Release other mutexes if robot started charging #334
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Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
mxgrey
reviewed
Mar 19, 2024
| retain_mutexes.insert( | ||
| graph.get_waypoint(charging_waypoint).in_mutex_group()); | ||
| _context->retain_mutex_groups(retain_mutexes); | ||
| RCLCPP_INFO( |
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Minor nitpick to make this message more useful. Let's change it to something like this:
if (retain_mutexes.front().empty())
{
RCLCPP_INFO(
_context->node()->get_logger(),
"Robot [%s] is waiting to charge. All its mutex groups will be released.",
_context->name().c_str());
}
else
{
RCLCPP_INFO(
_context->node()->get_logger(),
"Robot [%s] is waiting to charge. It will retain only the mutex group [%s].",
_context->name().c_str(),
retain_mutexes.front().c_str());
}
Giving more specific information can make confusing situations easier to debug.
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
mxgrey
approved these changes
Mar 25, 2024
arjo129
pushed a commit
that referenced
this pull request
Jun 7, 2024
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org> Signed-off-by: Arjo Chakravarty <arjoc@google.com>
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This PR aims to release any mutex groups a robot may be holding once it starts charging at its dedicated charging waypoint. This is to ensure that mutex groups won't be stuck with a stationary robot for an indefinite period of time, blocking other robots from moving into these mutexes.