update msgs for dispatcher

rmf_task_msgs/CMakeLists.txt

@@ -25,9 +25,22 @@ set(msg_files
   "msg/TaskSummary.msg"
   "msg/Tasks.msg"
   "msg/Loop.msg"
+  # New task Msgs
+  "msg/TaskType.msg"
+  "msg/TaskProfile.msg"
+  "msg/BidNotice.msg"
+  "msg/BidProposal.msg"
+  "msg/DispatchRequest.msg"
 )
 
+set(srv_files
+  "srv/SubmitTask.srv"
+  "srv/CancelTask.srv"
+  "srv/GetTask.srv"
+)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
+  ${srv_files}
   ${msg_files}
   DEPENDENCIES
     builtin_interfaces

rmf_task_msgs/msg/BidNotice.msg

@@ -0,0 +1,7 @@
+# This msg is will be received by Fleet Adapter
+
+# task to bid
+TaskProfile task_profile
+
+# Duration which bidding is open
+builtin_interfaces/Duration time_window

rmf_task_msgs/msg/BidProposal.msg

@@ -0,0 +1,16 @@
+# This msg is generated by Fleet Adpater
+
+string fleet_name
+
+# task to bid, same as the one from BidNotice
+TaskProfile task_profile
+
+# Cost of the fleet before and after adding the new task
+float64 prev_cost
+float64 new_cost
+
+# estimated finish time of the given task
+builtin_interfaces/Time finish_time
+
+# Selected robot (optional)
+string robot_name

rmf_task_msgs/msg/DispatchRequest.msg

@@ -0,0 +1,13 @@
+# Publish by Task Dispatcher Node
+# This msg is will be received by a Fleet Adapter to initiate/cancel a task
+
+# Selected Fleet Adapter to execute/cancel the task
+string fleet_name
+
+# Task to dispatch (should be the same as in BidNotice)
+TaskProfile task_profile
+
+# add or cancel a task
+uint8 method
+uint8 ADD=1     # to add a task
+uint8 CANCEL=2  # to cancel and remove a task

rmf_task_msgs/msg/TaskProfile.msg

@@ -0,0 +1,14 @@
+# Unique ID to differentiate the task
+string task_id
+
+# Task submission time
+builtin_interfaces/Time submission_time
+
+# Desired start time of a task
+builtin_interfaces/Time start_time
+
+# e.g. Delivery, Station.....
+TaskType type
+
+# Params
+BehaviorParameter[] params

rmf_task_msgs/msg/TaskSummary.msg

@@ -1,16 +1,28 @@
-string task_id
+# Publish by Fleet Adapter (aka DispatchStatus)
+
+# Fleet Adapter name
+string fleet_name
+
+# *optional and duplicated in TaskProfile
+string task_id 
+
+TaskProfile task_profile
 
 uint32 state
 uint32 STATE_QUEUED=0
 uint32 STATE_ACTIVE=1
 uint32 STATE_COMPLETED=2  # hooray
 uint32 STATE_FAILED=3     # oh no
+uint32 STATE_CANCELED=4
+uint32 STATE_PENDING=5
 
 # a brief summary of the current status of the task, for UI's
+# *optional
 string status
 
 # submission_time is when the task was submitted to rmf_core
-builtin_interfaces/Time submission_time
+# *optional and duplicated in TaskProfile
+builtin_interfaces/Time submission_time   
 
 # when rmf_core actually began processing the task
 builtin_interfaces/Time start_time
@@ -19,3 +31,7 @@ builtin_interfaces/Time start_time
 # an estimate. When this message is a summary of a completed or failed task,
 # end_time is the actual time.
 builtin_interfaces/Time end_time
+
+# Allocated robot name
+# *optional
+string robot_name

rmf_task_msgs/msg/TaskType.msg

@@ -0,0 +1,9 @@
+# type of task
+uint8 value
+
+uint8 STATION_TASK=0
+uint8 LOOP_TASK=1
+uint8 DELIVERY_TASK=2
+uint8 CHARGING_TASK=3
+uint8 CLEANING_TASK=4
+uint8 PATROL_TASK=5

rmf_task_msgs/srv/CancelTask.srv

@@ -0,0 +1,12 @@
+# Submit Task | "POST" service call
+
+# Whom that call this srv 
+string requester
+
+# generated task ID by dispatcher node
+string task_id
+
+---
+
+# Confirmation that this service call is processed
+bool success

rmf_task_msgs/srv/GetTask.srv

@@ -0,0 +1,15 @@
+# Query list of submitted tasks | Get service call
+
+# Whom that call this srv
+string requester
+
+# Input the generated task ID during submission
+# if empty, provide all Submitted Tasks
+string[] task_id
+
+---
+
+bool success
+
+TaskSummary[] active_tasks
+TaskSummary[] terminated_tasks

rmf_task_msgs/srv/SubmitTask.srv

@@ -0,0 +1,21 @@
+# Submit Task | POST service call
+
+# Whom that call this srv
+string requester
+
+# Desired start time of a task
+builtin_interfaces/Time start_time
+
+# e.g. Delivery, Station.....
+TaskType type
+
+# Params
+BehaviorParameter[] params
+
+---
+
+# Confirmation that this service call is processed
+bool success
+
+# generated task ID by dispatcher node
+string task_id