Docking command returns bool to determine whether it has been recognized

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

free_fleet/include/free_fleet/client/CommandHandle.hpp

@@ -70,15 +70,19 @@ class CommandHandle
   /// Have the robot resume following its command before it was stopped.
   virtual void resume(RequestCompleted resumed_callback) = 0;
 
-  /// Have the robot begin a pre-defined docking procedure. Implement this
-  /// function as a no-op if your robots do not perform docking procedures.
+  /// Have the robot begin a pre-defined docking procedure. If the robot has no
+  /// docking capabilities, implement this by simply triggering
+  /// docking_finished_callback immediately.
   ///
   /// \param[in] dock_name
   ///   The predefined name of the docking procedure to use.
   ///
   /// \param[in] docking_finished_callback
   ///   Trigger this callback when the docking is finished.
-  virtual void dock(
+  ///
+  /// \return True if the docking command and dock_name is recognized, false
+  /// otherwise.
+  virtual bool dock(
     const std::string& dock_name,
     RequestCompleted docking_finished_callback) = 0;
 

free_fleet/src/client/Client.cpp

@@ -77,14 +77,20 @@ void Client::Implementation::DataHandle::handle_dock_request(
 {
   if (!is_valid_request(request))
     return;
+
+  if (!command_handle->dock(
+      request.dock_name(),
+      [d = shared_from_this()]()
+      {
+        d->complete_command();
+      }))
+  {
+    fferr << "Dock request unrecognized by client.\n";
+    return;
+  }
+
   command_id = request.command_id();
   command_ids.insert(command_id.value());
-  command_handle->dock(
-    request.dock_name(),
-    [d = shared_from_this()]()
-    {
-      d->complete_command();
-    });
 }
 
 //==============================================================================

free_fleet/test/unit/mock_CommandHandle.hpp

@@ -45,10 +45,12 @@ class MockCommandHandle : public client::CommandHandle
   void resume(RequestCompleted) final
   {}
 
-  void dock(
+  bool dock(
     const std::string&,
     RequestCompleted) final
-  {}
+  {
+    return true;
+  }
 
 };