Rmf scheduler msgs

rmf_scheduler_msgs/CHANGELOG.md

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+## Changelog for package rmf_scheduler_msgs

rmf_scheduler_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(rmf_scheduler_msgs)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # we dont use add_compile_options with pedantic in message packages
+  # because the Python C extensions dont comply with it
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+set(msg_files
+  msg/Payload.msg
+  msg/Schedule.msg
+  msg/ScheduleState.msg
+  msg/Trigger.msg
+  msg/TriggerState.msg
+)
+
+set(srv_files
+  srv/CancelAll.srv
+  srv/CancelSchedule.srv
+  srv/CancelTrigger.srv
+  srv/CreateSchedule.srv
+  srv/CreateTrigger.srv
+  srv/ListSchedules.srv
+  srv/ListScheduleStates.srv
+  srv/ListTriggers.srv
+  srv/ListTriggerStates.srv
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${srv_files}
+  ${msg_files}
+  DEPENDENCIES
+    builtin_interfaces
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

rmf_scheduler_msgs/QUALITY_DECLARATION.md

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+This document is a declaration of software quality for the `rmf_scheduler_msgs` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+# `rmf_scheduler_msgs` Quality Declaration
+
+The package `rmf_scheduler_msgs` claims to be in the **Quality Level 3** category.
+
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 3 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+## Version Policy [1]
+
+### Version Scheme [1.i]
+
+`rmf_scheduler_msgs` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+
+### Version Stability [1.ii]
+
+`rmf_scheduler_msgs` is at a stable version, i.e. `>= 1.0.0`.
+The current version can be found in its [package.xml](package.xml), and its change history can be found in its [CHANGELOG](CHANGELOG.rst).
+
+### Public API Declaration [1.iii]
+
+All message definition files located the `msg` directory are considered part of the public API.
+
+### API Stability Within a Released ROS Distribution [1.iv]/[1.vi]
+
+`rmf_scheduler_msgs` will not break public API within a released ROS distribution, i.e. no major releases once the ROS distribution is released.
+
+### ABI Stability Within a Released ROS Distribution [1.v]/[1.vi]
+
+`rmf_scheduler_msgs` will not break public ABI within a major version number.
+
+## Change Control Process [2]
+
+`rmf_scheduler_msgs` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-requirements).
+
+### Change Requests [2.i]
+
+`rmf_scheduler_msgs` requires that all changes occur through a pull request.
+
+### Contributor Origin [2.ii]
+
+`rmf_scheduler_msgs` uses DCO as its confirmation of contributor origin policy. More information can be found in [CONTRIBUTING](../CONTRIBUTING.md).
+
+### Peer Review Policy [2.iii]
+
+All pull requests must have at least 1 peer review.
+
+### Continuous Integration [2.iv]
+
+All pull requests must pass CI on all platforms supported by RMF.
+
+### Documentation Policy [2.v]
+
+All pull requests must resolve related documentation changes before merging.
+
+## Documentation [3]
+
+### Feature Documentation [3.i]
+
+`rmf_scheduler_msgs` has basic comments in the message definition files, but no list of messages or usage guide is provided.
+New messages require their own documentation in order to be added.
+
+### Public API Documentation [3.ii]
+
+`rmf_scheduler_msgs` has embedded API documentation, but it is not currently hosted.
+
+### License [3.iii]
+
+The license for `rmf_scheduler_msgs` is Apache 2.0, the type is declared in the [package.xml](package.xml) manifest file, and a full copy of the license is in the repository level [LICENSE](../LICENSE) file.
+
+There are no source files that are currently copyrighted in this package so files are not checked for abbreviated license statements.
+
+### Copyright Statement [3.iv]
+
+There are no copyrighted source files in this package.
+
+### Quality declaration document [3.v]
+
+This quality declaration is linked in the [README file](README.md).
+
+This quality declaration has not been externally peer-reviewed and is not registered on any Level 3 lists.
+
+## Testing [4]
+
+### Feature Testing [4.i]
+
+`rmf_scheduler_msgs` is a package providing strictly message definitions and therefore does not require associated tests.
+
+### Public API Testing [4.ii]
+
+`rmf_scheduler_msgs` is a package providing strictly message definitions and therefore does not require associated tests.
+
+### Coverage [4.iii]
+
+`rmf_scheduler_msgs` is a package providing strictly message definitions and therefore has no coverage requirements.
+
+### Performance [4.iv]
+
+`rmf_scheduler_msgs` is a package providing strictly message definitions and therefore has no performance requirements.
+
+### Linters and Static Analysis [4.v]
+
+`rmf_scheduler_msgs` does not use the standard linters and static analysis tools for its generated C++ and Python code to ensure it follows the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#linters).
+
+## Dependencies [5]
+
+### Direct Runtime ROS Dependencies [5.i]
+
+`rmf_scheduler_msgs` has the following runtime ROS dependencies, which are at or above Quality Level 3:
+* `builtin_interfaces`: [QL 3](https://github.com/ros2/rcl_interfaces/tree/master/builtin_interfaces/QUALITY_DECLARATION.md)
+* `rosidl_default_runtime` [QL 3](https://github.com/ros2/rosidl_defaults/tree/master/rosidl_default_runtime/QUALITY_DECLARATION.md)
+
+It has several "buildtool" dependencies, which do not affect the resulting quality of the package, because they do not contribute to the public library API.
+
+### Optional Direct Runtime ROS Dependencies [5.ii]
+
+`rmf_scheduler_msgs` does not have any optional direct runtime ROS dependencies.
+
+### Direct Runtime non-ROS Dependency [5.iii]
+
+`rmf_scheduler_msgs` does not have any runtime non-ROS dependencies.
+
+## Platform Support [6]
+
+As a pure message definitions package, `rmf_scheduler_msgs` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), but does not currently test each change against all of them.
+
+## Security [7]
+
+### Vulnerability Disclosure Policy [7.i]
+
+This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).

rmf_scheduler_msgs/README.md

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+# rmf_scheduler_msgs
+
+`rmf_scheduler_msgs` provides message types for scheduling RMF events.
+
+For more information about ROS 2 interfaces, see [index.ros2.org](https://index.ros.org/doc/ros2/Concepts/About-ROS-Interfaces/)
+
+## Quality Declaration
+
+This package claims to be in the **Quality Level 3** category. See the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

rmf_scheduler_msgs/msg/Payload.msg

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+# Denotes the type of payload
+uint8 type
+uint8 PAYLOAD_TYPE_SERIALIZED_MESSAGE=1
+
+string topic
+
+string message_type
+
+# max 2mb
+uint8[<=2097152] data

rmf_scheduler_msgs/msg/Schedule.msg

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+# Name to identify the schedule, must be unique across all schedules.
+string name
+
+# unix timestamp in seconds
+int64 created_at
+
+# ┌─────────────seconds (0 - 59)
+# │ ┌───────────── minute (0 - 59)
+# │ │ ┌───────────── hour (0 - 23)
+# │ │ │ ┌───────────── day of the month (1 - 31)
+# │ │ │ │ ┌───────────── month (1 - 12)
+# │ │ │ │ │ ┌───────────── day of the week (0 - 6) (Sunday to Saturday)
+# │ │ │ │ │ │ ┌───────────── years (1970 - 2099) (optional)
+# │ │ │ │ │ │ │
+# * * * * * * *
+# 
+# | Field | Required | Allowed value | Allowed special characters |
+# | --- | --- | --- | --- |
+# | seconds | yes | 0-59 | `*` `,` `-` |
+# | minutes | yes | 0-59 | `*` `,` `-` |
+# | hours | yes | 0-23 | `*` `,` `-` |
+# | days of month | 1-31 | `*` `,` `-` `?` `L` `W` |
+# | months | yes | 1-12 | `*` `,` `-` |
+# | days of week | yes | `*` `,` `-` `?` `L` `#` |
+# | years | no | 1970-2099 | `*` `,` `-` |
+# 
+# The special characters have the following meaning:
+# 
+# | Special character | Meaning | Description |
+# | --- | --- | --- |
+# | `*` | all values | selects all values within a field |
+# | `?` | no specific value | specify one field and leave the other unspecified |
+# | `-` | range | specify ranges |
+# | `,` | comma | specify additional values |
+# | `/` | slash | speficy increments |
+# | `L` | last | last day of the month or last day of the week |
+# | `W` | weekday | the weekday nearest to the given day |
+# | `#` | nth |  specify the Nth day of the month |
+# Examples: 
+# 
+# | CRON | Description |
+# | --- | --- |
+# | * * * * * * | Every second |
+# | */5 * * * * ? | Every 5 seconds |
+# | 0 */5 */2 * * ? | Every 5 minutes, every 2 hours |
+# | 0 */2 */2 ? */2 */2 | Every 2 minutes, every 2 hours, every 2 days of the week, every 2 months |
+# | 0 15 10 * * ? * | 10:15 AM every day |
+# | 0 0/5 14 * * ? | Every 5 minutes starting at 2 PM and ending at 2:55 PM, every day |
+# | 0 10,44 14 ? 3 WED | 2:10 PM and at 2:44 PM every Wednesday of March |
+# | 0 15 10 ? * MON-FRI | 10:15 AM every Monday, Tuesday, Wednesday, Thursday and Friday |
+# | 0 15 10 L * ? | 10:15 AM on the last day of every month |
+# | 0 0 12 1/5 * ? | 12 PM every 5 days every month, starting on the first day of the month |
+# | 0 11 11 11 11 ? | Every November 11th at 11:11 AM |
+# 
+# Reference: https://github.com/mariusbancila/croncpp/blob/999f7685ab683b58872386c0aa019acf97c6570a/README.md
+string schedule
+
+# unix time in secs
+int64 start_at
+
+# unix time in secs
+int64 finish_at 9223372036854775807
+
+string group "default"
+
+Payload payload

rmf_scheduler_msgs/msg/ScheduleState.msg

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+string name
+
+# unix time in seconds
+int64 last_modified
+
+# unix time in seconds
+int64 last_ran
+
+# unix time in seconds
+int64 next_run
+
+int8 status
+int8 CREATED=1
+int8 STARTED=2
+int8 FINISHED=3
+int8 CANCELLED=4
+int8 FAILED=-1

rmf_scheduler_msgs/msg/Trigger.msg

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+# Name to identify the trigger, must be unique across all triggers.
+string name
+
+# unix timestamp in seconds
+int64 created_at
+
+# unix timestamp in seconds when the trigger should run
+int64 at
+
+string group "default"
+
+Payload payload

rmf_scheduler_msgs/msg/TriggerState.msg

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+string name
+
+# unix time in seconds
+int64 last_modified
+
+# unix time in seconds
+int64 last_ran
+
+int8 status
+int8 STARTED=2
+int8 FINISHED=3
+int8 CANCELLED=4
+int8 FAILED=-1

rmf_scheduler_msgs/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rmf_scheduler_msgs</name>
+  <version>2.0.0</version>
+  <description>Messages used by rmf_scheduler_msgs</description>
+  <maintainer email="marco@openrobotics.org">Marco A. Gutiérrez</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rmf_scheduler_msgs/srv/CancelAll.srv

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+# Cancel all triggers and schedules belonging to a group.
+
+string group
+
+---
+
+# Confirmation that the schedule is successfully registered
+bool success
+
+# If success is false, this provides a reason for the failure.
+string message

rmf_scheduler_msgs/srv/CancelSchedule.srv

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+string name
+
+# Indicate that the schedule is considered finished successfully.
+bool finished
+
+---
+
+# Confirmation that the schedule is successfully cancelled.
+bool success
+
+# If success is false, this provides a reason for the failure.
+string message

rmf_scheduler_msgs/srv/CancelTrigger.srv

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+string name
+
+---
+
+# Confirmation that the trigger is successfully cancelled.
+bool success
+
+# If success is false, this provides a reason for the failure.
+string message

rmf_scheduler_msgs/srv/CreateSchedule.srv

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+# Registers a new recurring schedule. Existing schedule with the same name will be replaced.
+
+# The following fields are ignored:
+#   - created_at
+Schedule schedule
+
+---
+
+# Confirmation that the schedule is successfully registered
+bool success
+
+# If success is false, this provides a reason for the failure.
+string message