Adding initiator and request time to booking #267

aaronchongth · 2023-04-17T02:06:13Z

New feature implementation

Implemented feature

Related to open-rmf/rmf-web#702, and requires open-rmf/rmf_task#81 and open-rmf/rmf_api_msgs#35.

To use new rmf_task::Request and rmf_task::Task::Booking constructors
Propagated request time and requester information to Dispatcher, TaskManager and FleetUpdateHandle
Added default argument to set_task_planner_parameter for python bindings of FleetUpdateHandle
Updated full control fleet adapter's finishing task factories

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

mxgrey

I left some recommendations to not use steady_clock for timestamps, but once that's changed I'll be happy to approve.

mxgrey · 2023-06-16T18:15:31Z

rmf_fleet_adapter/src/full_control/main.cpp

+  auto get_time =
+    []()
+    {
+      return std::chrono::steady_clock::now();


We definitely do not want steady_clock here. That won't be a meaningful time stamp; it would just be the time since this node began running.

I would recommend using ROS2 time given by the ROS2 node's clock, or using std::chrono::system_clock::now() instead.

Good point, I've made the change to use node time when it's available, otherwise system_clock, 6815ea7

mxgrey · 2023-06-16T18:16:29Z

rmf_fleet_adapter_python/src/adapter.cpp

+          const auto node = n.lock();
+          if (!node)
+          {
+            return std::chrono::steady_clock::now();


If the ROS2 node isn't available, system_clock is more likely to give a time that makes sense, so I'd suggest using that instead.

gotcha, I did a tiny workaround to lump system_clock to rmf_traffic::Time which is based on steady_clock. Was there any specific reason we were using steady_clock for rmf_traffic::Time in the past instead of system?
6815ea7

mxgrey

Hold on, I just noticed something that I'd like to tweak before we merge this.

mxgrey

I've removed the need to pass a node into set_task_planner_params. I believe open-rmf/rmf_demos#180 should be unnecessary now.

aaronchongth · 2023-07-03T05:13:10Z

Thanks for the changes! The node API is definitely the cleanest way to do it

* Fix style for rmf_fleet_adapter Signed-off-by: Yadunund <[email protected]> * Make colcon test pass for rmf_traffic_ros2 Signed-off-by: Yadunund <[email protected]> * Add rmf_fleet_adapter_python to build ci Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]>

Signed-off-by: Yadunund <[email protected]>

…immediately (#273) * Put the action finished callback in a schedule instead of triggering immediately Signed-off-by: Michael X. Grey <[email protected]> * Style Signed-off-by: Yadunund <[email protected]> * Update CHANGELOG Signed-off-by: Michael X. Grey <[email protected]> * Move changelog entry into forthcoming Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]>

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

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

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

Signed-off-by: Yadunund <[email protected]>

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

…planner_id and time functor to finishing task factory Signed-off-by: Aaron Chong <[email protected]>

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

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

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

* Adding initiator and request time to booking Signed-off-by: Aaron Chong <[email protected]> * Use new booking and request API for EmergencyPullover and ResponsiveWait Signed-off-by: Aaron Chong <[email protected]> * Using new booking and request API for FleetUpdateHandle Signed-off-by: Aaron Chong <[email protected]> * Use requester instead of initiator, use new API Signed-off-by: Aaron Chong <[email protected]> * requester name for finishing task factories Signed-off-by: Aaron Chong <[email protected]> * Using reverted constructors with nullopt default parameters Signed-off-by: Aaron Chong <[email protected]> * Fix build failures on build farm (#274) * Fix style for rmf_fleet_adapter Signed-off-by: Yadunund <[email protected]> * Make colcon test pass for rmf_traffic_ros2 Signed-off-by: Yadunund <[email protected]> * Add rmf_fleet_adapter_python to build ci Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]> * Update changelogs and bump patch (#275) Signed-off-by: Yadunund <[email protected]> * Switch to rst changelogs (#276) Signed-off-by: Yadunund <[email protected]> * Put the action finished callback in a schedule instead of triggering immediately (#273) * Put the action finished callback in a schedule instead of triggering immediately Signed-off-by: Michael X. Grey <[email protected]> * Style Signed-off-by: Yadunund <[email protected]> * Update CHANGELOG Signed-off-by: Michael X. Grey <[email protected]> * Move changelog entry into forthcoming Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]> * Revert changes to constructing finish request factories Signed-off-by: Aaron Chong <[email protected]> * Using overloaded TaskPlanner constructor to pass in name of fleet update handle Signed-off-by: Aaron Chong <[email protected]> * Using overloaded rmf_task make functions Signed-off-by: Aaron Chong <[email protected]> * Update changelogs Signed-off-by: Yadunund <[email protected]> * 2.2.0 * Bump 2.3.0 (#282) Signed-off-by: Yadunund <[email protected]> * Use new booking and request API, updated legacy FullControl fleet adapter Signed-off-by: Aaron Chong <[email protected]> * Added node as parameter to pybinded set_task_planner_params, to pass planner_id and time functor to finishing task factory Signed-off-by: Aaron Chong <[email protected]> * Using system_clock instead of steady_clock Signed-off-by: Aaron Chong <[email protected]> * Remove the need to pass a node into the set_task_planner_params python binding Signed-off-by: Michael X. Grey <[email protected]> --------- Signed-off-by: Aaron Chong <[email protected]> Signed-off-by: Yadunund <[email protected]> Signed-off-by: Yadunund <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Co-authored-by: Yadu <[email protected]> Co-authored-by: Grey <[email protected]> Co-authored-by: Yadunund <[email protected]> (cherry picked from commit dc740df) Signed-off-by: Aaron Chong <[email protected]>

Adding initiator and request time to booking (open-rmf#267)

* Adding initiator and request time to booking * Use new booking and request API for EmergencyPullover and ResponsiveWait * Using new booking and request API for FleetUpdateHandle * Use requester instead of initiator, use new API * requester name for finishing task factories * Using reverted constructors with nullopt default parameters * Fix build failures on build farm (#274) * Fix style for rmf_fleet_adapter * Make colcon test pass for rmf_traffic_ros2 * Add rmf_fleet_adapter_python to build ci --------- * Update changelogs and bump patch (#275) * Switch to rst changelogs (#276) * Put the action finished callback in a schedule instead of triggering immediately (#273) * Put the action finished callback in a schedule instead of triggering immediately * Style * Update CHANGELOG * Move changelog entry into forthcoming --------- * Revert changes to constructing finish request factories * Using overloaded TaskPlanner constructor to pass in name of fleet update handle * Using overloaded rmf_task make functions * Update changelogs * 2.2.0 * Bump 2.3.0 (#282) * Use new booking and request API, updated legacy FullControl fleet adapter * Added node as parameter to pybinded set_task_planner_params, to pass planner_id and time functor to finishing task factory * Using system_clock instead of steady_clock * Remove the need to pass a node into the set_task_planner_params python binding --------- (cherry picked from commit dc740df) Signed-off-by: Aaron Chong <[email protected]> Signed-off-by: Yadunund <[email protected]> Signed-off-by: Yadunund <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Co-authored-by: Yadu <[email protected]> Co-authored-by: Grey <[email protected]> Co-authored-by: Yadunund <[email protected]>

aaronchongth added 5 commits April 16, 2023 14:41

Adding initiator and request time to booking

4e0bed2

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

Merge branch 'main' into feat/booking-initiator-request-time

798eb30

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

Use new booking and request API for EmergencyPullover and ResponsiveWait

17e94ee

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

Using new booking and request API for FleetUpdateHandle

53fd979

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

Use requester instead of initiator, use new API

045d4cc

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

aaronchongth marked this pull request as ready for review May 9, 2023 09:00

requester name for finishing task factories

dfdc46d

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

This was referenced May 9, 2023

Port/date initiator columns open-rmf/rmf-web#702

Merged

add requester name to finishing task open-rmf/rmf_demos#180

Closed

Using reverted constructors with nullopt default parameters

ae5c3f6

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

aaronchongth mentioned this pull request Jun 16, 2023

Task request time and initiator in Booking open-rmf/rmf_task#81

Merged

aaronchongth requested review from Yadunund and mxgrey June 16, 2023 08:07

mxgrey requested changes Jun 16, 2023

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aaronchongth force-pushed the feat/booking-initiator-request-time branch from c2f20ad to 6815ea7 Compare June 19, 2023 05:36

aaronchongth requested a review from mxgrey June 19, 2023 07:20

mxgrey approved these changes Jul 3, 2023

View reviewed changes

mxgrey requested changes Jul 3, 2023

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mxgrey approved these changes Jul 3, 2023

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aaronchongth removed the request for review from Yadunund July 3, 2023 05:13

Yadunund and others added 9 commits July 3, 2023 05:36

Update changelogs and bump patch (#275)

4be4530

Signed-off-by: Yadunund <[email protected]>

Switch to rst changelogs (#276)

5ae2b39

Signed-off-by: Yadunund <[email protected]>

Revert changes to constructing finish request factories

5bb4b9e

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

Using overloaded TaskPlanner constructor to pass in name of fleet upd…

5d36fc6

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

Using overloaded rmf_task make functions

ffd138e

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

Update changelogs

15b5211

Signed-off-by: Yadunund <[email protected]>

2.2.0

dd53deb

Yadunund and others added 5 commits July 3, 2023 05:36

Bump 2.3.0 (#282)

3087b99

Signed-off-by: Yadunund <[email protected]>

Use new booking and request API, updated legacy FullControl fleet ada…

1187646

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

Added node as parameter to pybinded set_task_planner_params, to pass …

64bae7a

…planner_id and time functor to finishing task factory Signed-off-by: Aaron Chong <[email protected]>

Using system_clock instead of steady_clock

e820b6a

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

Remove the need to pass a node into the set_task_planner_params pytho…

6956c0e

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

aaronchongth force-pushed the feat/booking-initiator-request-time branch from a99b37e to 6956c0e Compare July 3, 2023 05:36

Merge branch 'main' into feat/booking-initiator-request-time

accae50

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

aaronchongth merged commit dc740df into main Jul 3, 2023
4 checks passed

aaronchongth deleted the feat/booking-initiator-request-time branch July 3, 2023 06:14

This was referenced Jul 3, 2023

Backport #267 to humble #284

Merged

Backport #267 to iron #285

Merged

shu-qing added a commit to shu-qing/rmf_ros2 that referenced this pull request Jul 6, 2023

Merge pull request #2 from open-rmf/main

9d6bdf9

Adding initiator and request time to booking (open-rmf#267)

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Adding initiator and request time to booking #267

Adding initiator and request time to booking #267

aaronchongth commented Apr 17, 2023 •

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aaronchongth commented Jul 3, 2023

Adding initiator and request time to booking #267

Adding initiator and request time to booking #267

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aaronchongth commented Apr 17, 2023 • edited Loading

New feature implementation

Implemented feature

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aaronchongth commented Apr 17, 2023 •

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