Support fleet-level task (#201)

* update task request to include fleet_name for fleet-level task Signed-off-by: Charly Wu <[email protected]> * added DCO commit. Signed-off-by: Charly Wu <[email protected]> * simplify logic for populating request['fleet_name'] Signed-off-by: Charly Wu <[email protected]> * remove extra whitespaces. Signed-off-by: Charly Wu <[email protected]> * remove trailing whitespace. Signed-off-by: Charly Wu <[email protected]> --------- Signed-off-by: Charly Wu <[email protected]> Co-authored-by: Yadunund <[email protected]>
open-rmf · Jan 26, 2024 · 9f23005 · 9f23005
1 parent 86b308e
commit 9f23005
Show file tree

Hide file tree

Showing 6 changed files with 20 additions and 2 deletions.
diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py
@@ -104,6 +104,9 @@ def __init__(self, argv=sys.argv):
         # Define task request category
         request["category"] = "compose"
 
+        if self.args.fleet:
+            request["fleet_name"] = self.args.fleet
+
         # Define task request description with phases
         description = {}  # task_description_Compose.json
         description["category"] = self.args.action

diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py
@@ -95,6 +95,9 @@ def __init__(self, argv=sys.argv):
         # Define task request category
         request["category"] = "compose"
 
+        if self.args.fleet:
+            request["fleet_name"] = self.args.fleet
+
         # Define task request description with cleaning zone
         description = {}  # task_description_Compose.json
         description["category"] = "clean"

diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py
@@ -120,6 +120,9 @@ def __init__(self, argv=sys.argv):
         start_time = now.sec * 1000 + round(now.nanosec/10**6)
         request["unix_millis_earliest_start_time"] = start_time
 
+        if self.args.fleet:
+            request["fleet_name"] = self.args.fleet
+
         def __create_pickup_desc(index):
             if index < len(self.args.pickup_payloads):
                 sku_qty = self.args.pickup_payloads[index].split(',')

diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py
@@ -118,6 +118,9 @@ def __init__(self, argv=sys.argv):
             'unix_millis_earliest_start_time': start_time
         }
 
+        if self.args.fleet:
+            rmf_task_request["fleet_name"] = self.args.fleet
+
         payload["request"] = rmf_task_request
 
         msg.json_msg = json.dumps(payload)

diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py
@@ -100,6 +100,9 @@ def __init__(self, argv=sys.argv):
         # Define task request category
         request["category"] = "patrol"
 
+        if self.args.fleet:
+            request["fleet_name"] = self.args.fleet
+
         # Define task request description
         description = {
             'places': self.args.places,

diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py
@@ -39,9 +39,9 @@ class TaskRequester(Node):
     def __init__(self, argv=sys.argv):
         super().__init__('task_requester')
         parser = argparse.ArgumentParser()
-        parser.add_argument('-F', '--fleet', required=False, default='',
+        parser.add_argument('-F', '--fleet', required=False,
                             type=str, help='Fleet name')
-        parser.add_argument('-R', '--robot', required=False, default='',
+        parser.add_argument('-R', '--robot', required=False,
                             type=str, help='Robot name')
         parser.add_argument('-s', '--start', required=True,
                             type=str, help='Start waypoint')
@@ -94,6 +94,9 @@ def __init__(self, argv=sys.argv):
         # Define task request category
         request["category"] = "compose"
 
+        if self.args.fleet:
+            request["fleet_name"] = self.args.fleet
+
         # Define task request description with phases
         description = {}  # task_description_Compose.json
         description["category"] = "teleop"