7 +210,7 @@ private async void OnEmergencyButtonDepressedForRobot(object? sender, EmergencyB
_logger.LogInformation("Robot {RobotName} was unfrozen but the mission to return to safe zone will be completed before further missions are started", robot.Id);
}

MqttEventHandlerService.TriggerRobotAvailable(new RobotAvailableEventArgs(robot.Id));
MissionSchedulingService.TriggerRobotAvailable(new RobotAvailableEventArgs(robot.Id));
}
}
}
11 changes: 11 additions & 0 deletions backend/api/EventHandlers/MissionScheduling.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
using Api.Controllers.Models;
using Api.Database.Models;
using Api.Services;
using Api.Services.Events;
using Api.Utilities;
namespace Api.EventHandlers
{
Expand All @@ -22,6 +23,8 @@ public interface IMissionScheduling
public Task ScheduleMissionToReturnToSafePosition(string robotId, string areaId);

public Task UnfreezeMissionRunQueueForRobot(string robotId);

public void TriggerRobotAvailable(RobotAvailableEventArgs e);
}

public class MissionScheduling : IMissionScheduling
Expand Down Expand Up @@ -181,6 +184,7 @@ public async Task StopCurrentMissionRun(string robotId)
}
}


try
{
await _isarService.StopMission(robot);
Expand Down Expand Up @@ -253,6 +257,11 @@ public async Task ScheduleMissionToReturnToSafePosition(string robotId, string a
await _missionRunService.Create(missionRun);
}

public void TriggerRobotAvailable(RobotAvailableEventArgs e)
{
OnRobotAvailable(e);
}

public async Task<bool> TheSystemIsAvailableToRunAMission(Robot robot, MissionRun missionRun)
{
bool ongoingMission = await OngoingMission(robot.Id);
Expand Down Expand Up @@ -285,5 +294,7 @@ public static bool MissionRunQueueIsEmpty(IList<MissionRun> missionRunQueue)
{
return !missionRunQueue.Any();
}
protected virtual void OnRobotAvailable(RobotAvailableEventArgs e) { RobotAvailable?.Invoke(this, e); }
public static event EventHandler<RobotAvailableEventArgs>? RobotAvailable;
}
}
22 changes: 5 additions & 17 deletions backend/api/EventHandlers/MqttEventHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,7 @@ namespace Api.EventHandlers
/// <summary>
/// A background service which listens to events and performs callback functions.
/// </summary>
public interface IMqttEventHandler
{
public void TriggerRobotAvailable(RobotAvailableEventArgs e);
}

public class MqttEventHandler : EventHandlerBase, IMqttEventHandler
public class MqttEventHandler : EventHandlerBase
{
private readonly ILogger<MqttEventHandler> _logger;
private readonly IServiceScopeFactory _scopeFactory;
Expand All @@ -35,10 +30,6 @@ public MqttEventHandler(ILogger<MqttEventHandler> logger, IServiceScopeFactory s
Subscribe();
}

public void TriggerRobotAvailable(RobotAvailableEventArgs e)
{
OnRobotAvailable(e);
}

private IServiceProvider GetServiceProvider() { return _scopeFactory.CreateScope().ServiceProvider; }

Expand Down Expand Up @@ -68,18 +59,15 @@ public override void Unsubscribe()

protected override async Task ExecuteAsync(CancellationToken stoppingToken) { await stoppingToken; }

protected virtual void OnRobotAvailable(RobotAvailableEventArgs e)
{
RobotAvailable?.Invoke(this, e);
}

public static event EventHandler<RobotAvailableEventArgs>? RobotAvailable;

private async void OnIsarRobotStatus(object? sender, MqttReceivedArgs mqttArgs)
{
var provider = GetServiceProvider();
var robotService = provider.GetRequiredService<IRobotService>();
var missionScheduling = provider.GetRequiredService<IMissionScheduling>();

var isarRobotStatus = (IsarRobotStatusMessage)mqttArgs.Message;

var robot = await robotService.ReadByIsarId(isarRobotStatus.IsarId);

if (robot == null)
Expand All @@ -94,7 +82,7 @@ private async void OnIsarRobotStatus(object? sender, MqttReceivedArgs mqttArgs)
robot = await robotService.Update(robot);
_logger.LogInformation("Updated status for robot {Name} to {Status}", robot.Name, robot.Status);

if (robot.Status == RobotStatus.Available) { OnRobotAvailable(new RobotAvailableEventArgs(robot.Id)); }
if (robot.Status == RobotStatus.Available) { missionScheduling.TriggerRobotAvailable(new RobotAvailableEventArgs(robot.Id)); }
}

private async void OnIsarRobotInfo(object? sender, MqttReceivedArgs mqttArgs)
Expand Down
2 changes: 0 additions & 2 deletions backend/api/Program.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
using Microsoft.AspNetCore.Rewrite;
using Microsoft.Identity.Web;
using Microsoft.OpenApi.Models;

var builder = WebApplication.CreateBuilder(args);

Console.WriteLine($"\nENVIRONMENT IS SET TO '{builder.Environment.EnvironmentName}'\n");
Expand Down Expand Up @@ -90,7 +89,6 @@
builder.Services.AddScoped<RobotController>();
builder.Services.AddScoped<EmergencyActionController>();
builder.Services.AddScoped<ICustomMissionService, CustomMissionService>();
builder.Services.AddScoped<IMqttEventHandler, MqttEventHandler>();

builder.Services.AddTransient<ISignalRService, SignalRService>();

Expand Down
1 change: 0 additions & 1 deletion backend/api/Services/MissionSchedulingService.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,5 @@ private static float CalculateDistance(Pose pose1, Pose pose2)
var pos2 = pose2.Position;
return (float)Math.Sqrt(Math.Pow(pos1.X - pos2.X, 2) + Math.Pow(pos1.Y - pos2.Y, 2) + Math.Pow(pos1.Z - pos2.Z, 2));
}

}
}

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