Fix the production of indefinite charging tasks (#100)

Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
open-rmf · Dec 15, 2023 · c57cbd1 · c57cbd1
1 parent 5009f92
commit c57cbd1
Show file tree

Hide file tree

Showing 3 changed files with 53 additions and 6 deletions.
diff --git a/rmf_task/include/rmf_task/requests/ChargeBattery.hpp b/rmf_task/include/rmf_task/requests/ChargeBattery.hpp
@@ -53,6 +53,9 @@ class ChargeBattery
     /// Generate the description for this request
     static Task::ConstDescriptionPtr make();
 
+    /// Make a charging task that will last indefinitely.
+    static std::shared_ptr<Description> make_indefinite();
+
     // Documentation inherited
     Task::ConstModelPtr make_model(
       rmf_traffic::Time earliest_start_time,

diff --git a/rmf_task/src/rmf_task/requests/ChargeBattery.cpp b/rmf_task/src/rmf_task/requests/ChargeBattery.cpp
@@ -175,6 +175,15 @@ Task::ConstDescriptionPtr ChargeBattery::Description::make()
   return description;
 }
 
+//==============================================================================
+auto ChargeBattery::Description::make_indefinite()
+-> std::shared_ptr<Description>
+{
+  std::shared_ptr<Description> description(new Description);
+  description->set_indefinite(true);
+  return description;
+}
+
 //==============================================================================
 ChargeBattery::Description::Description()
 : _pimpl(rmf_utils::make_impl<Implementation>(Implementation()))

diff --git a/rmf_task/src/rmf_task/requests/ChargeBatteryFactory.cpp b/rmf_task/src/rmf_task/requests/ChargeBatteryFactory.cpp
@@ -17,10 +17,32 @@
 
 #include <rmf_task/requests/ChargeBatteryFactory.hpp>
 #include <rmf_task/requests/ChargeBattery.hpp>
+#include <random>
 
 namespace rmf_task {
 namespace requests {
 
+//==============================================================================
+namespace {
+std::string generate_uuid(const std::size_t length = 3)
+{
+  std::stringstream ss;
+  for (std::size_t i = 0; i < length; ++i)
+  {
+    std::random_device rd;
+    std::mt19937 gen(rd());
+    std::uniform_int_distribution<> dis(0, 255);
+    const auto random_char = dis(gen);
+    std::stringstream hexstream;
+    hexstream << std::hex << random_char;
+    auto hex = hexstream.str();
+    ss << (hex.length() < 2 ? '0' + hex : hex);
+  }
+  return ss.str();
+}
+
+} // anonymous namespace
+
 //==============================================================================
 class ChargeBatteryFactory::Implementation
 {
@@ -63,20 +85,33 @@ bool ChargeBatteryFactory::indefinite() const
 //==============================================================================
 ConstRequestPtr ChargeBatteryFactory::make_request(const State& state) const
 {
-
+  const std::string id = "Charge" + generate_uuid();
+  Task::ConstBookingPtr booking;
   if (_pimpl->requester.has_value() && _pimpl->time_now_cb)
   {
-    return ChargeBattery::make(
+    booking =
+      std::make_shared<const rmf_task::Task::Booking>(
+      std::move(id),
       state.time().value(),
+      nullptr,
       _pimpl->requester.value(),
       _pimpl->time_now_cb(),
+      true);
+  }
+  else
+  {
+    booking =
+      std::make_shared<const rmf_task::Task::Booking>(
+      std::move(id),
+      state.time().value(),
       nullptr,
       true);
   }
-  return ChargeBattery::make(
-    state.time().value(),
-    nullptr,
-    true);
+
+  const auto description = ChargeBattery::Description::make_indefinite();
+  description->set_indefinite(_pimpl->indefinite);
+
+  return std::make_shared<Request>(std::move(booking), std::move(description));
 }
 
 } // namespace requests