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Support fleet-level task #201

Merged
merged 6 commits into from
Jan 26, 2024
Merged

Support fleet-level task #201

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fdf2999
update task request to include fleet_name for fleet-level task
cwrx777 Jan 10, 2024
6cf65a2
added DCO commit.
cwrx777 Jan 11, 2024
c3263e9
simplify logic for populating request['fleet_name']
cwrx777 Jan 15, 2024
5b97719
remove extra whitespaces.
cwrx777 Jan 16, 2024
e82e23b
remove trailing whitespace.
cwrx777 Jan 16, 2024
cffc7e3
Merge branch 'main' into charlywrx/support_fleet_task
Yadunund Jan 26, 2024
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3 changes: 3 additions & 0 deletions rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,9 @@ def __init__(self, argv=sys.argv):
# Define task request category
request["category"] = "compose"

if self.args.fleet:
request["fleet_name"] = self.args.fleet

# Define task request description with phases
description = {} # task_description_Compose.json
description["category"] = self.args.action
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3 changes: 3 additions & 0 deletions rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py
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Expand Up @@ -95,6 +95,9 @@ def __init__(self, argv=sys.argv):
# Define task request category
request["category"] = "compose"

if self.args.fleet:
request["fleet_name"] = self.args.fleet

# Define task request description with cleaning zone
description = {} # task_description_Compose.json
description["category"] = "clean"
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3 changes: 3 additions & 0 deletions rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py
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Expand Up @@ -120,6 +120,9 @@ def __init__(self, argv=sys.argv):
start_time = now.sec * 1000 + round(now.nanosec/10**6)
request["unix_millis_earliest_start_time"] = start_time

if self.args.fleet:
request["fleet_name"] = self.args.fleet

def __create_pickup_desc(index):
if index < len(self.args.pickup_payloads):
sku_qty = self.args.pickup_payloads[index].split(',')
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3 changes: 3 additions & 0 deletions rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py
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Expand Up @@ -118,6 +118,9 @@ def __init__(self, argv=sys.argv):
'unix_millis_earliest_start_time': start_time
}

if self.args.fleet:
rmf_task_request["fleet_name"] = self.args.fleet

payload["request"] = rmf_task_request

msg.json_msg = json.dumps(payload)
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3 changes: 3 additions & 0 deletions rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py
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Expand Up @@ -100,6 +100,9 @@ def __init__(self, argv=sys.argv):
# Define task request category
request["category"] = "patrol"

if self.args.fleet:
request["fleet_name"] = self.args.fleet

# Define task request description
description = {
'places': self.args.places,
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7 changes: 5 additions & 2 deletions rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py
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Expand Up @@ -39,9 +39,9 @@ class TaskRequester(Node):
def __init__(self, argv=sys.argv):
super().__init__('task_requester')
parser = argparse.ArgumentParser()
parser.add_argument('-F', '--fleet', required=False, default='',
parser.add_argument('-F', '--fleet', required=False,
type=str, help='Fleet name')
parser.add_argument('-R', '--robot', required=False, default='',
parser.add_argument('-R', '--robot', required=False,
type=str, help='Robot name')
parser.add_argument('-s', '--start', required=True,
type=str, help='Start waypoint')
Expand Down Expand Up @@ -94,6 +94,9 @@ def __init__(self, argv=sys.argv):
# Define task request category
request["category"] = "compose"

if self.args.fleet:
request["fleet_name"] = self.args.fleet

# Define task request description with phases
description = {} # task_description_Compose.json
description["category"] = "teleop"
Expand Down
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