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Event based lift / door logic #320

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merged 5 commits into from
May 10, 2024
Merged

Event based lift / door logic #320

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ce2fbd4
Event based lift / door logic
luca-della-vedova Jan 23, 2024
a7165cb
Style
luca-della-vedova Jan 23, 2024
e4e6b2e
Explicit durability
luca-della-vedova Jan 29, 2024
53cae20
Merge branch 'main' into luca/event_based_updates
luca-della-vedova Feb 5, 2024
a64d227
Merge branch 'main' into luca/event_based_updates
mxgrey May 10, 2024
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2 changes: 1 addition & 1 deletion rmf_fleet_adapter/src/door_supervisor/Node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ const std::string DoorSupervisorRequesterID = "door_supervisor";
Node::Node()
: rclcpp::Node("door_supervisor")
{
const auto default_qos = rclcpp::SystemDefaultsQoS();
const auto default_qos = rclcpp::SystemDefaultsQoS().keep_last(100).reliable();
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_door_request_pub = create_publisher<DoorRequest>(
FinalDoorRequestTopicName, default_qos);
Expand Down
9 changes: 6 additions & 3 deletions rmf_fleet_adapter/src/lift_supervisor/Node.cpp
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Expand Up @@ -27,7 +27,7 @@ namespace lift_supervisor {
Node::Node()
: rclcpp::Node("rmf_lift_supervisor")
{
const auto default_qos = rclcpp::SystemDefaultsQoS();
const auto default_qos = rclcpp::SystemDefaultsQoS().keep_last(100).reliable();
const auto transient_qos = rclcpp::SystemDefaultsQoS()
.reliable().keep_last(100).transient_local();

Expand Down Expand Up @@ -68,12 +68,14 @@ void Node::_adapter_lift_request_update(LiftRequest::UniquePtr msg)
{
if (curr_request->session_id == msg->session_id)
{
msg->request_time = this->now();
_lift_request_pub->publish(*msg);
if (msg->request_type != LiftRequest::REQUEST_END_SESSION)
{
curr_request = std::move(msg);
}
else
{
msg->request_time = this->now();
_lift_request_pub->publish(*msg);
RCLCPP_INFO(
this->get_logger(),
"[%s] Published end lift session from lift supervisor",
Expand All @@ -85,6 +87,7 @@ void Node::_adapter_lift_request_update(LiftRequest::UniquePtr msg)
}
else
{
_lift_request_pub->publish(*msg);
if (msg->request_type != LiftRequest::REQUEST_END_SESSION)
{
curr_request = std::move(msg);
Expand Down
6 changes: 6 additions & 0 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/agv/RobotContext.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1046,6 +1046,12 @@ void RobotContext::release_lift()
"Releasing lift [%s] for [%s]",
_lift_destination->lift_name.c_str(),
requester_id().c_str());
rmf_lift_msgs::msg::LiftRequest msg;
msg.lift_name = _lift_destination->lift_name;
msg.request_type = rmf_lift_msgs::msg::LiftRequest::REQUEST_END_SESSION;
msg.session_id = requester_id();
msg.destination_floor = _lift_destination->destination_floor;
_node->lift_request()->publish(msg);
}
_lift_destination = nullptr;
_initial_time_idle_outside_lift = std::nullopt;
Expand Down
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