Feature/finishing task

rmf_task/CMakeLists.txt

@@ -32,6 +32,7 @@ find_package(rmf_cmake_uncrustify QUIET)
 file(GLOB lib_srcs
   "src/rmf_task/agv/*.cpp"
   "src/rmf_task/requests/*.cpp"
+  "src/rmf_task/requests/factory/*.cpp"
   "src/rmf_task/*.cpp"
 )
 

rmf_task/include/rmf_task/Request.hpp

@@ -15,8 +15,8 @@
  *
 */
 
-#ifndef RMF_TASK__TASK_HPP
-#define RMF_TASK__TASK_HPP
+#ifndef RMF_TASK__REQUEST_HPP
+#define RMF_TASK__REQUEST_HPP
 
 #include <memory>
 
@@ -82,7 +82,8 @@ class Request
     const std::string& id,
     rmf_traffic::Time earliest_start_time,
     ConstPriorityPtr priority,
-    DescriptionPtr description);
+    DescriptionPtr description,
+    bool automatic = false);
 
   /// The unique id for this request
   const std::string& id() const;
@@ -96,6 +97,9 @@ class Request
   /// Get the description of this request
   const DescriptionPtr& description() const;
 
+  // Returns true if this request was automatically generated
+  bool automatic() const;
+
   class Implementation;
 private:
   rmf_utils::impl_ptr<Implementation> _pimpl;

rmf_task/include/rmf_task/RequestFactory.hpp

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef RMF_TASK__REQUESTFACTORY_HPP
+#define RMF_TASK__REQUESTFACTORY_HPP
+
+#include <rmf_task/Request.hpp>
+
+namespace rmf_task {
+
+//==============================================================================
+class RequestFactory
+{
+public:
+
+  virtual ConstRequestPtr make_request(
+    const agv::State& state) const = 0;
+
+  virtual ~RequestFactory() = default;
+};
+
+using RequestFactoryPtr = std::shared_ptr<RequestFactory>;
+using ConstRequestFactoryPtr = std::shared_ptr<const RequestFactory>;
+
+} // namespace rmf_task
+
+#endif // RMF_TASK__REQUESTFACTORY_HPP

rmf_task/include/rmf_task/agv/TaskPlanner.hpp

@@ -19,6 +19,7 @@
 #define RMF_TASK__AGV__TASKPLANNER_HPP
 
 #include <rmf_task/Request.hpp>
+#include <rmf_task/RequestFactory.hpp>
 #include <rmf_task/CostCalculator.hpp>
 #include <rmf_task/agv/Constraints.hpp>
 #include <rmf_task/agv/Parameters.hpp>
@@ -150,7 +151,8 @@ class TaskPlanner
   Result greedy_plan(
     rmf_traffic::Time time_now,
     std::vector<State> agents,
-    std::vector<ConstRequestPtr> requests);
+    std::vector<ConstRequestPtr> requests,
+    ConstRequestFactoryPtr finishing_request = nullptr);
 
   /// Get the optimal planner based assignments for a set of initial states and
   /// requests
@@ -162,7 +164,8 @@ class TaskPlanner
     rmf_traffic::Time time_now,
     std::vector<State> agents,
     std::vector<ConstRequestPtr> requests,
-    std::function<bool()> interrupter);
+    std::function<bool()> interrupter,
+    ConstRequestFactoryPtr finishing_request = nullptr);
 
   /// Compute the cost of a set of assignments
   double compute_cost(const Assignments& assignments) const;

rmf_task/include/rmf_task/requests/ChargeBattery.hpp

@@ -60,7 +60,8 @@ class ChargeBattery
 
   static ConstRequestPtr make(
     rmf_traffic::Time earliest_start_time,
-    ConstPriorityPtr priority = nullptr);
+    ConstPriorityPtr priority = nullptr,
+    bool automatic = true);
 };
 
 } // namespace requests

rmf_task/include/rmf_task/requests/Clean.hpp

@@ -74,7 +74,8 @@ class Clean
     const rmf_traffic::Trajectory& cleaning_path,
     const std::string& id,
     rmf_traffic::Time earliest_start_time,
-    ConstPriorityPtr priority = nullptr);
+    ConstPriorityPtr priority = nullptr,
+    bool automatic = false);
 };
 
 } // namespace requests

rmf_task/include/rmf_task/requests/Delivery.hpp

@@ -84,7 +84,8 @@ class Delivery
     rmf_traffic::Duration dropoff_wait,
     const std::string& id,
     rmf_traffic::Time earliest_start_time,
-    ConstPriorityPtr priority = nullptr);
+    ConstPriorityPtr priority = nullptr,
+    bool automatic = false);
 };
 
 } // namespace requests

rmf_task/include/rmf_task/requests/Loop.hpp

@@ -79,7 +79,8 @@ class Loop
     std::size_t num_loops,
     const std::string& id,
     rmf_traffic::Time earliest_start_time,
-    ConstPriorityPtr priority = nullptr);
+    ConstPriorityPtr priority = nullptr,
+    bool automatic = false);
 };
 
 } // namespace tasks

rmf_task/include/rmf_task/requests/factory/ChargeBatteryFactory.hpp

@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef RMF_TASK__REQUESTS__FACTORY__CHARGEBATTERYFACTORY_HPP
+#define RMF_TASK__REQUESTS__FACTORY__CHARGEBATTERYFACTORY_HPP
+
+#include <rmf_task/RequestFactory.hpp>
+#include <rmf_task/agv/State.hpp>
+
+#include <rmf_utils/impl_ptr.hpp>
+
+namespace rmf_task {
+namespace requests {
+
+//==============================================================================
+class ChargeBatteryFactory : public RequestFactory
+{
+public:
+
+  ChargeBatteryFactory();
+
+  ConstRequestPtr make_request(
+    const agv::State& state) const final;
+
+  class Implementation;
+
+private:
+  rmf_utils::impl_ptr<Implementation> _pimpl;
+};
+
+} // namespace requests
+} // namespace rmf_task
+
+#endif // RMF_TASK__REQUESTS__FACTORY__CHARGEBATTERYFACTORY_HPP

rmf_task/include/rmf_task/requests/factory/ReturnToChargerFactory.hpp

@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef RMF_TASK__REQUESTS__FACTORY__RETURNTOCHARGERFACTORY_HPP
+#define RMF_TASK__REQUESTS__FACTORY__RETURNTOCHARGERFACTORY_HPP
+
+#include <rmf_task/RequestFactory.hpp>
+#include <rmf_task/agv/State.hpp>
+
+#include <rmf_utils/impl_ptr.hpp>
+
+namespace rmf_task {
+namespace requests {
+
+//==============================================================================
+// Retuns a Loop request from current state back to its charging waypoint
+class ReturnToChargerFactory : public RequestFactory
+{
+public:
+
+  ReturnToChargerFactory();
+
+  ConstRequestPtr make_request(
+    const agv::State& state) const final;
+
+  class Implementation;
+
+private:
+  rmf_utils::impl_ptr<Implementation> _pimpl;
+};
+
+} // namespace requests
+} // namespace rmf_task
+
+#endif // RMF_TASK__REQUESTS__FACTORY__RETURNTOCHARGERFACTORY_HPP

rmf_task/src/rmf_task/Request.cpp

@@ -27,20 +27,23 @@ class Request::Implementation
   rmf_traffic::Time earliest_start_time;
   rmf_task::ConstPriorityPtr priority;
   DescriptionPtr description;
+  bool automatic;
 };
 
 //==============================================================================
 Request::Request(
   const std::string& id,
   rmf_traffic::Time earliest_start_time,
   ConstPriorityPtr priority,
-  DescriptionPtr description)
+  DescriptionPtr description,
+  bool automatic)
 : _pimpl(rmf_utils::make_impl<Implementation>(
       Implementation {
         id,
         earliest_start_time,
         std::move(priority),
-        std::move(description)
+        std::move(description),
+        automatic
       }))
 {
   // Do nothing
@@ -70,4 +73,10 @@ const Request::DescriptionPtr& Request::description() const
   return _pimpl->description;
 }
 
-} // namespace rmf_task
+//==============================================================================
+bool Request::automatic() const
+{
+  return _pimpl->automatic;
+}
+
+} // namespace rmf_task