Fetch media config from ISAR with API call

Author: andchiind

backend/api.test/Mocks/IsarServiceMock.cs

@@ -51,5 +51,17 @@ public async Task<IsarMission> StartMoveArm(Robot robot, string position)
             );
             return isarServiceMissionResponse;
         }
+
+        public async Task<MediaConfig> GetMediaStreamConfig(Robot robot)
+        {
+            await Task.Run(() => Thread.Sleep(1));
+            return new MediaConfig
+            {
+                Url = "mockURL",
+                Token = "mockToken",
+                RobotId = robot.Id,
+                MediaConnectionType = MediaConnectionType.LiveKit
+            };
+        }
     }
 }

backend/api/Controllers/MediaStreamController.cs

@@ -0,0 +1,51 @@
+using Api.Controllers.Models;
+using Api.Services;
+using Api.Services.Models;
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.Mvc;
+
+namespace Api.Controllers
+{
+    [ApiController]
+    [Route("media-stream")]
+    public class MediaStreamController(
+            ILogger<MediaStreamController> logger,
+            IIsarService isarService,
+            IRobotService robotService
+        ) : ControllerBase
+    {
+        /// <summary>
+        /// Request the config for a new media stream connection from ISAR
+        /// </summary>
+        /// <remarks>
+        /// <para> This query gets a new media stream connection config from ISAR </para>
+        /// </remarks>
+        [HttpGet]
+        [Authorize(Roles = Role.Any)]
+        [Route("{id}")]
+        [ProducesResponseType(typeof(MediaConfig), StatusCodes.Status200OK)]
+        [ProducesResponseType(StatusCodes.Status400BadRequest)]
+        [ProducesResponseType(StatusCodes.Status401Unauthorized)]
+        [ProducesResponseType(StatusCodes.Status403Forbidden)]
+        [ProducesResponseType(StatusCodes.Status500InternalServerError)]
+        public async Task<ActionResult<MediaConfig>> GetMediaStreamConfig([FromRoute] string id)
+        {
+            try
+            {
+                var robot = await robotService.ReadById(id);
+                if (robot == null)
+                {
+                    return NotFound($"Could not find robot with ID {id}");
+                }
+
+                var config = await isarService.GetMediaStreamConfig(robot);
+                return Ok(config);
+            }
+            catch (Exception e)
+            {
+                logger.LogError(e, "Error during GET of media stream config from ISAR");
+                throw;
+            }
+        }
+    }
+}

backend/api/EventHandlers/MqttEventHandler.cs

@@ -59,7 +59,6 @@ public override void Subscribe()
             MqttService.MqttIsarPressureReceived += OnIsarPressureUpdate;
             MqttService.MqttIsarPoseReceived += OnIsarPoseUpdate;
             MqttService.MqttIsarCloudHealthReceived += OnIsarCloudHealthUpdate;
-            MqttService.MqttIsarMediaConfigReceived += OnIsarMediaConfigUpdate;
         }
 
         public override void Unsubscribe()
@@ -72,7 +71,6 @@ public override void Unsubscribe()
             MqttService.MqttIsarPressureReceived -= OnIsarPressureUpdate;
             MqttService.MqttIsarPoseReceived -= OnIsarPoseUpdate;
             MqttService.MqttIsarCloudHealthReceived -= OnIsarCloudHealthUpdate;
-            MqttService.MqttIsarMediaConfigReceived -= OnIsarMediaConfigUpdate;
         }
 
         protected override async Task ExecuteAsync(CancellationToken stoppingToken) { await stoppingToken; }
@@ -538,25 +536,5 @@ private async void OnIsarCloudHealthUpdate(object? sender, MqttReceivedArgs mqtt
 
             TeamsMessageService.TriggerTeamsMessageReceived(new TeamsMessageEventArgs(message));
         }
-
-        private async void OnIsarMediaConfigUpdate(object? sender, MqttReceivedArgs mqttArgs)
-        {
-            var isarTelemetyUpdate = (IsarMediaConfigMessage)mqttArgs.Message;
-
-            var robot = await RobotService.ReadByIsarId(isarTelemetyUpdate.IsarId);
-            if (robot == null)
-            {
-                _logger.LogInformation("Received message from unknown ISAR instance {Id} with robot name {Name}", isarTelemetyUpdate.IsarId, isarTelemetyUpdate.RobotName);
-                return;
-            }
-            await SignalRService.SendMessageAsync("Media stream config received", robot.CurrentInstallation,
-                new MediaConfig
-                {
-                    Url = isarTelemetyUpdate.Url,
-                    Token = isarTelemetyUpdate.Token,
-                    RobotId = robot.Id,
-                    MediaConnectionType = isarTelemetyUpdate.MediaConnectionType
-                });
-        }
     }
 }

backend/api/MQTT/MessageModels/IsarMediaConfig.cs

@@ -91,7 +91,6 @@ public MqttService(ILogger<MqttService> logger, IConfiguration config)
         public static event EventHandler<MqttReceivedArgs>? MqttIsarPressureReceived;
         public static event EventHandler<MqttReceivedArgs>? MqttIsarPoseReceived;
         public static event EventHandler<MqttReceivedArgs>? MqttIsarCloudHealthReceived;
-        public static event EventHandler<MqttReceivedArgs>? MqttIsarMediaConfigReceived;
 
         protected override async Task ExecuteAsync(CancellationToken stoppingToken)
         {
@@ -153,9 +152,6 @@ private Task OnMessageReceived(MqttApplicationMessageReceivedEventArgs messageRe
                 case Type type when type == typeof(IsarCloudHealthMessage):
                     OnIsarTopicReceived<IsarCloudHealthMessage>(content);
                     break;
-                case Type type when type == typeof(IsarMediaConfigMessage):
-                    OnIsarTopicReceived<IsarMediaConfigMessage>(content);
-                    break;
                 default:
                     _logger.LogWarning(
                         "No callback defined for MQTT message type '{type}'",
@@ -305,7 +301,6 @@ private void OnIsarTopicReceived<T>(string content) where T : MqttMessage
                     _ when type == typeof(IsarPressureMessage) => MqttIsarPressureReceived,
                     _ when type == typeof(IsarPoseMessage) => MqttIsarPoseReceived,
                     _ when type == typeof(IsarCloudHealthMessage) => MqttIsarCloudHealthReceived,
-                    _ when type == typeof(IsarMediaConfigMessage) => MqttIsarMediaConfigReceived,
                     _
                         => throw new NotImplementedException(
                             $"No event defined for message type '{typeof(T).Name}'"

backend/api/MQTT/MqttService.cs

@@ -42,9 +42,6 @@ public static class MqttTopics
                 },
                 {
                     "isar/+/cloud_health", typeof(IsarCloudHealthMessage)
-                },
-                {
-                    "isar/+/media_config", typeof(IsarMediaConfigMessage)
                 }
             };
 

backend/api/MQTT/MqttTopics.cs

@@ -17,6 +17,8 @@ public interface IIsarService
         public Task<IsarControlMissionResponse> ResumeMission(Robot robot);
 
         public Task<IsarMission> StartMoveArm(Robot robot, string armPosition);
+
+        public Task<MediaConfig> GetMediaStreamConfig(Robot robot);
     }
 
     public class IsarService(IDownstreamApi isarApi, ILogger<IsarService> logger) : IIsarService
@@ -275,5 +277,65 @@ private static (string, int) GetErrorDescriptionFoFailedIsarRequest(HttpResponse
 
             return (description, (int)statusCode);
         }
+
+        public async Task<MediaConfig> GetMediaStreamConfig(Robot robot)
+        {
+            string mediaStreamPath = $"/media/media-stream-config";
+            var response = await CallApi(
+                HttpMethod.Get,
+                robot.IsarUri,
+                mediaStreamPath
+            );
+
+            if (!response.IsSuccessStatusCode)
+            {
+                (string message, _) = GetErrorDescriptionFoFailedIsarRequest(response);
+                string errorResponse = await response.Content.ReadAsStringAsync();
+                logger.LogError("{Message}: {ErrorResponse}", message, errorResponse);
+                throw new ConfigException(message);
+            }
+            if (response.Content is null)
+            {
+                string errorMessage = "Could not read content from new robot media stream config";
+                logger.LogError("{ErrorMessage}", errorMessage);
+                throw new ConfigException(errorMessage);
+            }
+
+            IsarMediaConfigMessage? isarMediaConfigResponse;
+            try
+            {
+                isarMediaConfigResponse = await response.Content.ReadFromJsonAsync<IsarMediaConfigMessage>();
+            }
+            catch (JsonException)
+            {
+                string errorMessage = $"Could not parse content from new robot media stream config. {await response.Content.ReadAsStringAsync()}";
+                logger.LogError("{ErrorMessage}", errorMessage);
+                throw new ConfigException(errorMessage);
+            }
+
+            if (isarMediaConfigResponse == null)
+            {
+                string errorMessage = $"Parsing of robot media stream config resulted in empty config. {await response.Content.ReadAsStringAsync()}";
+                logger.LogError("{ErrorMessage}", errorMessage);
+                throw new ConfigException(errorMessage);
+            }
+
+            bool parseSuccess = Enum.TryParse(isarMediaConfigResponse.MediaConnectionType, out MediaConnectionType connectionType);
+
+            if (!parseSuccess)
+            {
+                string errorMessage = $"Could not parse connection type from new robot media stream config. {isarMediaConfigResponse.MediaConnectionType}";
+                logger.LogError("{ErrorMessage}", errorMessage);
+                throw new ConfigException(errorMessage);
+            }
+
+            return new MediaConfig
+            {
+                Url = isarMediaConfigResponse.Url,
+                Token = isarMediaConfigResponse.Token,
+                RobotId = robot.Id,
+                MediaConnectionType = connectionType
+            };
+        }
     }
 }

backend/api/Services/IsarService.cs

@@ -0,0 +1,18 @@
+using System.Text.Json.Serialization;
+
+namespace Api.Services.Models
+{
+#nullable disable
+    public class IsarMediaConfigMessage
+    {
+        [JsonPropertyName("url")]
+        public string Url { get; set; }
+
+        [JsonPropertyName("token")]
+        public string Token { get; set; }
+
+        [JsonPropertyName("media_connection_type")]
+        public string MediaConnectionType { get; set; }
+
+    }
+}

backend/api/Services/Models/IsarMediaConfig.cs

@@ -1,18 +1,10 @@
-using System.Text.Json.Serialization;
-namespace Api.Services.Models
+namespace Api.Services.Models
 {
     public struct MediaConfig
     {
-        [JsonPropertyName("url")]
         public string? Url { get; set; }
-
-        [JsonPropertyName("token")]
         public string? Token { get; set; }
-
-        [JsonPropertyName("robotId")]
         public string? RobotId { get; set; }
-
-        [JsonPropertyName("mediaConnectionType")]
         public MediaConnectionType MediaConnectionType { get; set; }
     }