Task request time and initiator in Booking (#81)

* Fixed missing constructor implementation, commented to deprecate next time, new booking constructor Signed-off-by: Aaron Chong <[email protected]> * Add requester to factories, add request time and initiator to ChargeBattery and Loop Signed-off-by: Aaron Chong <[email protected]> * Using requester instead of initiator, added new make API to legacy Clean and Deliver Signed-off-by: Aaron Chong <[email protected]> * lint Signed-off-by: Aaron Chong <[email protected]> * Revert to original constructor with optional arguments appended, propagated changes to all constructors and make functions Signed-off-by: Aaron Chong <[email protected]> * Move description into booking, lint Signed-off-by: Aaron Chong <[email protected]> * Pass a clock functor to ParkRobotFactory Signed-off-by: Aaron Chong <[email protected]> * Using non-deprecated Request constructor Signed-off-by: Aaron Chong <[email protected]> * new make_request API to include requester and request time Signed-off-by: Aaron Chong <[email protected]> * Overload TaskPlanner constructor with a name argument Signed-off-by: Aaron Chong <[email protected]> * Retained old API and marked as deprecated Signed-off-by: Aaron Chong <[email protected]> * Overloading booking instead of adding default arguments Signed-off-by: Aaron Chong <[email protected]> * Overloading all affected functions with non optional arguments Signed-off-by: Aaron Chong <[email protected]> * Lint Signed-off-by: Aaron Chong <[email protected]> * Revert deprecation tag on Request, to be done in a separate PR Signed-off-by: Aaron Chong <[email protected]> * Argument name changes, linting, documentation Signed-off-by: Aaron Chong <[email protected]> * TaskPlanner constructor to have planner id as first argument Signed-off-by: Aaron Chong <[email protected]> * request factories to accept a callback that returns the current time Signed-off-by: Aaron Chong <[email protected]> --------- Signed-off-by: Aaron Chong <[email protected]> (cherry picked from commit a7875a9) Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Jun 16, 2023 · f9c01c1 · f9c01c1
1 parent f59c07d
commit f9c01c1
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Showing 21 changed files with 621 additions and 79 deletions.
diff --git a/rmf_task/include/rmf_task/RequestFactory.hpp b/rmf_task/include/rmf_task/RequestFactory.hpp
@@ -29,9 +29,12 @@ class RequestFactory
 public:
 
   /// Generate a request for the AGV given the state that the robot will have
-  /// when it is ready to perform the request
-  virtual ConstRequestPtr make_request(
-    const State& state) const = 0;
+  /// when it is ready to perform the request.
+  ///
+  /// \param[in] state
+  ///   The state that the robot will have when it is ready to perform the
+  ///   request.
+  virtual ConstRequestPtr make_request(const State& state) const = 0;
 
   virtual ~RequestFactory() = default;
 };

diff --git a/rmf_task/include/rmf_task/Task.hpp b/rmf_task/include/rmf_task/Task.hpp
@@ -31,6 +31,7 @@
 #include <rmf_traffic/Time.hpp>
 
 #include <memory>
+#include <optional>
 #include <functional>
 
 namespace rmf_task {
@@ -67,33 +68,69 @@ class Task::Booking
 
   /// Constructor
   ///
-  /// \param[in] id_
+  /// \param[in] id
   ///   The identity of the booking
   ///
-  /// \param[in] earliest_start_time_
+  /// \param[in] earliest_start_time
   ///   The earliest time that the task may begin
   ///
-  /// \param[in] priority_
+  /// \param[in] priority
   ///   The priority of the booking
   ///
-  /// \param[in] automatic_
+  /// \param[in] automatic
   ///   Whether this booking was automatically generated
   Booking(
-    std::string id_,
-    rmf_traffic::Time earliest_start_time_,
-    ConstPriorityPtr priority_,
-    bool automatic_ = false);
+    std::string id,
+    rmf_traffic::Time earliest_start_time,
+    ConstPriorityPtr priority,
+    bool automatic = false);
 
-  /// The unique id for this booking
+  /// Constructor
+  ///
+  /// \param[in] id
+  ///   The identity of the booking.
+  ///
+  /// \param[in] earliest_start_time
+  ///   The earliest time that the task may begin.
+  ///
+  /// \param[in] priority
+  ///   The priority of the booking.
+  ///
+  /// \param[in] requester
+  ///   The identifier of the entity that requested this task.
+  ///
+  /// \param[in] request_time
+  ///   The time that this task was booked.
+  ///
+  /// \param[in] automatic
+  ///   Whether this booking was automatically generated, default value as
+  ///   false.
+  Booking(
+    std::string id,
+    rmf_traffic::Time earliest_start_time,
+    ConstPriorityPtr priority,
+    const std::string& requester,
+    rmf_traffic::Time request_time,
+    bool automatic = false);
+
+  /// The unique id for this booking.
   const std::string& id() const;
 
-  /// Get the earliest time that this booking may begin
+  /// Get the earliest time that this booking may begin.
   rmf_traffic::Time earliest_start_time() const;
 
-  /// Get the priority of this booking
+  /// Get the priority of this booking.
   ConstPriorityPtr priority() const;
 
-  // Returns true if this booking was automatically generated
+  /// Get the identifier of the entity that requested this booking. Returns a
+  /// nullopt if no requester was defined.
+  std::optional<std::string> requester() const;
+
+  /// Get the time that this booking was requested. Returns a nullopt if no
+  /// request time was defined.
+  std::optional<rmf_traffic::Time> request_time() const;
+
+  // Returns true if this booking was automatically generated.
   bool automatic() const;
 
   class Implementation;

diff --git a/rmf_task/include/rmf_task/TaskPlanner.hpp b/rmf_task/include/rmf_task/TaskPlanner.hpp
@@ -198,6 +198,23 @@ class TaskPlanner
     Configuration configuration,
     Options default_options);
 
+  /// Constructor
+  ///
+  /// \param[in] planner_id
+  ///   Identifier of this task planner, to be used for booking automated
+  ///   requests.
+  ///
+  /// \param[in] configuration
+  ///   The configuration for the planner.
+  ///
+  /// \param[in] default_options
+  ///   Default options for the task planner to use when solving for assignments.
+  ///   These options can be overriden each time a plan is requested.
+  TaskPlanner(
+    const std::string& planner_id,
+    Configuration configuration,
+    Options default_options);
+
   /// Get a const reference to configuration of this task planner
   const Configuration& configuration() const;
 

diff --git a/rmf_task/include/rmf_task/requests/ChargeBattery.hpp b/rmf_task/include/rmf_task/requests/ChargeBattery.hpp
@@ -83,6 +83,29 @@ class ChargeBattery
     rmf_traffic::Time earliest_start_time,
     ConstPriorityPtr priority = nullptr,
     bool automatic = true);
+
+  /// Generate a chargebattery request.
+  ///
+  /// \param[in] earliest_start_time
+  ///   The desired start time for this request.
+  ///
+  /// \param[in] requester
+  ///   The entity that issued this request.
+  ///
+  /// \param[in] request_time
+  ///   The time this request was generated or submitted.
+  ///
+  /// \param[in] priority
+  ///   The priority for this request.
+  ///
+  /// \param[in] automatic
+  ///   True if this request is auto-generated, default value as true.
+  static ConstRequestPtr make(
+    rmf_traffic::Time earliest_start_time,
+    const std::string& requester,
+    rmf_traffic::Time request_time,
+    ConstPriorityPtr priority = nullptr,
+    bool automatic = true);
 };
 
 } // namespace requests

diff --git a/rmf_task/include/rmf_task/requests/ChargeBatteryFactory.hpp b/rmf_task/include/rmf_task/requests/ChargeBatteryFactory.hpp
@@ -18,8 +18,13 @@
 #ifndef RMF_TASK__REQUESTS__FACTORY__CHARGEBATTERYFACTORY_HPP
 #define RMF_TASK__REQUESTS__FACTORY__CHARGEBATTERYFACTORY_HPP
 
+#include <functional>
+#include <optional>
+#include <string>
+
 #include <rmf_task/RequestFactory.hpp>
 #include <rmf_task/State.hpp>
+#include <rmf_traffic/Time.hpp>
 
 #include <rmf_utils/impl_ptr.hpp>
 
@@ -30,16 +35,29 @@ namespace requests {
 /// The ChargeBatteryFactory will generate a ChargeBattery request which
 /// requires an AGV to return to its desginated charging_waypoint as specified
 /// in its agv::State and wait till its battery charges up to the recharge_soc
-/// confugred in agv::Constraints recharge_soc specified in its agv::Constraints
+/// configured in agv::Constraints recharge_soc specified in its
+/// agv::Constraints
 class ChargeBatteryFactory : public RequestFactory
 {
 public:
 
+  /// Constructor
   ChargeBatteryFactory();
 
+  /// Constructor
+  ///
+  /// \param[in] requester
+  ///   The identifier of the entity that owns this RequestFactory, that will be
+  ///   the designated requester of each new request.
+  ///
+  /// \param[in] time_now_cb
+  ///   Callback function that returns the current time.
+  explicit ChargeBatteryFactory(
+    const std::string& requester,
+    std::function<rmf_traffic::Time()> time_now_cb);
+
   /// Documentation inherited
-  ConstRequestPtr make_request(
-    const State& state) const final;
+  ConstRequestPtr make_request(const State& state) const final;
 
   class Implementation;
 

diff --git a/rmf_task/include/rmf_task/requests/Clean.hpp b/rmf_task/include/rmf_task/requests/Clean.hpp
@@ -112,6 +112,49 @@ class Clean
     rmf_traffic::Time earliest_start_time,
     ConstPriorityPtr priority = nullptr,
     bool automatic = false);
+
+  /// Generate a clean request.
+  ///
+  /// \param[in] start_waypoint
+  ///   The graph index for the location where the AGV should begin its cleaning
+  ///   operation.
+  ///
+  /// \param[in] end_waypoint
+  ///   The graph index for the location where the AGV ends up after its cleaning
+  ///   operation.
+  ///
+  /// \param[in] cleaning_path
+  ///   A trajectory that describes the motion of the AGV during the cleaning
+  ///   operation. This is used to determine the process duration and expected
+  ///   battery drain.
+  ///
+  /// \param[in] id
+  ///   A unique id for this request.
+  ///
+  /// \param[in] earliest_start_time
+  ///   The desired start time for this request.
+  ///
+  /// \param[in] requester
+  ///   The entity that issued this request.
+  ///
+  /// \param[in] request_time
+  ///   The time this request was generated or submitted.
+  ///
+  /// \param[in] priority
+  ///   The priority for this request.
+  ///
+  /// \param[in] automatic
+  ///   True if this request is auto-generated, default value as false.
+  static ConstRequestPtr make(
+    std::size_t start_waypoint,
+    std::size_t end_waypoint,
+    const rmf_traffic::Trajectory& cleaning_path,
+    const std::string& id,
+    rmf_traffic::Time earliest_start_time,
+    const std::string& requester,
+    rmf_traffic::Time request_time,
+    ConstPriorityPtr priority = nullptr,
+    bool automatic = false);
 };
 
 } // namespace requests

diff --git a/rmf_task/include/rmf_task/requests/Delivery.hpp b/rmf_task/include/rmf_task/requests/Delivery.hpp
@@ -138,6 +138,62 @@ class Delivery
     bool automatic = false,
     std::string pickup_from_dispenser = "",
     std::string dropoff_to_ingestor = "");
+
+  /// Generate a delivery request.
+  ///
+  /// \param[in] pickup_waypoint
+  ///   The graph index for the pickup location.
+  ///
+  /// \param[in] pickup_wait
+  ///   The expected duration the AGV has to wait at the pickup location for
+  ///   the items to be loaded.
+  ///
+  /// \param[in] dropoff_waypoint
+  ///   The graph index for the dropoff location.
+  ///
+  /// \param[in] dropoff_wait
+  ///   The expected duration the AGV has to wait at the dropoff location for
+  ///   the items to be unloaded.
+  ///
+  /// \param[in] id
+  ///   A unique id for this request.
+  ///
+  /// \param[in] earliest_start_time
+  ///   The desired start time for this request.
+  ///
+  /// \param[in] requester
+  ///   The entity that issued this request.
+  ///
+  /// \param[in] request_time
+  ///   The time this request was generated or submitted.
+  ///
+  /// \param[in] priority
+  ///   The priority for this request.
+  ///
+  /// \param[in] automatic
+  ///   True if this request is auto-generated, default value as false.
+  ///
+  /// \param[in] pickup_from_dispenser
+  ///   The name of the dispenser to pick up the delivery item from, at the
+  ///   designated pickup waypoint. This field is optional.
+  ///
+  /// \param[in] dropoff_to_ingestor
+  ///   The name of the ingestor to drop off the delivery item to, at the
+  ///   designated dropoff waypoint. This field is optional.
+  static ConstRequestPtr make(
+    std::size_t pickup_waypoint,
+    rmf_traffic::Duration pickup_wait,
+    std::size_t dropoff_waypoint,
+    rmf_traffic::Duration dropoff_wait,
+    Payload payload,
+    const std::string& id,
+    rmf_traffic::Time earliest_start_time,
+    const std::string& requester,
+    rmf_traffic::Time request_time,
+    ConstPriorityPtr priority = nullptr,
+    bool automatic = false,
+    std::string pickup_from_dispenser = "",
+    std::string dropoff_to_ingestor = "");
 };
 
 } // namespace requests

diff --git a/rmf_task/include/rmf_task/requests/Loop.hpp b/rmf_task/include/rmf_task/requests/Loop.hpp
@@ -114,6 +114,46 @@ class Loop
     rmf_traffic::Time earliest_start_time,
     ConstPriorityPtr priority = nullptr,
     bool automatic = false);
+
+  /// Generate a loop request.
+  ///
+  /// \param[in] start_waypoint
+  ///   The graph index for the starting waypoint of the loop.
+  ///
+  /// \param[in] finish_waypoint
+  ///   The graph index for the finishing waypoint of the loop.
+  ///
+  /// \param[in] num_loops
+  ///   The number of times the AGV should loop between the start_waypoint and
+  ///   finish_waypoint.
+  ///
+  /// \param[in] id
+  ///   A unique id for this request.
+  ///
+  /// \param[in] earliest_start_time
+  ///   The desired start time for this request.
+  ///
+  /// \param[in] requester
+  ///   The entity that issued this request.
+  ///
+  /// \param[in] request_time
+  ///   The time this request was generated or submitted.
+  ///
+  /// \param[in] priority
+  ///   The priority for this request.
+  ///
+  /// \param[in] automatic
+  ///   True if this request is auto-generated, default as false.
+  static ConstRequestPtr make(
+    std::size_t start_waypoint,
+    std::size_t finish_waypoint,
+    std::size_t num_loops,
+    const std::string& id,
+    rmf_traffic::Time earliest_start_time,
+    const std::string& requester,
+    rmf_traffic::Time request_time,
+    ConstPriorityPtr priority = nullptr,
+    bool automatic = false);
 };
 
 } // namespace tasks