Merge pull request #88 from 5G-ERA/AL/EndpointsDashboard_Middleware

Al/endpoints dashboard middleware

src/Common/ExtensionMethods/StringExtensions.cs

@@ -11,4 +11,14 @@ public static string SanitizeAsK8SYaml(this string str)
     {
         return str.Replace("\\n", "\n");
     }
+
+    public static string TrimSuffix(this string s, string suffix)
+    {
+        if (s.EndsWith(suffix))
+        {
+            return s.Substring(0, s.Length - suffix.Length);
+        }
+
+        return s;
+    }
 }

src/Common/Models/GraphEntityModel.cs

@@ -28,6 +28,12 @@ public GraphEntityModel(Guid id, RedisDbIndexEnum dbIndex)
             Id = id;
             Type = dbIndex.ToString().ToUpper();
         }
+        public GraphEntityModel(Guid id, string name, string type)
+        {
+            Id = id;
+            Name = name;
+            Type = type;
+        }
 
         public GraphEntityModel(Guid id, string name, Type type)
         {

src/Common/Models/InstanceModel.cs

@@ -62,6 +62,9 @@ public class InstanceModel : BaseModel
     [JsonPropertyName("MinimumNumCores")]
     public int MinimumNumCores { get; set; } // Compulsory field
 
+    [JsonPropertyName("OnboardedTime")]
+    public DateTime OnboardedTime { get; set; } // Compulsory field
+
     /// <summary>
     /// Onboarding validation of the instance data object.
     /// </summary>

src/Common/Models/RobotModel.cs

@@ -97,6 +97,9 @@ public class RobotModel : BaseModel
     [JsonPropertyName("LastUpdatedTime")]
     public DateTime LastUpdatedTime { get; set; }
 
+    [JsonPropertyName("OnboardedTime")]
+    public DateTime OnboardedTime { get; set; }
+
     /// <summary>
     ///  Onboarding validation of the robot data object.
     /// </summary>
@@ -191,4 +194,5 @@ public RosTopicModel GetTopicModelFromRobot(string topicName)
     {
         return GetAllRobotTopics().Where(t => t.Name == topicName).FirstOrDefault();
     }
+
 }

src/Common/Models/TaskPlannerInputModel.cs

@@ -1,4 +1,5 @@
-using System.Text.Json.Serialization;
+using Microsoft.Extensions.Logging;
+using System.Text.Json.Serialization;
 
 namespace Middleware.Common.Models
 {
@@ -8,8 +9,10 @@ public class TaskPlannerInputModel
         public Guid RobotId { get; set; }
 
         [JsonPropertyName("LockResourceReUse")]
-        public bool LockResourceReUse { get; set; }
-
+        public bool LockResourceReUse { get; set; } //TODO: check only the instances that are avialable in the local middleware
+        /// <summary>
+        /// only change the instance placement in the existing plan during a replan
+        /// </summary>
         [JsonPropertyName("ReplanActionPlannerLocked")]
         public bool ReplanActionPlannerLocked { get; set; }
 
@@ -18,11 +21,19 @@ public class TaskPlannerInputModel
 
         [JsonPropertyName("TaskDescription")]
         public String TaskDescription { get; set; }
-
+
+        /// <summary>
+        /// Use the hardcoded action plan if true, use the semantic planning if false
+        /// </summary>        
         [JsonPropertyName("ContextKnown")]
-        public bool ContextKnown { get; set; }
+        public bool ContextKnown { get; set; } = true; 
 
         [JsonPropertyName("Questions")]
         public List<DialogueModel> Questions { get; set; }
+
+        public bool IsValid()
+        {
+            return RobotId != Guid.Empty && Id != Guid.Empty;
+        }
     }
 }

src/Common/Repositories/Abstract/IBaseRepository.cs

@@ -57,4 +57,6 @@ public interface IBaseRepository<T> where T : class
     Task<bool> DeleteGraphModelAsync(GraphEntityModel model);
 
     Task<bool> DeleteRelationAsync(RelationModel relation);
+
+    Task<Dictionary<string, List<RedisGraphResult>>> GetAllRelations();
 }

src/Common/Repositories/BaseRepository.cs

@@ -314,6 +314,19 @@ public virtual async Task<bool> AddGraphAsync(GraphEntityModel model)
             return resultSet != null && resultSet.Metrics.NodesCreated == 1;
         }
 
+        /// <summary>
+        /// Return all RelationModels to recreate the graph.
+        /// </summary>
+        /// <returns></returns>
+        public virtual async Task<Dictionary<string, List<RedisGraphResult>>> GetAllRelations()
+        {
+            string query = "MATCH (n) OPTIONAL MATCH (n)-[r]-(m) RETURN n, type(r) as r, m";
+            ResultSet resultSet = await RedisGraph.Query(GraphName, query);
+
+            return resultSet?.Results;
+
+        }
+
         /// <summary>
         /// Creating a new relation between two models
         /// </summary>

src/Orchestrator/OrchestratorSpec.json

@@ -1029,6 +1029,10 @@
           "RobotId": {
             "type": "string",
             "format": "uuid"
+          },
+          "TaskStartedAt": {
+            "type": "string",
+            "format": "date-time"
           }
         },
         "additionalProperties": false
@@ -1044,14 +1048,14 @@
             "type": "string",
             "nullable": true
           },
-          "dof": {
+          "number": {
             "type": "integer",
             "format": "int32"
           },
           "nodes": {
             "type": "array",
             "items": {
-              "$ref": "#/components/schemas/ROSNodeModel"
+              "type": "string"
             },
             "nullable": true
           }
@@ -1073,6 +1077,10 @@
             "type": "string",
             "format": "date-time",
             "readOnly": true
+          },
+          "isError": {
+            "type": "boolean",
+            "readOnly": true
           }
         },
         "additionalProperties": false
@@ -1212,6 +1220,10 @@
           "MinimumNumCores": {
             "type": "integer",
             "format": "int32"
+          },
+          "OnboardedTime": {
+            "type": "string",
+            "format": "date-time"
           }
         },
         "additionalProperties": false
@@ -1367,6 +1379,30 @@
             "type": "string",
             "nullable": true
           },
+          "RosVersion": {
+            "type": "integer",
+            "format": "int32"
+          },
+          "RosDistro": {
+            "type": "string",
+            "nullable": true
+          },
+          "MaximumPayload": {
+            "type": "integer",
+            "format": "int64"
+          },
+          "MaximumTranslationalVelocity": {
+            "type": "integer",
+            "format": "int64"
+          },
+          "MaximumRotationalVelocity": {
+            "type": "integer",
+            "format": "int64"
+          },
+          "RobotWeight": {
+            "type": "integer",
+            "format": "int64"
+          },
           "ROSRepo": {
             "type": "string",
             "format": "uri",
@@ -1396,7 +1432,7 @@
             "type": "string",
             "nullable": true
           },
-          "CurrentTaskID": {
+          "currentTaskId": {
             "type": "string",
             "format": "uuid"
           },
@@ -1452,10 +1488,6 @@
             "type": "integer",
             "format": "int64"
           },
-          "VirtualRam": {
-            "type": "integer",
-            "format": "int64"
-          },
           "StorageDisk": {
             "type": "integer",
             "format": "int64"
@@ -1470,6 +1502,14 @@
               "$ref": "#/components/schemas/DialogueModel"
             },
             "nullable": true
+          },
+          "LastUpdatedTime": {
+            "type": "string",
+            "format": "date-time"
+          },
+          "OnboardedTime": {
+            "type": "string",
+            "format": "date-time"
           }
         },
         "additionalProperties": false
@@ -1575,6 +1615,9 @@
           "description": {
             "type": "string",
             "nullable": true
+          },
+          "enabled": {
+            "type": "boolean"
           }
         },
         "additionalProperties": false