Fix merge conflicts

Signed-off-by: Michael X. Grey <[email protected]>

.github/workflows/asan.yaml

@@ -16,6 +16,7 @@ jobs:
           [{"ros_distribution": "humble",
             "ubuntu_distribution": "jammy"}]
       # NOTE: Avoid adding comments in the package lines, this can break some of the called scripts in github actions
+      repos-branch-override: "main"
       packages: |
         rmf_traffic_ros2
         rmf_task_ros2

.github/workflows/build.yaml

@@ -14,6 +14,7 @@ jobs:
     uses: open-rmf/rmf_ci_templates/.github/workflows/reusable_build.yaml@main
     with:
       # NOTE: Avoid adding comments in the package lines, this can break some of the called scripts in github actions
+      repos-branch-override: "main"
       packages: |
             rmf_fleet_adapter
             rmf_fleet_adapter_python

.github/workflows/tsan.yaml

@@ -16,6 +16,7 @@ jobs:
           [{"ros_distribution": "humble",
             "ubuntu_distribution": "jammy"}]
       # NOTE: Avoid adding comments in the package lines, this can break some of the called scripts in github actions
+      repos-branch-override: "main"
       packages: |
         rmf_traffic_ros2
         rmf_task_ros2

rmf_charging_schedule/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package rmf_charging_schedule
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.8.0 (2024-06-12)
+------------------
+
+2.7.1 (2024-06-11)
+------------------
+* Fix charging status (`#347 <https://github.com/open-rmf/rmf_ros2/pull/347>`_)
+* Contributors: Grey
+
+2.7.0 (2024-06-01)
+------------------
+
 2.6.0 (2024-03-13)
 ------------------
 

rmf_charging_schedule/README.md

@@ -10,6 +10,7 @@ The format for the schedule looks like this:
     "02:00": { "robot_3": "charger_A", "robot_1": "queue_A" }
     "03:55": { "robot_2": "queue_B" }
     "04:00": { "robot_1": "charger_B", "robot_2": "queue_A" }
+parking: ["queue_A", "queue_B"]
 ```
 
 The time format is `"HH:MM"` where `HH` ranges from `00` to `23` and `MM` ranges
@@ -37,3 +38,7 @@ the intended charger assignments at midnight. When the node is launched, it will
 move through the schedule from the earliest entry up until the last relevant one
 and issue an initial charger assignment message based on what the assignments
 would have been if the schedule had run from `00:00`.
+
+If any of the waypoints are parking points instead of charging points, put them
+into a list called `parking`. Note that this node does not support the existence
+of a fleet with the name `parking`.

rmf_charging_schedule/package.xml

@@ -2,13 +2,14 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmf_charging_schedule</name>
-  <version>2.6.0</version>
+  <version>2.8.0</version>
   <description>Node for a fixed 24-hour rotating charger usage schedule</description>
   <maintainer email="[email protected]">Grey</maintainer>
   <license>Apache License 2.0</license>
 
   <depend>rclpy</depend>
   <depend>rmf_fleet_msgs</depend>
+  <depend>python3-icecream</depend>
 
   <export>
     <build_type>ament_python</build_type>

rmf_charging_schedule/rmf_charging_schedule/main.py

@@ -68,17 +68,23 @@ def __init__(self, fleet, robot, charger):
         self.charger = charger
 
 
-def publish_assignments(publisher: Publisher, assignments: dict[dict[str]]):
+def publish_assignments(
+    publisher: Publisher,
+    assignments: dict[dict[str]],
+    parking: list[str]
+):
     for fleet, robots in assignments.items():
         msg = ChargingAssignments()
         msg.fleet_name = fleet
         for robot, charger in robots.items():
             assignment = ChargingAssignment()
             assignment.robot_name = robot
             assignment.waypoint_name = charger
-            # The mode isn't actually used yet, so it doesn't matter what we set
-            # it to.
-            assignment.mode = ChargingAssignment.MODE_CHARGE
+
+            if charger in parking:
+                assignment.mode = ChargingAssignment.MODE_WAIT
+            else:
+                assignment.mode = ChargingAssignment.MODE_CHARGE
             msg.assignments.append(assignment)
 
         publisher.publish(msg)
@@ -89,6 +95,7 @@ def update_assignments(
     sorted_times: list,
     schedule: dict,
     assignments: dict,
+    parking: list[str],
     publisher: Publisher,
     node: Node,
 ):
@@ -100,7 +107,7 @@ def update_assignments(
                 f'Sending {change.fleet}/{change.robot} to {change.charger} at '
                 f'{key.hour:02d}:{key.minute:02d}'
             )
-    publish_assignments(publisher, assignments)
+    publish_assignments(publisher, assignments, parking)
 
 
 def simulation_time(node: Node) -> ScheduleTimePoint:
@@ -176,7 +183,14 @@ def main(argv=sys.argv):
         schedule_yaml = yaml.safe_load(f)
 
     unsorted_schedule = {}
+    parking = []
     for fleet, change in schedule_yaml.items():
+        if fleet == 'parking':
+            # We treat the parking entry as a special case that simply lists
+            # which waypoints are parking spots
+            parking = change
+            continue
+
         for time_text, assignments in change.items():
             time = ScheduleTimePoint.parse(time_text)
             entry: list[Assignment] = unsorted_schedule.get(time, list())
@@ -206,7 +220,7 @@ def main(argv=sys.argv):
     last_update_index = bisect.bisect_right(sorted_times, get_time())
     update_assignments(
         None, last_update_index,
-        sorted_times, schedule, assignments, publisher, node,
+        sorted_times, schedule, assignments, parking, publisher, node,
     )
 
     def update():
@@ -215,20 +229,21 @@ def update():
         nonlocal schedule
         nonlocal assignments
         nonlocal publisher
+        nonlocal parking
 
         next_update_index = bisect.bisect_right(sorted_times, get_time())
         if last_update_index < next_update_index:
             update_assignments(
                 last_update_index, next_update_index,
-                sorted_times, schedule, assignments, publisher, node,
+                sorted_times, schedule, assignments, parking, publisher, node,
             )
             last_update_index = next_update_index
 
         elif next_update_index < last_update_index:
             # The cycle must have restarted, e.g. passing midnight
             update_assignments(
                 None, next_update_index,
-                sorted_times, schedule, assignments, publisher, node,
+                sorted_times, schedule, assignments, parking, publisher, node,
             )
             last_update_index = next_update_index
 

rmf_charging_schedule/setup.py

@@ -4,9 +4,10 @@
 
 setup(
     name=package_name,
-    version='2.6.0',
+    version='2.8.0',
     packages=find_packages(),
     data_files=[
+        ('share/' + package_name, ['package.xml']),
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
     ],

rmf_fleet_adapter/CHANGELOG.rst

@@ -2,6 +2,30 @@
 Changelog for package rmf_fleet_adapter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.8.0 (2024-06-12)
+------------------
+
+2.7.1 (2024-06-11)
+------------------
+* Fix charging status (`#347 <https://github.com/open-rmf/rmf_ros2/pull/347>`_)
+* Contributors: Grey
+
+2.7.0 (2024-06-01)
+------------------
+* Fix race condition for ingesting/dispensing and disable uncrustify tests by default (`#362 <https://github.com/open-rmf/rmf_ros2/pull/362>`_)
+* Event based lift / door logic (`#320 <https://github.com/open-rmf/rmf_ros2/pull/320>`_)
+* Filter DoorOpen insertion by map name (`#353 <https://github.com/open-rmf/rmf_ros2/pull/353>`_)
+* Fix schema dictionary used during robot status override (`#349 <https://github.com/open-rmf/rmf_ros2/pull/349>`_)
+* Add fleet-level reassign dispatched tasks API (`#348 <https://github.com/open-rmf/rmf_ros2/pull/348>`_)
+* Automatically begin or cancel idle behavior when commission changes (`#346 <https://github.com/open-rmf/rmf_ros2/pull/346>`_)
+* Disable automatic retreat (`#330 <https://github.com/open-rmf/rmf_ros2/pull/330>`_)
+* Manual release of mutex groups (`#339 <https://github.com/open-rmf/rmf_ros2/pull/339>`_)
+* Stabilize commissioning feature (`#338 <https://github.com/open-rmf/rmf_ros2/pull/338>`_)
+* Release other mutexes if robot started charging (`#334 <https://github.com/open-rmf/rmf_ros2/pull/334>`_)
+* Support labels in booking information (`#328 <https://github.com/open-rmf/rmf_ros2/pull/328>`_)
+* Fix interaction between emergency pullover and finishing task (`#333 <https://github.com/open-rmf/rmf_ros2/pull/333>`_)
+* Contributors: Aaron Chong, Grey, Luca Della Vedova, Xiyu, Yadunund
+
 2.6.0 (2024-03-13)
 ------------------
 * Removes a line of dead code (`#322 <https://github.com/open-rmf/rmf_ros2/pull/322>`_)

rmf_fleet_adapter/CMakeLists.txt

@@ -49,7 +49,9 @@ foreach(pkg ${dep_pkgs})
   find_package(${pkg} REQUIRED)
 endforeach()
 
-if(BUILD_TESTING)
+# Disable uncrustify tests by default.
+set(TEST_UNCRUSTIFY "Off")
+if(BUILD_TESTING AND TEST_UNCRUSTIFY)
   find_package(ament_cmake_uncrustify REQUIRED)
   find_file(uncrustify_config_file
     NAMES "rmf_code_style.cfg"

rmf_fleet_adapter/include/rmf_fleet_adapter/StandardNames.hpp

@@ -73,6 +73,8 @@ const std::string ChargingAssignmentsTopicName = "charging_assignments";
 
 const std::string MutexGroupRequestTopicName = "mutex_group_request";
 const std::string MutexGroupStatesTopicName = "mutex_group_states";
+const std::string MutexGroupManualReleaseTopicName =
+  "mutex_group_manual_release";
 
 const uint64_t Unclaimed = (uint64_t)(-1);
 

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/EasyFullControl.hpp

@@ -513,6 +513,12 @@ class EasyFullControl::FleetConfiguration
   ///   vehicles in this fleet when battery levels fall below the
   ///   recharge_threshold.
   ///
+  /// \param[in] retreat_to_charger_interval
+  ///   Specify whether to allow automatic retreat to charger if the robot's
+  ///   battery is estimated to fall below its recharge_threshold before it is
+  ///   able to complete its current task. Provide a duration between checks in
+  ///   seconds. If nullopt, retreat to charger would be disabled.
+  ///
   /// \param[in] task_categories
   ///   Provide callbacks for considering tasks belonging to each category.
   ///
@@ -706,6 +712,14 @@ class EasyFullControl::FleetConfiguration
   /// Set whether or not to account for battery drain during task planning.
   void set_account_for_battery_drain(bool value);
 
+  /// Get the duration between retreat to charger checks.
+  std::optional<rmf_traffic::Duration> retreat_to_charger_interval() const;
+
+  /// Set the duration between retreat to charger checks. Passing in a nullopt
+  /// will turn off these checks entirely.
+  void set_retreat_to_charger_interval(
+    std::optional<rmf_traffic::Duration> value);
+
   /// Get the task categories
   const std::unordered_map<std::string, ConsiderRequest>&
   task_consideration() const;
@@ -807,6 +821,17 @@ class EasyFullControl::FleetConfiguration
   const std::unordered_map<std::string, std::string>&
   lift_emergency_levels() const;
 
+  /// A set of lanes which must strictly be navigated from from the start to end
+  /// of the lane when used. This means when replanning, the planner cannot ask
+  /// a robot in the middle of one of these lanes to immediately go to the end
+  /// of the lane.
+  const std::unordered_set<std::size_t>& strict_lanes() const;
+
+  /// Get a mutable reference to the set of strict lanes.
+  ///
+  /// \sa strict_lanes
+  std::unordered_set<std::size_t>& change_strict_lanes();
+
   class Implementation;
 private:
   rmf_utils::impl_ptr<Implementation> _pimpl;

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/FleetUpdateHandle.hpp

@@ -391,6 +391,19 @@ class FleetUpdateHandle : public std::enable_shared_from_this<FleetUpdateHandle>
   FleetUpdateHandle& set_update_listener(
     std::function<void(const nlohmann::json&)> listener);
 
+  /// Get the duration between retreat to charger checks.
+  std::optional<rmf_traffic::Duration> retreat_to_charger_interval() const;
+
+  /// Specify whether to allow automatic retreat to charger if the robot's
+  /// battery is estimated to fall below its recharge_threshold before it is
+  /// able to complete its current task. Provide a duration between checks in
+  /// seconds. If nullopt, retreat to charger would be disabled.
+  FleetUpdateHandle& set_retreat_to_charger_interval(
+    std::optional<rmf_traffic::Duration> duration);
+
+  /// Trigger a replan for task allocation for robots in this fleet.
+  void reassign_dispatched_tasks();
+
   /// Get the rclcpp::Node that this fleet update handle will be using for
   /// communication.
   std::shared_ptr<rclcpp::Node> node();

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/RobotUpdateHandle.hpp

@@ -469,6 +469,26 @@ class RobotUpdateHandle
   /// could change in the future.
   void reassign_dispatched_tasks();
 
+  /// Information about where the lift will be asked to go for a robot.
+  class LiftDestination
+  {
+  public:
+    /// Name of the lift that is being used.
+    const std::string& lift() const;
+
+    /// Name of the level that the lift will be going to.
+    const std::string& level() const;
+
+    class Implementation;
+  private:
+    LiftDestination();
+    rmf_utils::impl_ptr<Implementation> _pimpl;
+  };
+
+  /// If this robot has begun a lift session, this will contain information
+  /// about where the robot will ask to go, and which lift it intends to use.
+  std::optional<LiftDestination> lift_destination() const;
+
   class Implementation;
 
   /// This API is experimental and will not be supported in the future. Users
@@ -542,6 +562,25 @@ class RobotUpdateHandle
     /// Turn on/off a debug dump of how position updates are being processed
     void debug_positions(bool on);
 
+    /// Cancel a task but keep the task state displayed as completed, if it has
+    /// been assigned to this robot
+    ///
+    /// \param[in] task_id
+    ///   The ID of the task to be canceled
+    ///
+    /// \param[in] labels
+    ///   Labels that will be assigned to this cancellation. It is recommended to
+    ///   include information about why the cancellation is happening.
+    ///
+    /// \param[in] on_cancellation
+    ///   Callback that will be triggered after the cancellation is issued.
+    ///   task_was_found will be true if the task was successfully found and
+    ///   issued the cancellation, false otherwise.
+    void quiet_cancel_task(
+      std::string task_id,
+      std::vector<std::string> labels,
+      std::function<void(bool task_was_found)> on_cancellation);
+
   private:
     friend Implementation;
     Implementation* _pimpl;

rmf_fleet_adapter/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmf_fleet_adapter</name>
-  <version>2.6.0</version>
+  <version>2.8.0</version>
   <description>Fleet Adapter package for RMF fleets.</description>
   <maintainer email="[email protected]">Grey</maintainer>
   <maintainer email="[email protected]">Aaron</maintainer>

rmf_fleet_adapter/schemas/priority_description__binary.json

@@ -0,0 +1,12 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://raw.githubusercontent.com/open-rmf/rmf_ros2/main/rmf_fleet_adapter/schemas/priority_description__binary.json",
+  "title": "Binary Priority Description",
+  "description": "Describes the priority of a task as a binary",
+  "type": "object",
+  "properties": {
+      "type": { "type": "string" },
+      "value": { "type": "integer", "minimum": 0, "maximum": 1 }
+  },
+  "required": ["type", "value"]
+}