From fdf2999c4c9302b10de3052a5a14be8b0ddfdaee Mon Sep 17 00:00:00 2001 From: Charly Wu Date: Wed, 10 Jan 2024 21:56:58 +0800 Subject: [PATCH 1/5] update task request to include fleet_name for fleet-level task Signed-off-by: Charly Wu --- rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py | 3 +++ rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py | 3 +++ rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py | 3 +++ rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py | 3 +++ rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py | 3 +++ rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py | 9 ++++++--- 6 files changed, 21 insertions(+), 3 deletions(-) diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py index 93368658..9deee0a9 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py @@ -103,6 +103,9 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "compose" + + if self.args.robot is None and self.args.fleet: + request["fleet_name"] = self.args.fleet # Define task request description with phases description = {} # task_description_Compose.json diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py index a7549405..2db6515b 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py @@ -94,6 +94,9 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "compose" + + if self.args.robot is None and self.args.fleet: + request["fleet_name"] = self.args.fleet # Define task request description with cleaning zone description = {} # task_description_Compose.json diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py index 9035d683..d4b3a54b 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py @@ -119,6 +119,9 @@ def __init__(self, argv=sys.argv): now.sec = now.sec + self.args.start_time start_time = now.sec * 1000 + round(now.nanosec/10**6) request["unix_millis_earliest_start_time"] = start_time + + if self.args.robot is None and self.args.fleet: + request["fleet_name"] = self.args.fleet def __create_pickup_desc(index): if index < len(self.args.pickup_payloads): diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py index 044d41f3..ae0a65b6 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py @@ -117,6 +117,9 @@ def __init__(self, argv=sys.argv): }, 'unix_millis_earliest_start_time': start_time } + + if self.args.robot is None and self.args.fleet: + rmf_task_request["fleet_name"] = self.args.fleet payload["request"] = rmf_task_request diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py index d47ba9c4..c618d51b 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py @@ -99,6 +99,9 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "patrol" + + if self.args.robot is None and self.args.fleet: + request["fleet_name"] = self.args.fleet # Define task request description description = { diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py index 8cb7196a..c67a5b85 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py @@ -39,9 +39,9 @@ class TaskRequester(Node): def __init__(self, argv=sys.argv): super().__init__('task_requester') parser = argparse.ArgumentParser() - parser.add_argument('-F', '--fleet', required=False, default='', + parser.add_argument('-F', '--fleet', required=False, type=str, help='Fleet name') - parser.add_argument('-R', '--robot', required=False, default='', + parser.add_argument('-R', '--robot', required=False, type=str, help='Robot name') parser.add_argument('-s', '--start', required=True, type=str, help='Start waypoint') @@ -93,7 +93,10 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "compose" - + + if self.args.robot is None and self.args.fleet: + request["fleet_name"] = self.args.fleet + # Define task request description with phases description = {} # task_description_Compose.json description["category"] = "teleop" From 6cf65a2cb1b4384fd639680965ee56b9db2e2cb7 Mon Sep 17 00:00:00 2001 From: Charly Wu Date: Thu, 11 Jan 2024 21:35:49 +0800 Subject: [PATCH 2/5] added DCO commit. Signed-off-by: Charly Wu From c3263e91689ab593029eeaf808e66f0214ef42be Mon Sep 17 00:00:00 2001 From: Charly Wu Date: Mon, 15 Jan 2024 20:55:26 +0800 Subject: [PATCH 3/5] simplify logic for populating request['fleet_name'] Signed-off-by: Charly Wu --- rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py index 9deee0a9..81424996 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py @@ -104,7 +104,7 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "compose" - if self.args.robot is None and self.args.fleet: + if self.args.fleet: request["fleet_name"] = self.args.fleet # Define task request description with phases diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py index 2db6515b..1ba80ca2 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py @@ -95,7 +95,7 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "compose" - if self.args.robot is None and self.args.fleet: + if self.args.fleet: request["fleet_name"] = self.args.fleet # Define task request description with cleaning zone diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py index d4b3a54b..a2c18df0 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py @@ -120,7 +120,7 @@ def __init__(self, argv=sys.argv): start_time = now.sec * 1000 + round(now.nanosec/10**6) request["unix_millis_earliest_start_time"] = start_time - if self.args.robot is None and self.args.fleet: + if self.args.fleet: request["fleet_name"] = self.args.fleet def __create_pickup_desc(index): diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py index ae0a65b6..f06c5b14 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py @@ -118,7 +118,7 @@ def __init__(self, argv=sys.argv): 'unix_millis_earliest_start_time': start_time } - if self.args.robot is None and self.args.fleet: + if self.args.fleet: rmf_task_request["fleet_name"] = self.args.fleet payload["request"] = rmf_task_request diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py index c618d51b..139e2713 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py @@ -100,7 +100,7 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "patrol" - if self.args.robot is None and self.args.fleet: + if self.args.fleet: request["fleet_name"] = self.args.fleet # Define task request description diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py index c67a5b85..fa085487 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py @@ -94,7 +94,7 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "compose" - if self.args.robot is None and self.args.fleet: + if self.args.fleet: request["fleet_name"] = self.args.fleet # Define task request description with phases From 5b97719a1629b71e511787bf6921bbda618b7372 Mon Sep 17 00:00:00 2001 From: Charly Wu Date: Tue, 16 Jan 2024 12:41:27 +0800 Subject: [PATCH 4/5] remove extra whitespaces. Signed-off-by: Charly Wu --- rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py | 2 +- rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py | 4 ++-- 6 files changed, 7 insertions(+), 7 deletions(-) diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py index 81424996..34a67f83 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_action.py @@ -103,7 +103,7 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "compose" - + if self.args.fleet: request["fleet_name"] = self.args.fleet diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py index 1ba80ca2..d109935e 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_clean.py @@ -94,7 +94,7 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "compose" - + if self.args.fleet: request["fleet_name"] = self.args.fleet diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py index a2c18df0..de7939ef 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_delivery.py @@ -119,7 +119,7 @@ def __init__(self, argv=sys.argv): now.sec = now.sec + self.args.start_time start_time = now.sec * 1000 + round(now.nanosec/10**6) request["unix_millis_earliest_start_time"] = start_time - + if self.args.fleet: request["fleet_name"] = self.args.fleet diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py index f06c5b14..4edfd9b7 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_go_to_place.py @@ -117,7 +117,7 @@ def __init__(self, argv=sys.argv): }, 'unix_millis_earliest_start_time': start_time } - + if self.args.fleet: rmf_task_request["fleet_name"] = self.args.fleet diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py index 139e2713..a6166139 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_patrol.py @@ -99,7 +99,7 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "patrol" - + if self.args.fleet: request["fleet_name"] = self.args.fleet diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py index fa085487..4e376b8a 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py @@ -93,10 +93,10 @@ def __init__(self, argv=sys.argv): # Define task request category request["category"] = "compose" - + if self.args.fleet: request["fleet_name"] = self.args.fleet - + # Define task request description with phases description = {} # task_description_Compose.json description["category"] = "teleop" From e82e23b8f93d60e861628aa8a7effe08b2c07842 Mon Sep 17 00:00:00 2001 From: Charly Wu Date: Tue, 16 Jan 2024 14:29:25 +0800 Subject: [PATCH 5/5] remove trailing whitespace. Signed-off-by: Charly Wu --- rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py b/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py index 4e376b8a..56b8fe22 100644 --- a/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py +++ b/rmf_demos_tasks/rmf_demos_tasks/dispatch_teleop.py @@ -39,9 +39,9 @@ class TaskRequester(Node): def __init__(self, argv=sys.argv): super().__init__('task_requester') parser = argparse.ArgumentParser() - parser.add_argument('-F', '--fleet', required=False, + parser.add_argument('-F', '--fleet', required=False, type=str, help='Fleet name') - parser.add_argument('-R', '--robot', required=False, + parser.add_argument('-R', '--robot', required=False, type=str, help='Robot name') parser.add_argument('-s', '--start', required=True, type=str, help='Start waypoint')