Add override_status API

[Yadunund]

This PR introducing RobotUpdateHandle::override_status(std::optional<std::string > status) API.

Users can use this API to override the string status for a given robot. By default the TaskManger assigns either idle or working depending on whether the robot is performing a task or not. But in some cases, users may want to explicitly set the status of the robot. In these scenarios, this API may be used. The API internally checks against the robot_state.json schema before accepting the new status. When users want RMF to take back control of the status, they may call this API with std::nullopt.

Signed-off-by: Yadunund yadunund@openrobotics.org

[codecov]

Codecov Report

Merging #191 (ed82b00) into main (66721dd) will decrease coverage by 1.37%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #191      +/-   ##
==========================================
- Coverage   19.28%   17.90%   -1.38%     
==========================================
  Files         864      836      -28     
  Lines       79892    76408    -3484     
  Branches    38608    36568    -2040     
==========================================
- Hits        15406    13681    -1725     
- Misses      47829    48076     +247     
+ Partials    16657    14651    -2006     

Flag	Coverage Δ
tests	17.90% <ø> (-1.38%)	⬇️

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Impacted Files	Coverage Δ
...mock_participants/repetitive_delay_participant.cpp
...et_adapter/src/experimental_lift_watchdog/main.cpp
...f_ros2/rmf_task_ros2/test/bidding/test_SelfBid.cpp
...2/rmf_fleet_adapter/test/phases/test_DoorClose.cpp
...apter/src/rmf_fleet_adapter/phases/RequestLift.cpp
...f_fleet_adapter/jobs/detail/impl_SearchForPath.hpp
..._adapter/src/rmf_fleet_adapter/make_trajectory.cpp
....0/Rx/v2/src/rxcpp/operators/rx-combine_latest.hpp
...os2/rmf_fleet_adapter/src/door_supervisor/Node.cpp
.../src/rmf_task_ros2/bidding/internal_Auctioneer.hpp
... and 1690 more

[mxgrey]

Thanks for addressing this need. I'm just requesting a couple small tweaks. Otherwise looks good 👍

[mxgrey]

It's not a huge issue since the schema dictionary only contains one value, but theoretically if it ever increased then this would be a needlessly costly capture, because it makes a complete copy of all the contents of schema_dictionary.

This is a very specific case where it's okay to capture [this], because the lambda will only be used within the scope of this function. I recommend just capturing [this] here to avoid the unnecessary copy. We should also leave a comment explaining why [this] is okay.

[mxgrey]

Thanks for the quick turnaround!

[Yadunund]

Sorry @mxgrey I just pushed a commit to update the bindings. Need your review again.

[cwrx777]

Is py::arg("battery_soc")) correct?

[mxgrey]

Nope, that's definitely a copy/paste error. I'll correct that in an upcoming PR.