Merge branch 'main' into arjo/feat/multiple_destinations

rmf_task/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package rmf_task
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2023-12-15)
+------------------
+* Allow charging tasks to run indefinitely (`#99 <https://github.com/open-rmf/rmf_task/pull/99>`_, `#100 <https://github.com/open-rmf/rmf_task/pull/100>`_)
+
 2.3.2 (2023-08-10)
 ------------------
 

rmf_task/include/rmf_task/requests/ChargeBattery.hpp

@@ -53,6 +53,9 @@ class ChargeBattery
     /// Generate the description for this request
     static Task::ConstDescriptionPtr make();
 
+    /// Make a charging task that will last indefinitely.
+    static std::shared_ptr<Description> make_indefinite();
+
     // Documentation inherited
     Task::ConstModelPtr make_model(
       rmf_traffic::Time earliest_start_time,

rmf_task/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmf_task</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>Package for managing tasks in the Robotics Middleware Framework</description>
   <maintainer email="[email protected]">Yadunund</maintainer>
   <maintainer email="[email protected]">Marco A. Gutiérrez</maintainer>

rmf_task/src/rmf_task/requests/ChargeBattery.cpp

@@ -175,6 +175,15 @@ Task::ConstDescriptionPtr ChargeBattery::Description::make()
   return description;
 }
 
+//==============================================================================
+auto ChargeBattery::Description::make_indefinite()
+-> std::shared_ptr<Description>
+{
+  std::shared_ptr<Description> description(new Description);
+  description->set_indefinite(true);
+  return description;
+}
+
 //==============================================================================
 ChargeBattery::Description::Description()
 : _pimpl(rmf_utils::make_impl<Implementation>(Implementation()))

rmf_task/src/rmf_task/requests/ChargeBatteryFactory.cpp

@@ -17,10 +17,32 @@
 
 #include <rmf_task/requests/ChargeBatteryFactory.hpp>
 #include <rmf_task/requests/ChargeBattery.hpp>
+#include <random>
 
 namespace rmf_task {
 namespace requests {
 
+//==============================================================================
+namespace {
+std::string generate_uuid(const std::size_t length = 3)
+{
+  std::stringstream ss;
+  for (std::size_t i = 0; i < length; ++i)
+  {
+    std::random_device rd;
+    std::mt19937 gen(rd());
+    std::uniform_int_distribution<> dis(0, 255);
+    const auto random_char = dis(gen);
+    std::stringstream hexstream;
+    hexstream << std::hex << random_char;
+    auto hex = hexstream.str();
+    ss << (hex.length() < 2 ? '0' + hex : hex);
+  }
+  return ss.str();
+}
+
+} // anonymous namespace
+
 //==============================================================================
 class ChargeBatteryFactory::Implementation
 {
@@ -63,20 +85,33 @@ bool ChargeBatteryFactory::indefinite() const
 //==============================================================================
 ConstRequestPtr ChargeBatteryFactory::make_request(const State& state) const
 {
-
+  const std::string id = "Charge" + generate_uuid();
+  Task::ConstBookingPtr booking;
   if (_pimpl->requester.has_value() && _pimpl->time_now_cb)
   {
-    return ChargeBattery::make(
+    booking =
+      std::make_shared<const rmf_task::Task::Booking>(
+      std::move(id),
       state.time().value(),
+      nullptr,
       _pimpl->requester.value(),
       _pimpl->time_now_cb(),
+      true);
+  }
+  else
+  {
+    booking =
+      std::make_shared<const rmf_task::Task::Booking>(
+      std::move(id),
+      state.time().value(),
       nullptr,
       true);
   }
-  return ChargeBattery::make(
-    state.time().value(),
-    nullptr,
-    true);
+
+  const auto description = ChargeBattery::Description::make_indefinite();
+  description->set_indefinite(_pimpl->indefinite);
+
+  return std::make_shared<Request>(std::move(booking), std::move(description));
 }
 
 } // namespace requests

rmf_task_sequence/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package rmf_task_sequence
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.3 (2023-12-15)
+------------------
+* Fix edge case for task sequences (`#102 <https://github.com/open-rmf/rmf_task/pull/102>`_)
+
 2.3.2 (2023-08-10)
 ------------------
 * Fix battery drain crash for GoToPlace (`#94 <https://github.com/open-rmf/rmf_task/pull/94>`_)

rmf_task_sequence/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmf_task_sequence</name>
-  <version>2.3.2</version>
+  <version>2.3.3</version>
   <description>Implementation of phase-sequence tasks for the Robotics Middleware Framework</description>
   <maintainer email="[email protected]">Grey</maintainer>
   <maintainer email="[email protected]">Marco A. Gutiérrez</maintainer>

rmf_task_sequence/src/rmf_task_sequence/events/Sequence.cpp

@@ -366,12 +366,6 @@ void Sequence::Active::next()
 
   BoolGuard lock(_inside_next);
 
-  const auto event_finished = [me = weak_from_this()]()
-    {
-      if (const auto self = me.lock())
-        self->next();
-    };
-
   do
   {
     if (_reverse_remaining.empty())
@@ -384,6 +378,19 @@ void Sequence::Active::next()
     ++_current_event_index_plus_one;
     const auto next_event = _reverse_remaining.back();
     _reverse_remaining.pop_back();
+
+    const auto event_finished = [
+      me = weak_from_this(),
+      event_index_plus_one = _current_event_index_plus_one
+      ]()
+      {
+        if (const auto self = me.lock())
+        {
+          if (event_index_plus_one == self->_current_event_index_plus_one)
+            self->next();
+        }
+      };
+
     _current = next_event->begin(_checkpoint, event_finished);
   } while (_current->state()->finished());