Perform action (#15)

* Adding task planner params, waypoint and lane merge distance, various fixes in accessing dict Signed-off-by: Aaron Chong <[email protected]> * Using member function to insert update rmf_updater instead of lambda Signed-off-by: Aaron Chong <[email protected]> * Basic prototype for perform action working, needs refactoring Signed-off-by: Aaron Chong <[email protected]> * Reading actions from config file to be accepted Signed-off-by: Aaron Chong <[email protected]> * Add example for perform action, and added in max merge waypoint and lane distance in example config Signed-off-by: Aaron Chong <[email protected]> * Changing rouge warn to info Signed-off-by: Aaron Chong <[email protected]> * Reporting error to execution Signed-off-by: Aaron Chong <[email protected]> * Fix missing assignment to None Signed-off-by: Aaron Chong <[email protected]> * Using a Action class to encompass all action related members Signed-off-by: Aaron Chong <[email protected]> * Use variable move mission (#16) * First implementation of calling predefined variable move mission Signed-off-by: Aaron Chong <[email protected]> * added variable_move_mission field in example config, fixed mir_config Signed-off-by: Aaron Chong <[email protected]> * Add assert that start sets are not empty, and fix API usage for start.lane Signed-off-by: Aaron Chong <[email protected]> * Removed unused create move missions, fix use before declare Signed-off-by: Aaron Chong <[email protected]> * Docking using pre-defined mission, adding to example config Signed-off-by: Aaron Chong <[email protected]> * Changed variable_move_mission to more descriptive rmf_move_mission, updated all use cases as well, added additional documentation Signed-off-by: Aaron Chong <[email protected]> Signed-off-by: Aaron Chong <[email protected]> Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Nov 21, 2022 · 92c457d · 92c457d
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diff --git a/README.md b/README.md
@@ -40,6 +40,23 @@ In effect, it interfaces the MiR REST API with `open-rmf`, all without needing t
 
 ## Usage
 
+### Pre-defined RMF variable move mission
+
+Users are required to define a custom mission with a single `Move` action, which has the variables `x`, `y` and `yaw`, attached to the coordinates `x`, `y` and `yaw` respectively. This is the mission that the fleet adapter will use to send move commands to the robot, while modifying the desired `x`, `y` and `yaw` values.
+
+For more information on how to set up missions, actions and variables, please refer to [official guide documents](https://www.manualslib.com/manual/1941073/Mir-Mir250.html?page=150#manual) (this is for the MiR250).
+
+The name of this custom mission, will need to be passed to the fleet adapter through the configuration file, under `rmf_move_mission`, for each robot's `mir_config`.
+
+```yaml
+robots:
+  ROBOT_NAME:
+    mir_config:
+      ...
+      rmf_move_mission: "CUSTOM_MISSION_NAME"
+      ...
+```
+
 ### Example Entry Point
 
 An example usage of the implemented adapter can be found in the `fleet_adapter_mir/fleet_adapter_mir.py` file. It takes in a configuration file and navigation graph, sets everything up, and spins up the fleet adapter.

diff --git a/configs/mir_config.yaml b/configs/mir_config.yaml
@@ -11,15 +11,18 @@ robots:
   # So for now, this name is the name used in the script only.
   my_test_robot:
     mir_config:
-      base_url: "http://some_url"
-      user: "some_user"
-      password: "some_password"
+      base_url: "http://some.ip.address/api/v2.0.0/"
+      user: "application/json"
+      password: "Basic HASH_OF_PASSWORD_OBTAINED_AT_API_DOCUMENTATION_PAGE"
+      rmf_move_mission: "rmf_default_move_mission" # This mission must be predefined
+      dock_and_charge_mission: "dock_to_charger" # This mission must be predefined
 
     rmf_config:
       robot_state_update_frequency: 1
       start:
         map_name: "L1"
-
+        max_merge_waypoint_distance: 3.0
+        max_merge_lane_distance: 3.0
         # NOTE(CH3):
         # If you leave these empty, the robot will try to figure it out on init
         # from the MiR reported location.
@@ -28,6 +31,8 @@ robots:
         # ON the waypoint!
         waypoint_index: 0 # Optional
         orientation: 0.0 # Optional, radians
+      charger:
+        waypoint: "charger_waypoint"
 
 
 # NODE CONFIG ==================================================================
@@ -93,3 +98,4 @@ rmf_fleet:
     delivery: False
     clean: False
     finishing_request: "nothing" # [park, charge, nothing]
+    action_categories: ["custom_mission_1"]
diff --git a/fleet_adapter_mir/MiRClientAPI.py b/fleet_adapter_mir/MiRClientAPI.py
@@ -25,7 +25,7 @@ def __init__(self, prefix, headers, timeout=10.0, debug=False):
             print(f"HTTP error: {http_err}")
         except Exception as err:
             print(f"Other error: {err}")
-         
+
     def status_get(self):
         if not self.connected:
             return
@@ -49,7 +49,7 @@ def missions_get(self):
             print(f"HTTP error: {http_err}")
         except Exception as err:
             print(f"Other error: {err}")
-    
+
     def positions_get(self):
         if not self.connected:
             return
@@ -63,10 +63,27 @@ def positions_get(self):
         except Exception as err:
             print(f"Other error: {err}")
 
-    def mission_queue_post(self, mission_id):
+    def mission_queue_id_get(self, mission_queue_id):
         if not self.connected:
             return
-        data = {"mission_id": mission_id}
+        try:
+            response = requests.get(self.prefix + f'mission_queue/{mission_queue_id}', headers = self.headers, timeout=self.timeout)
+            return response.json()
+        except HTTPError as http_err:
+            print(f"HTTP error: {http_err}")
+        except Exception as err:
+            print(f"Other here error: {err}")
+
+    def mission_queue_post(self, mission_id, full_mission_description=None):
+        if not self.connected:
+            return
+        data = {'mission_id': mission_id}
+        if full_mission_description is not None:
+            data = full_mission_description
+            if mission_id != full_mission_description['mission_id']:
+                print(f'Inconsistent mission id, provided [{mission_id}], full_mission_description: [{full_mission_description}]')
+                return
+
         try:
             response = requests.post(self.prefix + 'mission_queue' , headers = self.headers, data=json.dumps(data), timeout = self.timeout)
             if self.debug:
@@ -81,7 +98,7 @@ def missions_mission_id_actions_post(self,mission_id,body):
         if not self.connected:
             return
         try:
-            response = requests.post(self.prefix + 'missions/' +mission_id +'/actions' , headers = self.headers, data=json.dumps(body), timeout = self.timeout)
+            response = requests.post(self.prefix + 'missions/' + mission_id +'/actions' , headers = self.headers, data=json.dumps(body), timeout = self.timeout)
             if self.debug:
                 print(f"Response: {response.json()}")
                 print(response.status_code)
@@ -130,7 +147,7 @@ def status_put(self, state_id):
             print(f"HTTP error: {http_err}")
         except Exception as err:
             print(f"Other error: {err}")
-                
+
     def mission_queue_delete(self):
         if not self.connected:
             return