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Change id field of Request to string and modify TaskPlanner to use internal ids instead #203

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Yadunund merged 3 commits into from
Nov 12, 2020
Merged

Change id field of Request to string and modify TaskPlanner to use internal ids instead #203

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d00b3f3
Change request id field from size_t to string
mrushyendra Nov 3, 2020
6206e41
Replace map with autogenerated IDs upon task insertion into Node
mrushyendra Nov 3, 2020
b69a5de
Merge branch 'feature/task_planner' into refactor_id_w_map
mrushyendra Nov 10, 2020
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2 changes: 1 addition & 1 deletion rmf_task/include/rmf_task/Request.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ class Request
using SharedPtr = std::shared_ptr<Request>;

/// Get the id of the task
virtual std::size_t id() const = 0;
virtual std::string id() const = 0;

/// Estimate the state of the robot when the task is finished along with the
/// time the robot has to wait before commencing the task
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2 changes: 1 addition & 1 deletion rmf_task/include/rmf_task/agv/TaskPlanner.hpp
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Expand Up @@ -125,7 +125,7 @@ class TaskPlanner
rmf_task::RequestPtr request,
State state,
rmf_traffic::Time deployment_time);

// Get the request of this task
rmf_task::RequestPtr request() const;

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4 changes: 3 additions & 1 deletion rmf_task/include/rmf_task/requests/ChargeBattery.hpp
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Expand Up @@ -18,6 +18,8 @@
#ifndef INCLUDE__RMF_TASK__REQUESTS__CHARGEBATTERY_HPP
#define INCLUDE__RMF_TASK__REQUESTS__CHARGEBATTERY_HPP

#include <string>

#include <rmf_traffic/Time.hpp>
#include <rmf_traffic/agv/Planner.hpp>

Expand Down Expand Up @@ -46,7 +48,7 @@ class ChargeBattery : public rmf_task::Request
rmf_traffic::Time start_time,
bool drain_battery = true);

std::size_t id() const final;
std::string id() const final;

rmf_utils::optional<rmf_task::Estimate> estimate_finish(
const agv::State& initial_state,
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5 changes: 3 additions & 2 deletions rmf_task/include/rmf_task/requests/Clean.hpp
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Expand Up @@ -19,6 +19,7 @@
#define INCLUDE__RMF_TASK__REQUESTS__CLEAN_HPP

#include <chrono>
#include <string>

#include <rmf_traffic/Time.hpp>
#include <rmf_traffic/Trajectory.hpp>
Expand All @@ -41,7 +42,7 @@ class Clean : public rmf_task::Request
public:

static rmf_task::Request::SharedPtr make(
std::size_t id,
std::string id,
std::size_t start_waypoint,
std::size_t end_waypoint,
rmf_traffic::Trajectory& cleaning_path,
Expand All @@ -52,7 +53,7 @@ class Clean : public rmf_task::Request
rmf_traffic::Time start_time,
bool drain_battery = true);

std::size_t id() const final;
std::string id() const final;

rmf_utils::optional<rmf_task::Estimate> estimate_finish(
const agv::State& initial_state,
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5 changes: 3 additions & 2 deletions rmf_task/include/rmf_task/requests/Delivery.hpp
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Expand Up @@ -19,6 +19,7 @@
#define INCLUDE__RMF_TASK__REQUESTS__DELIVERY_HPP

#include <chrono>
#include <string>

#include <rmf_traffic/Time.hpp>
#include <rmf_traffic/agv/Planner.hpp>
Expand All @@ -40,7 +41,7 @@ class Delivery : public rmf_task::Request
public:

static rmf_task::Request::SharedPtr make(
std::size_t id,
std::string id,
std::size_t pickup_waypoint,
std::size_t dropoff_waypoint,
std::shared_ptr<rmf_battery::MotionPowerSink> motion_sink,
Expand All @@ -49,7 +50,7 @@ class Delivery : public rmf_task::Request
rmf_traffic::Time start_time,
bool drain_battery = true);

std::size_t id() const final;
std::string id() const final;

rmf_utils::optional<rmf_task::Estimate> estimate_finish(
const agv::State& initial_state,
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