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Remove dependency on rmf_dispenser_msgs (#36)
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* Replaced dispenser msg parameters with waiting durations

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

* Uncrustify

Signed-off-by: Yadunund <yadunund@openrobotics.org>
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@Yadunund
Yadunund committed Aug 18, 2021
1 parent 87a7cad commit 8349287
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Showing 5 changed files with 177 additions and 259 deletions.
7 changes: 1 addition & 6 deletions rmf_task/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,6 @@ include(GNUInstallDirs)
find_package(rmf_utils REQUIRED)
find_package(rmf_traffic REQUIRED)
find_package(rmf_battery REQUIRED)
find_package(rmf_dispenser_msgs REQUIRED)
find_package(Eigen3 REQUIRED)

find_package(ament_cmake_catch2 QUIET)
Expand All @@ -43,15 +42,13 @@ add_library(rmf_task SHARED
target_link_libraries(rmf_task
PUBLIC
rmf_battery::rmf_battery
${rmf_dispenser_msgs_LIBRARIES}
)

target_include_directories(rmf_task
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
${EIGEN3_INCLUDE_DIRS}
${rmf_dispenser_msgs_INCLUDE_DIRS}
)

if(BUILD_TESTING AND ament_cmake_catch2_FOUND AND rmf_cmake_uncrustify_FOUND)
Expand All @@ -64,16 +61,14 @@ if(BUILD_TESTING AND ament_cmake_catch2_FOUND AND rmf_cmake_uncrustify_FOUND)
rmf_task
rmf_utils::rmf_utils
rmf_traffic::rmf_traffic
${rmf_dispenser_msgs_LIBRARIES}
)

target_include_directories(test_rmf_task
PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/>
${rmf_dispenser_msgs_INCLUDE_DIRS}
)

find_file(uncrustify_config_file
find_file(uncrustify_config_file
NAMES "rmf_code_style.cfg"
PATHS "${rmf_utils_DIR}/../../../share/rmf_utils/")

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25 changes: 8 additions & 17 deletions rmf_task/include/rmf_task/requests/Delivery.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,6 @@
#include <rmf_task/Request.hpp>
#include <rmf_task/Estimate.hpp>

#include <rmf_dispenser_msgs/msg/dispenser_request_item.hpp>

namespace rmf_task {
namespace requests {

Expand All @@ -48,15 +46,13 @@ class Delivery
{
public:

using DispenserRequestItem = rmf_dispenser_msgs::msg::DispenserRequestItem;
using Start = rmf_traffic::agv::Planner::Start;

static DescriptionPtr make(
std::size_t pickup_waypoint,
std::string pickup_dispenser,
rmf_traffic::Duration pickup_duration,
std::size_t dropoff_waypoint,
std::string dropoff_ingestor,
std::vector<DispenserRequestItem> items);
rmf_traffic::Duration dropoff_duration);

std::shared_ptr<Request::Model> make_model(
rmf_traffic::Time earliest_start_time,
Expand All @@ -65,32 +61,27 @@ class Delivery
/// Get the pickup waypoint in this request
std::size_t pickup_waypoint() const;

/// Get the name of the dispenser at the pickup waypoint
const std::string& pickup_dispenser() const;
/// Get the duration over which delivery items are loaded
rmf_traffic::Duration pickup_wait() const;

/// Get the dropoff waypoint in this request
std::size_t dropoff_waypoint() const;

/// Get the name of the ingestor at the dropoff waypoint
const std::string& dropoff_ingestor() const;

/// Get the list of dispenser request items in this request
const std::vector<DispenserRequestItem>& items() const;
/// Get the duration over which delivery items are unloaded
rmf_traffic::Duration dropoff_wait() const;

class Implementation;
private:
Description();
rmf_utils::impl_ptr<Implementation> _pimpl;
};

using DispenserRequestItem = rmf_dispenser_msgs::msg::DispenserRequestItem;

static ConstRequestPtr make(
std::size_t pickup_waypoint,
std::string pickup_dispenser,
rmf_traffic::Duration pickup_wait,
std::size_t dropoff_waypoint,
std::string dropoff_ingestor,
std::vector<DispenserRequestItem> items,
rmf_traffic::Duration dropoff_wait,
const std::string& id,
rmf_traffic::Time earliest_start_time,
ConstPriorityPtr priority = nullptr);
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1 change: 0 additions & 1 deletion rmf_task/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@

<depend>rmf_battery</depend>
<depend>rmf_utils</depend>
<depend>rmf_dispenser_msgs</depend>

<depend>eigen</depend>

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60 changes: 29 additions & 31 deletions rmf_task/src/rmf_task/requests/Delivery.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,13 +38,17 @@ class Delivery::Model : public Request::Model
const rmf_traffic::Time earliest_start_time,
const agv::Parameters& parameters,
std::size_t pickup_waypoint,
std::size_t dropoff_waypoint);
rmf_traffic::Duration pickup_wait,
std::size_t dropoff_waypoint,
rmf_traffic::Duration dropoff_wait);

private:
rmf_traffic::Time _earliest_start_time;
agv::Parameters _parameters;
std::size_t _pickup_waypoint;
rmf_traffic::Duration _pickup_wait;
std::size_t _dropoff_waypoint;
rmf_traffic::Duration _dropoff_wait;

rmf_traffic::Duration _invariant_duration;
double _invariant_battery_drain;
Expand All @@ -55,15 +59,19 @@ Delivery::Model::Model(
const rmf_traffic::Time earliest_start_time,
const agv::Parameters& parameters,
std::size_t pickup_waypoint,
std::size_t dropoff_waypoint)
rmf_traffic::Duration pickup_wait,
std::size_t dropoff_waypoint,
rmf_traffic::Duration dropoff_wait)
: _earliest_start_time(earliest_start_time),
_parameters(parameters),
_pickup_waypoint(pickup_waypoint),
_dropoff_waypoint(dropoff_waypoint)
{
// Calculate duration of invariant component of task
_invariant_duration = rmf_traffic::Duration{0};
_invariant_battery_drain = 0.0;
_invariant_duration = pickup_wait + dropoff_wait;
_invariant_battery_drain =
_parameters.ambient_sink()->compute_change_in_charge(
rmf_traffic::time::to_seconds(pickup_wait + dropoff_wait));

if (_pickup_waypoint != _dropoff_waypoint)
{
Expand Down Expand Up @@ -276,26 +284,23 @@ class Delivery::Description::Implementation
{}

std::size_t pickup_waypoint;
std::string pickup_dispenser;
rmf_traffic::Duration pickup_wait;
std::size_t dropoff_waypoint;
std::string dropoff_ingestor;
std::vector<DispenserRequestItem> items;
rmf_traffic::Duration dropoff_wait;
};

//==============================================================================
rmf_task::DescriptionPtr Delivery::Description::make(
std::size_t pickup_waypoint,
std::string pickup_dispenser,
rmf_traffic::Duration pickup_wait,
std::size_t dropoff_waypoint,
std::string dropoff_ingestor,
std::vector<DispenserRequestItem> items)
rmf_traffic::Duration dropoff_wait)
{
std::shared_ptr<Description> delivery(new Description());
delivery->_pimpl->pickup_waypoint = pickup_waypoint;
delivery->_pimpl->pickup_dispenser = std::move(pickup_dispenser);
delivery->_pimpl->pickup_wait = pickup_wait;
delivery->_pimpl->dropoff_waypoint = dropoff_waypoint;
delivery->_pimpl->dropoff_ingestor = std::move(dropoff_ingestor);
delivery->_pimpl->items = std::move(items);
delivery->_pimpl->dropoff_wait = dropoff_wait;

return delivery;
}
Expand All @@ -316,7 +321,9 @@ std::shared_ptr<Request::Model> Delivery::Description::make_model(
earliest_start_time,
parameters,
_pimpl->pickup_waypoint,
_pimpl->dropoff_waypoint);
_pimpl->pickup_wait,
_pimpl->dropoff_waypoint,
_pimpl->dropoff_wait);
}

//==============================================================================
Expand All @@ -326,15 +333,15 @@ std::size_t Delivery::Description::pickup_waypoint() const
}

//==============================================================================
const std::string& Delivery::Description::pickup_dispenser() const
rmf_traffic::Duration Delivery::Description::pickup_wait() const
{
return _pimpl->pickup_dispenser;
return _pimpl->pickup_wait;
}

//==============================================================================
const std::string& Delivery::Description::dropoff_ingestor() const
rmf_traffic::Duration Delivery::Description::dropoff_wait() const
{
return _pimpl->dropoff_ingestor;
return _pimpl->dropoff_wait;
}

//==============================================================================
Expand All @@ -343,30 +350,21 @@ std::size_t Delivery::Description::dropoff_waypoint() const
return _pimpl->dropoff_waypoint;
}

//==============================================================================
const std::vector<Delivery::Description::DispenserRequestItem>&
Delivery::Description::items() const
{
return _pimpl->items;
}

//==============================================================================
ConstRequestPtr Delivery::make(
std::size_t pickup_waypoint,
std::string pickup_dispenser,
rmf_traffic::Duration pickup_wait,
std::size_t dropoff_waypoint,
std::string dropoff_ingestor,
std::vector<DispenserRequestItem> items,
rmf_traffic::Duration dropoff_wait,
const std::string& id,
rmf_traffic::Time earliest_start_time,
ConstPriorityPtr priority)
{
const auto description = Description::make(
pickup_waypoint,
pickup_dispenser,
pickup_wait,
dropoff_waypoint,
dropoff_ingestor,
items);
dropoff_wait);

return std::make_shared<Request>(
id, earliest_start_time, std::move(priority), description);
Expand Down
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