Double compose delivery task (#963)

* Hammer/demo tasks (#925) * Moved custom deliveries to separate file naively and import naively Signed-off-by: Aaron Chong <[email protected]> * Moved patrol Signed-off-by: Aaron Chong <[email protected]> * Moved custom-compose Signed-off-by: Aaron Chong <[email protected]> * Added clean and delivery Signed-off-by: Aaron Chong <[email protected]> * Added delivery, renamed to SimpleDelivery Signed-off-by: Aaron Chong <[email protected]> * Clean task added Signed-off-by: Aaron Chong <[email protected]> * Moved delivery-custom tests, added return type for forms Signed-off-by: Aaron Chong <[email protected]> * Configurable supported tasks and name remapping Signed-off-by: Aaron Chong <[email protected]> * Changed directory to types, since it doesn't just handle descriptions Signed-off-by: Aaron Chong <[email protected]> * Fix test imports Signed-off-by: Aaron Chong <[email protected]> * Using temporary task definition Signed-off-by: Aaron Chong <[email protected]> * Refactoring new rename changes Signed-off-by: Aaron Chong <[email protected]> * Clean up Signed-off-by: Aaron Chong <[email protected]> * Removed problematic and unsused component and test Signed-off-by: Aaron Chong <[email protected]> * Lint Signed-off-by: Aaron Chong <[email protected]> * Updating pnpm version in github workflow Signed-off-by: Aaron Chong <[email protected]> * Reverting update to pnpm version Signed-off-by: Aaron Chong <[email protected]> * Fix build now that we use key value strings for labels Signed-off-by: Aaron Chong <[email protected]> * Refactored last parts of hard coding categories and rendering forms Signed-off-by: Aaron Chong <[email protected]> * Refactor callback names and error handling for misconfigs Signed-off-by: Aaron Chong <[email protected]> * Display error as well Signed-off-by: Aaron Chong <[email protected]> * Fixed more checks and failures Signed-off-by: Aaron Chong <[email protected]> * Split configuration and definition, only handle configurations in resource manager level Signed-off-by: Aaron Chong <[email protected]> * Lint Signed-off-by: Aaron Chong <[email protected]> * Not using object as a type Signed-off-by: Aaron Chong <[email protected]> * Address feedback Signed-off-by: Aaron Chong <[email protected]> * Render using validTasks instead Signed-off-by: Aaron Chong <[email protected]> * Use useMemo Signed-off-by: Aaron Chong <[email protected]> --------- Signed-off-by: Aaron Chong <[email protected]> * First iteration of double compose delivery task Signed-off-by: Aaron Chong <[email protected]> * Lint and fix dispatck task insert emergency lots workaround Signed-off-by: Aaron Chong <[email protected]> * Fix favorite task confirmation text field, add more tests Signed-off-by: Aaron Chong <[email protected]> * Revert addition of double compose delivery to resource manager Signed-off-by: Aaron Chong <[email protected]> * Small UI tweaks to form field widths Signed-off-by: Aaron Chong <[email protected]> * Fix tests, grid containers for warn time Signed-off-by: Aaron Chong <[email protected]> * Address feedback Signed-off-by: Aaron Chong <[email protected]> --------- Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Jul 4, 2024 · 3649b5e · 3649b5e
1 parent 24a2c5c
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diff --git a/packages/api-server/api_server/routes/tasks/tasks.py b/packages/api-server/api_server/routes/tasks/tasks.py
@@ -251,36 +251,44 @@ async def post_dispatch_task(
         request.request.category == "compose"
         and request.request.description is not None
         and "phases" in request.request.description
-        and len(request.request.description["phases"]) == 3
-        and "on_cancel" in request.request.description["phases"][1]
     ):
-        cancellation_lots = await cancellation_lots_from_building_map(logger)
-        if len(cancellation_lots) != 0:
-            # Populate them in the correct form
-            go_to_one_of_the_places_activity = {
-                "category": "go_to_place",
-                "description": {
-                    "one_of": [{"waypoint": name} for name in cancellation_lots],
-                    "constraints": [{"category": "prefer_same_map", "description": ""}],
-                },
-            }
-            delivery_dropoff_activity = {
-                "category": "perform_action",
-                "description": {
-                    "unix_millis_action_duration_estimate": 60000,
-                    "category": "delivery_dropoff",
-                    "description": {},
-                },
-            }
-            on_cancel_dropoff = {
-                "category": "sequence",
-                "description": [
-                    go_to_one_of_the_places_activity,
-                    delivery_dropoff_activity,
-                ],
-            }
-            # Add into task request
-            request.request.description["phases"][1]["on_cancel"] = [on_cancel_dropoff]
+        cancellation_lots = None
+        for i in range(len(request.request.description["phases"])):
+            if "on_cancel" not in request.request.description["phases"][i]:
+                continue
+
+            if cancellation_lots is None:
+                cancellation_lots = await cancellation_lots_from_building_map(logger)
+
+            if len(cancellation_lots) != 0:
+                # Populate them in the correct form
+                go_to_one_of_the_places_activity = {
+                    "category": "go_to_place",
+                    "description": {
+                        "one_of": [{"waypoint": name} for name in cancellation_lots],
+                        "constraints": [
+                            {"category": "prefer_same_map", "description": ""}
+                        ],
+                    },
+                }
+                delivery_dropoff_activity = {
+                    "category": "perform_action",
+                    "description": {
+                        "unix_millis_action_duration_estimate": 60000,
+                        "category": "delivery_dropoff",
+                        "description": {},
+                    },
+                }
+                on_cancel_dropoff = {
+                    "category": "sequence",
+                    "description": [
+                        go_to_one_of_the_places_activity,
+                        delivery_dropoff_activity,
+                    ],
+                }
+                request.request.description["phases"][i]["on_cancel"] = [
+                    on_cancel_dropoff
+                ]
 
     resp = mdl.TaskDispatchResponse.parse_raw(
         await tasks_service().call(request.json(exclude_none=True))

diff --git a/packages/react-components/lib/tasks/create-task.tsx b/packages/react-components/lib/tasks/create-task.tsx
@@ -67,6 +67,10 @@ import {
   DeliveryPickupTaskDefinition,
   DeliverySequentialLotPickupTaskDefinition,
   DeliveryAreaPickupTaskDefinition,
+  DoubleComposeDeliveryTaskDescription,
+  DoubleComposeDeliveryTaskDefinition,
+  makeDoubleComposeDeliveryTaskBookingLabel,
+  DoubleComposeDeliveryTaskForm,
 } from './types/delivery-custom';
 import {
   makePatrolTaskBookingLabel,
@@ -89,6 +93,7 @@ export interface TaskDefinition {
 export type TaskDescription =
   | DeliveryPickupTaskDescription
   | DeliveryCustomTaskDescription
+  | DoubleComposeDeliveryTaskDescription
   | PatrolTaskDescription
   | DeliveryTaskDescription
   | ComposeCleanTaskDescription;
@@ -585,6 +590,27 @@ export function CreateTaskForm({
             onValidate={onValidate}
           />
         );
+      case DoubleComposeDeliveryTaskDefinition.taskDefinitionId:
+        return (
+          <DoubleComposeDeliveryTaskForm
+            taskDesc={taskRequest.description as DoubleComposeDeliveryTaskDescription}
+            pickupPoints={pickupPoints}
+            cartIds={cartIds}
+            dropoffPoints={dropoffPoints}
+            onChange={(desc: DoubleComposeDeliveryTaskDescription) => {
+              desc.category = taskRequest.description.category;
+              desc.phases[0].activity.description.activities[1].description.category =
+                taskRequest.description.category;
+              desc.phases[3].activity.description.activities[1].description.category =
+                taskRequest.description.category;
+              handleTaskDescriptionChange(
+                DoubleComposeDeliveryTaskDefinition.requestCategory,
+                desc,
+              );
+            }}
+            onValidate={onValidate}
+          />
+        );
       case CustomComposeTaskDefinition.taskDefinitionId:
         return (
           <CustomComposeTaskForm
@@ -659,6 +685,9 @@ export function CreateTaskForm({
         case DeliveryAreaPickupTaskDefinition.taskDefinitionId:
           requestBookingLabel = makeDeliveryCustomTaskBookingLabel(request.description);
           break;
+        case DoubleComposeDeliveryTaskDefinition.taskDefinitionId:
+          requestBookingLabel = makeDoubleComposeDeliveryTaskBookingLabel(request.description);
+          break;
         case PatrolTaskDefinition.taskDefinitionId:
           requestBookingLabel = makePatrolTaskBookingLabel(request.description);
           break;
@@ -893,12 +922,18 @@ export function CreateTaskForm({
                               fontSize: isScreenHeightLessThan800 ? '0.8rem' : '1.15',
                             },
                           }}
+                          fullWidth
                         />
                       )}
                       disabled
                     />
                   </Grid>
-                  <Grid item xs={1}>
+                  <Grid
+                    container
+                    xs={isScreenHeightLessThan800 ? 6 : 5}
+                    justifyContent="flex-end"
+                    alignItems="flex-end"
+                  >
                     <Checkbox
                       checked={warnTime !== null}
                       onChange={handleWarnTimeCheckboxChange}
@@ -907,8 +942,6 @@ export function CreateTaskForm({
                         '& .MuiSvgIcon-root': { fontSize: isScreenHeightLessThan800 ? 22 : 32 },
                       }}
                     />
-                  </Grid>
-                  <Grid item xs={isScreenHeightLessThan800 ? 5 : 4}>
                     <DateTimePicker
                       disabled={warnTime === null}
                       inputFormat={'MM/dd/yyyy HH:mm'}
@@ -1026,6 +1059,7 @@ export function CreateTaskForm({
               }
               helperText="Required"
               error={favoriteTaskTitleError}
+              fullWidth
             />
           )}
           {callToDeleteFavoriteTask && (