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Add api for robot charging tasks #283

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68f0064
First draft of robot charging task
luca-della-vedova Jun 15, 2023
99304d6
Rename charge to charge battery
luca-della-vedova Jun 15, 2023
d87b87b
Prevent fleet adapter from bidding for battery charging tasks
luca-della-vedova Jun 15, 2023
50ee58e
Merge branch 'main' into feature/charging_task
mxgrey Aug 17, 2023
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9 changes: 9 additions & 0 deletions rmf_fleet_adapter/schemas/event_description__charge.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://raw.githubusercontent.com/open-rmf/rmf_ros2/main/rmf_fleet_adapter/schemas/event_description__charge.json",
"title": "Charge Event",
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@mxgrey mxgrey Jun 15, 2023

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I recommend we add "Battery" everywhere to make this more explicit, e.g. "Charge Battery Event", event_description__charge_battery.json, "Charge the battery of a robot".

If anyone develops a bull robot for a rodeo they might want "charge" to mean something else.

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@luca-della-vedova luca-della-vedova Jun 15, 2023

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99304d6

"description": "Charge a robot",
"type": "object",
"properties": {
}
}
7 changes: 7 additions & 0 deletions rmf_fleet_adapter/schemas/task_description__charge.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://raw.githubusercontent.com/open-rmf/rmf_ros2/main/rmf_fleet_adapter/schemas/task_description__charge.json",
"title": "Charge Task",
"description": "Charge a robot",
"$ref": "event_description__charge.json"
}
1 change: 1 addition & 0 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp
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Expand Up @@ -1104,6 +1104,7 @@ void FleetUpdateHandle::Implementation::add_standard_tasks()
node->clock());

tasks::add_charge_battery(
deserialization,
*activation.task,
activation.phase,
*activation.event,
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22 changes: 22 additions & 0 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/tasks/ChargeBattery.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,9 @@
#include <rmf_task_sequence/phases/SimplePhase.hpp>
#include <rmf_task_sequence/events/Placeholder.hpp>

#include <rmf_fleet_adapter/schemas/task_description__charge.hpp>
#include <rmf_fleet_adapter/schemas/event_description__charge.hpp>

#include <rmf_task_sequence/Task.hpp>

namespace rmf_fleet_adapter {
Expand Down Expand Up @@ -165,6 +168,7 @@ struct ChargeBatteryEventDescription

//==============================================================================
void add_charge_battery(
agv::TaskDeserialization& deserialization,
rmf_task::Activator& task_activator,
const rmf_task_sequence::Phase::ConstActivatorPtr& phase_activator,
rmf_task_sequence::Event::Initializer& event_initializer,
Expand All @@ -180,6 +184,24 @@ void add_charge_battery(
WaitForChargeDescription::add(*private_initializer);
GoToChargerDescription::add(*private_initializer);

// TODO(luca) Populate charge event with properties such as time, desired battery soc
deserialization.add_schema(schemas::event_description__charge);

auto validate_charge_task =
deserialization.make_validator_shared(
schemas::task_description__charge);
deserialization.add_schema(schemas::task_description__charge);

auto deserialize_charge =
[
](const nlohmann::json&) -> agv::DeserializedTask
{
// Always accept
agv::FleetUpdateHandle::Confirmation confirm;
return {rmf_task::requests::ChargeBattery::Description::make(), {}};
};
deserialization.task->add("charge", validate_charge_task, deserialize_charge);

auto charge_battery_event_unfolder =
[](const ChargeBatteryEventDescription&)
{
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2 changes: 2 additions & 0 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/tasks/ChargeBattery.hpp
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Expand Up @@ -19,6 +19,7 @@
#define SRC__RMF_FLEET_ADAPTER__TASKS__CHARGEBATTERY_HPP

#include "../LegacyTask.hpp"
#include "../agv/internal_FleetUpdateHandle.hpp"
#include "../agv/RobotContext.hpp"

#include <rmf_traffic/agv/Planner.hpp>
Expand All @@ -43,6 +44,7 @@ std::shared_ptr<LegacyTask> make_charge_battery(

//==============================================================================
void add_charge_battery(
agv::TaskDeserialization& deserialization,
rmf_task::Activator& task_activator,
const rmf_task_sequence::Phase::ConstActivatorPtr& phase_activator,
rmf_task_sequence::Event::Initializer& event_initializer,
Expand Down