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Add Speed Limit Requests #222

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merged 8 commits into from
Nov 22, 2022
Merged

Add Speed Limit Requests #222

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949e509
add FleetUpdateHandle speed limit API to python bindings
PranayShirodkar Aug 11, 2022
3b8d816
add continuous checker option for dynamic obstacles
PranayShirodkar Aug 16, 2022
3113da1
refactor Lane Close and Open msg building
PranayShirodkar Aug 16, 2022
e9b8ccb
add speed limits
PranayShirodkar Aug 18, 2022
6444912
Merge branch 'feature/rmf_obstacle' into feature/add_speed_limits
Yadunund Nov 10, 2022
b786cc6
Merge branch 'feature/rmf_obstacle' into feature/add_speed_limits
Yadunund Nov 10, 2022
1b823e9
Fix style
Yadunund Nov 22, 2022
897cc3e
Fix const correctness and do not pass unordered_map by ref to publisher
Yadunund Nov 22, 2022
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15 changes: 15 additions & 0 deletions rmf_fleet_adapter_python/src/adapter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@

#include "rmf_traffic_ros2/Time.hpp"
#include "rmf_fleet_adapter/agv/Adapter.hpp"
#include "rmf_fleet_adapter/agv/FleetUpdateHandle.hpp"
#include "rmf_fleet_adapter/agv/test/MockAdapter.hpp"
#include "rmf_fleet_adapter_python/PyRobotCommandHandle.hpp"
#include <rmf_fleet_adapter/agv/Waypoint.hpp>
Expand Down Expand Up @@ -322,6 +323,12 @@ PYBIND11_MODULE(rmf_adapter, m) {
.def("open_lanes",
&agv::FleetUpdateHandle::open_lanes,
py::arg("lane_indices"))
.def("limit_lane_speeds",
&agv::FleetUpdateHandle::limit_lane_speeds,
py::arg("requests"))
.def("remove_speed_limits",
&agv::FleetUpdateHandle::remove_speed_limits,
py::arg("requests"))
.def("set_task_planner_params",
[&](agv::FleetUpdateHandle& self,
battery::BatterySystem& b_sys,
Expand Down Expand Up @@ -504,6 +511,14 @@ PYBIND11_MODULE(rmf_adapter, m) {
return self.errors();
});

// SPEED LIMIT REQUEST ===============================================
py::class_<agv::FleetUpdateHandle::SpeedLimitRequest>(
m_fleet_update_handle, "SpeedLimitRequest")
.def(py::init<std::size_t,
double>(),
py::arg("lane_index"),
py::arg("speed_limit"));

// EASY TRAFFIC LIGHT HANDLE ===============================================
py::class_<agv::Waypoint>(m, "Waypoint")
.def(py::init<std::string,
Expand Down
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