Decommissioning

rmf_fleet_adapter/include/rmf_fleet_adapter/agv/RobotUpdateHandle.hpp

@@ -335,6 +335,19 @@ class RobotUpdateHandle
   class Unstable
   {
   public:
+    /// True if this robot is allowed to accept new tasks. False if the robot
+    /// will not accept any new tasks.
+    bool is_commissioned() const;
+
+    /// Stop this robot from accepting any new tasks. It will continue to
+    /// perform tasks that are already in its queue. To reassign those tasks,
+    /// you will need to use the task request API to cancel the tasks and
+    /// re-request them.
+    void decommission();
+
+    /// Allow this robot to resume accepting new tasks.
+    void recommission();
+
     /// Get the schedule participant of this robot
     rmf_traffic::schedule::Participant* get_participant();
 

rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp

@@ -1132,6 +1132,10 @@ auto FleetUpdateHandle::Implementation::aggregate_expectations() const
   Expectations expect;
   for (const auto& t : task_managers)
   {
+    // Ignore any robots that are not currently commissioned.
+    if (!t.first->is_commissioned())
+      continue;
+
     expect.states.push_back(t.second->expected_finish_state());
     const auto requests = t.second->requests();
     expect.pending_requests.insert(

rmf_fleet_adapter/src/rmf_fleet_adapter/agv/RobotContext.cpp

@@ -435,6 +435,24 @@ std::shared_ptr<TaskManager> RobotContext::task_manager()
   return _task_manager.lock();
 }
 
+//==============================================================================
+bool RobotContext::is_commissioned() const
+{
+  return _commissioned;
+}
+
+//==============================================================================
+void RobotContext::decommission()
+{
+  _commissioned = false;
+}
+
+//==============================================================================
+void RobotContext::recommission()
+{
+  _commissioned = true;
+}
+
 //==============================================================================
 Reporting& RobotContext::reporting()
 {

rmf_fleet_adapter/src/rmf_fleet_adapter/agv/RobotContext.hpp

@@ -229,6 +229,14 @@ class RobotContext
   /// Get the task manager for this robot, if it exists.
   std::shared_ptr<TaskManager> task_manager();
 
+  /// Return true if this robot is currently commissioned (available to accept
+  /// new tasks).
+  bool is_commissioned() const;
+
+  void decommission();
+
+  void recommission();
+
   Reporting& reporting();
 
   const Reporting& reporting() const;
@@ -290,6 +298,7 @@ class RobotContext
 
   RobotUpdateHandle::Unstable::Watchdog _lift_watchdog;
   rmf_traffic::Duration _lift_rewait_duration = std::chrono::seconds(0);
+  bool _commissioned = true;
 
   // Mode value for RobotMode message
   uint32_t _current_mode;

rmf_fleet_adapter/src/rmf_fleet_adapter/agv/RobotUpdateHandle.cpp

@@ -639,6 +639,43 @@ const RobotUpdateHandle::Unstable& RobotUpdateHandle::unstable() const
   return _pimpl->unstable;
 }
 
+//==============================================================================
+bool RobotUpdateHandle::Unstable::is_commissioned() const
+{
+  if (const auto context = _pimpl->get_context())
+    return context->is_commissioned();
+
+  return false;
+}
+
+//==============================================================================
+void RobotUpdateHandle::Unstable::decommission()
+{
+  if (const auto context = _pimpl->get_context())
+  {
+    context->worker().schedule(
+      [w = context->weak_from_this()](const auto&)
+      {
+        if (const auto context = w.lock())
+          context->decommission();
+      });
+  }
+}
+
+//==============================================================================
+void RobotUpdateHandle::Unstable::recommission()
+{
+  if (const auto context = _pimpl->get_context())
+  {
+    context->worker().schedule(
+      [w = context->weak_from_this()](const auto&)
+      {
+        if (const auto context = w.lock())
+          context->recommission();
+      });
+  }
+}
+
 //==============================================================================
 rmf_traffic::schedule::Participant*
 RobotUpdateHandle::Unstable::get_participant()

rmf_fleet_adapter_python/src/adapter.cpp

@@ -138,6 +138,25 @@ PYBIND11_MODULE(rmf_adapter, m) {
       self.maximum_delay(duration);
     },
     py::arg("seconds"))
+  .def("unstable_is_commissioned",
+    [&](const agv::RobotUpdateHandle& self)
+    {
+      return self.unstable().is_commissioned();
+    },
+    "Check if the robot is currently allowed to accept any new tasks")
+  .def("unstable_decommission",
+    [&](agv::RobotUpdateHandle& self)
+    {
+      return self.unstable().decommission();
+    },
+    "Stop this robot from accepting any new tasks. Use recommission to resume")
+  .def("unstable_recommission",
+    [&](agv::RobotUpdateHandle& self)
+    {
+      return self.unstable().recommission();
+    },
+    "Allow this robot to resume accepting new tasks if it was ever "
+    "decommissioned in the past")
   .def("get_unstable_participant",
     [&](agv::RobotUpdateHandle& self)
     {