Adding requester and request time for dispatch scripts (#240)

Signed-off-by: Aaron Chong <[email protected]>

rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py

@@ -94,6 +94,12 @@ def __init__(self, argv=sys.argv):
             help='Use tool sink during perform action, \
                                 default: false',
         )
+        parser.add_argument(
+            '--requester',
+            help='Entity that is requesting this task',
+            type=str,
+            default='rmf_demos_tasks'
+        )
 
         self.args = parser.parse_args(argv[1:])
         self.response = asyncio.Future()
@@ -129,13 +135,16 @@ def __init__(self, argv=sys.argv):
             payload['type'] = 'dispatch_task_request'
         request = {}
 
-        # Set task request start time
+        # Set task request request time and start time
         now = self.get_clock().now().to_msg()
         now.sec = now.sec + self.args.start_time
         start_time = now.sec * 1000 + round(now.nanosec / 10**6)
+        request['unix_millis_request_time'] = start_time
         request['unix_millis_earliest_start_time'] = start_time
         # todo(YV): Fill priority after schema is added
 
+        request['requester'] = self.args.requester
+
         # Define task request category
         request['category'] = 'compose'
 

rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py

@@ -76,6 +76,12 @@ def __init__(self, argv=sys.argv):
             action='store_true',
             help='Use sim time, default: false',
         )
+        parser.add_argument(
+            '--requester',
+            help='Entity that is requesting this task',
+            type=str,
+            default='rmf_demos_tasks'
+        )
 
         self.args = parser.parse_args(argv[1:])
         self.response = asyncio.Future()
@@ -111,12 +117,15 @@ def __init__(self, argv=sys.argv):
             payload['type'] = 'dispatch_task_request'
         request = {}
 
-        # Set task request start time
+        # Set task request request time and start time
         now = self.get_clock().now().to_msg()
         now.sec = now.sec + self.args.start_time
         start_time = now.sec * 1000 + round(now.nanosec / 10**6)
+        request['unix_millis_request_time'] = start_time
         request['unix_millis_earliest_start_time'] = start_time
 
+        request['requester'] = self.args.requester
+
         # Define task request category
         request['category'] = 'compose'
 

rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py

@@ -117,6 +117,12 @@ def __init__(self, argv=sys.argv):
             action='store_true',
             help='Use sim time, default: false',
         )
+        parser.add_argument(
+            '--requester',
+            help='Entity that is requesting this task',
+            type=str,
+            default='rmf_demos_tasks'
+        )
 
         self.args = parser.parse_args(argv[1:])
         self.response = asyncio.Future()
@@ -166,11 +172,13 @@ def __init__(self, argv=sys.argv):
             payload['type'] = 'dispatch_task_request'
         request = {}
 
-        # Set task request start time
+        # Set task request request time, start time and requester
         now = self.get_clock().now().to_msg()
         now.sec = now.sec + self.args.start_time
         start_time = now.sec * 1000 + round(now.nanosec / 10**6)
+        request['unix_millis_request_time'] = start_time
         request['unix_millis_earliest_start_time'] = start_time
+        request['requester'] = self.args.requester
 
         if self.args.fleet:
             request['fleet_name'] = self.args.fleet

rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py

@@ -85,6 +85,12 @@ def __init__(self, argv=sys.argv):
             action='store_true',
             help='Use sim time, default: false',
         )
+        parser.add_argument(
+            '--requester',
+            help='Entity that is requesting this task',
+            type=str,
+            default='rmf_demos_tasks'
+        )
 
         self.args = parser.parse_args(argv[1:])
         self.response = asyncio.Future()
@@ -154,7 +160,9 @@ def __init__(self, argv=sys.argv):
                 'category': 'go_to_place',
                 'phases': [{'activity': go_to_activity}],
             },
+            'unix_millis_request_time': start_time,
             'unix_millis_earliest_start_time': start_time,
+            'requester': self.args.requester,
         }
 
         if self.args.fleet:

rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py

@@ -84,6 +84,12 @@ def __init__(self, argv=sys.argv):
             action='store_true',
             help='Use sim time, default: false',
         )
+        parser.add_argument(
+            '--requester',
+            help='Entity that is requesting this task',
+            type=str,
+            default='rmf_demos_tasks'
+        )
 
         self.args = parser.parse_args(argv[1:])
         self.response = asyncio.Future()
@@ -120,13 +126,16 @@ def __init__(self, argv=sys.argv):
 
         request = {}
 
-        # Set task request start time
+        # Set task request request time and start time
         now = self.get_clock().now().to_msg()
         now.sec = now.sec + self.args.start_time
         start_time = now.sec * 1000 + round(now.nanosec / 10**6)
+        request['unix_millis_request_time'] = start_time
         request['unix_millis_earliest_start_time'] = start_time
         # todo(YV): Fill priority after schema is added
 
+        request['requester'] = self.args.requester
+
         # Define task request category
         request['category'] = 'patrol'
 

rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py

@@ -66,6 +66,12 @@ def __init__(self, argv=sys.argv):
             action='store_true',
             help='Use sim time, default: false',
         )
+        parser.add_argument(
+            '--requester',
+            help='Entity that is requesting this task',
+            type=str,
+            default='rmf_demos_tasks'
+        )
 
         self.args = parser.parse_args(argv[1:])
         self.response = asyncio.Future()
@@ -99,13 +105,16 @@ def __init__(self, argv=sys.argv):
             payload['type'] = 'dispatch_task_request'
         request = {}
 
-        # Set task request start time
+        # Set task request request time and start time
         now = self.get_clock().now().to_msg()
         now.sec = now.sec + self.args.start_time
         start_time = now.sec * 1000 + round(now.nanosec / 10**6)
+        request['unix_millis_request_time'] = start_time
         request['unix_millis_earliest_start_time'] = start_time
         # todo(YV): Fill priority after schema is added
 
+        request['requester'] = self.args.requester
+
         # Define task request category
         request['category'] = 'compose'