Add reassign task allocation API #348
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Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
mxgrey
requested changes
May 6, 2024
| //============================================================================== | ||
| FleetUpdateHandle& FleetUpdateHandle::reassign_dispatched_tasks() | ||
| { | ||
| _pimpl->reassign_dispatched_tasks([]() {}, [](auto) {}); |
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This needs to be scheduled inside of the fleet handle's worker, similar to what's done for the RobotUpdateHandle version of this function. Neglecting to do that can lead to segmentation faults and undefined behavior.
| @@ -2538,6 +2538,13 @@ FleetUpdateHandle& FleetUpdateHandle::set_retreat_to_charger_interval( | |||
| return *this; | |||
| } | |||
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| //============================================================================== | |||
| FleetUpdateHandle& FleetUpdateHandle::reassign_dispatched_tasks() | |||
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Returning FleetUpdateHandle& is generally done in situations where users may want to chain a series of function calls. Usually that's when you're changing some settings for a class.
This function is triggering a distinct action, so I don't think it makes sense stylistically to chain any more function calls after it. Let's just return void from this function.
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
mxgrey
approved these changes
May 6, 2024
arjo129
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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 exposes the
reassign_dispatched_tasksAPI to be usable from fleet adapter implementations. This allows users to request for a replan of task allocation at runtime in scenarios, especially in scenarios where a robot may be stuck on a task longer than expected with a queued task.