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Flexible task definitions#39

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mxgrey merged 88 commits intomainopen-rmf/rmf_task:mainfrom redesign_v2open-rmf/rmf_task:redesign_v2Copy head branch name to clipboardFeb 13, 2022

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Commits on Sep 1, 2021

• Remove agv namespace and introduce CompositeData

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Commits on Sep 2, 2021

• Redesign State to be composable

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• Defining task execution interfaces

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Commits on Sep 3, 2021

• Adding a task logging interface

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• Drafting the interfaces for phase sequence tasks

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• Satisfy uncrustify

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• Draft interface for Task Factory

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Commits on Sep 6, 2021

• Rework the design, improve consistency

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• Satisfy uncrustify

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• Beginning to implement GoToPlace::Description

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Commits on Sep 7, 2021

• Redesigning travel estimation cache

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• Redesigning travel estimation

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Commits on Sep 8, 2021

• Prototyping PickUp phase

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Commits on Sep 9, 2021

• Finish implementation of PickUp and begin API of DropOff

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Commits on Sep 10, 2021

• Implementing DropOff phase

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• Reorganizing

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• More reorganization

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• Gradually ironing out the transition to the reorganization

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Commits on Sep 11, 2021

• Continuing implementation of phase sequence task

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Commits on Sep 13, 2021

• Thinking about how to implement backups for phase sequence tasks

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• Work reactive backup callbacks into the system

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• Creating minimal example of task activation

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Commits on Sep 14, 2021

• Create minimal example of task restoring

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• Use derived class implementation of backup

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• Finish comment

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• Creating an integration test to guide the implementation of backups

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• Move backups test into integration folder

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Commits on Sep 23, 2021

• Continuing to implement backup and restore for phase sequence tasks

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Commits on Sep 24, 2021

• Finished backup/restore implementation -- needs testing

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• Implementing phase activator

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Commits on Oct 6, 2021

• Migrating to JSON and json-schema

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• Fix header guards and begin schema header template

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Commits on Oct 7, 2021

• Working on the generation of schema headers

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• Update transitive dependency

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• Merge branch 'redesign_v2' of ssh://github.com/open-rmf/rmf_task into redesign_v2

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• Able to generate schemas

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• Reimplement backups using json

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Commits on Oct 11, 2021

• Include original message in error log

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Commits on Oct 12, 2021

• Put active phase snapshots into completed phases

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Commits on Oct 13, 2021

• Iterating on RestoreBackup phase

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Commits on Oct 14, 2021

• Implement backup file manager (#41)

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• Fix merge conflicts

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• Rename Condition to Event

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Commits on Oct 15, 2021

• Introducing VersionedString and using it for event names + details

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• Implementing the SimpleEvent class

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Commits on Oct 18, 2021

• Migrate to using the RestoreBackup phase

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• Abstracting Phase and Event interfaces into Activity

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Commits on Oct 20, 2021

• Finish refactoring to introduce Activity class namespace

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• Remove the GoToPlace phase in favor of GoToPlace event

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Commits on Oct 21, 2021

• Remember to include <string>

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• Use a const reference for pending tasks

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• Remember to include <string> pt. 2

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Commits on Nov 1, 2021

• Refactoring Event to State, Standby, and Active, and implementing Event Sequence

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• Implementing Event Sequence Standby

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Commits on Nov 3, 2021

• Implementing the Event Sequence class

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• Define the schema for event sequence backups

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Commits on Nov 6, 2021

• Finished implementing event sequence

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• Refactoring Sequence into a more generic Bundle

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Commits on Nov 10, 2021

• Migrating schema header generation to rmf_api_msgs

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• Add some conceptual sample schemas for task descriptions

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Commits on Nov 24, 2021

• Move schemas into subdirectory

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• Merge branch 'redesign_v2_task_schemas' into redesign_v2_Bundle

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Commits on Nov 30, 2021

• tweaks

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Commits on Dec 7, 2021

• Refactor Sequence into Bundle

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Commits on Dec 8, 2021

• Filling in implementation gaps and beginning task sequence test

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Commits on Dec 9, 2021

• Fix implementation bugs and begin unit tests for task sequences

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Commits on Dec 14, 2021

• Allow event bundles to be activated from a vector of Standbys

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• Allow users to directly create Bundle Standbys, not Actives

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Commits on Dec 16, 2021

• Implement unfolding for tasks and events

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• Remember to include implementation header

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Commits on Dec 17, 2021

• Make activate and restore const

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Commits on Dec 20, 2021

• Add sequence numbers to logs and fix log iteration

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Commits on Dec 21, 2021

• Add plain text info for task descriptions

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Commits on Dec 22, 2021

• Handle cases with no ambient drain

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• Create a Placeholder event to help eliminate boilerplate

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Commits on Dec 31, 2021

• Fix circular reference

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Commits on Jan 9, 2022

• Return more specific Clean Description

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Commits on Jan 18, 2022

• fix empty itinerary duration

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Commits on Jan 20, 2022

• PerformAction Event Description (#49)

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Commits on Jan 26, 2022

• nit rosdep json pkg name

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Commits on Jan 27, 2022

• Fix segfaults with PerformAction (#51)

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Commits on Jan 28, 2022

• Use ament_uncrustify

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• compile tests (#52)

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Commits on Feb 10, 2022

• Report the active phase's start time

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Commits on Feb 12, 2022

• Merge branch 'main' into redesign_v2

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• Update repos

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• Merge branch 'redesign_v2' of ssh://github.com/open-rmf/rmf_task into redesign_v2

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• Satisfy uncrustify

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