Feature/dispatcher refactor

rmf_fleet_adapter/CMakeLists.txt

@@ -39,6 +39,7 @@ set(dep_pkgs
   rmf_traffic_ros2
   rmf_battery
   rmf_task
+  rmf_task_ros2
   std_msgs
 )
 foreach(pkg ${dep_pkgs})
@@ -62,6 +63,7 @@ target_link_libraries(rmf_fleet_adapter
     rmf_traffic_ros2::rmf_traffic_ros2
     rmf_battery::rmf_battery
     rmf_task::rmf_task
+    rmf_task_ros2::rmf_task_ros2
     yaml-cpp
     ${rmf_fleet_msgs_LIBRARIES}
     ${rclcpp_LIBRARIES}
@@ -322,6 +324,7 @@ target_include_directories(task_aggregator
 ament_export_targets(rmf_fleet_adapter HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   rmf_task
+  rmf_task_ros2
   rmf_traffic_ros2
   rmf_fleet_msgs
   rmf_door_msgs

rmf_fleet_adapter/include/rmf_fleet_adapter/StandardNames.hpp

@@ -49,12 +49,6 @@ const std::string IngestorStateTopicName = "ingestor_states";
 const std::string DeliveryTopicName = "delivery_requests";
 const std::string LoopRequestTopicName = "loop_requests";
 const std::string TaskSummaryTopicName = "task_summaries";
-
-const std::string BidNoticeTopicName = "rmf_task/bid_notice";
-const std::string BidProposalTopicName = "rmf_task/bid_proposal";
-const std::string DispatchRequestTopicName = "rmf_task/dispatch_request";
-const std::string DispatchAckTopicName = "rmf_task/dispatch_ack";
-
 const std::string DockSummaryTopicName = "dock_summary";
 
 } // namespace rmf_fleet_adapter

rmf_fleet_adapter/package.xml

@@ -23,6 +23,7 @@
   <depend>rmf_traffic_msgs</depend>
   <depend>rmf_battery</depend>
   <depend>rmf_task</depend>
+  <depend>rmf_task_ros2</depend>
 
   <build_depend>eigen</build_depend>
   <build_depend>yaml-cpp</build_depend>
@@ -34,4 +35,3 @@
     <build_type>ament_cmake</build_type>
   </export>
 </package>
-

rmf_fleet_adapter/src/full_control/main.cpp

@@ -670,8 +670,6 @@ std::shared_ptr<Connections> make_fleet(
   if (node->declare_parameter<bool>("perform_deliveries", false))
   {
     task_types.insert(rmf_task_msgs::msg::TaskType::TYPE_DELIVERY);
-    connections->fleet->accept_delivery_requests(
-          [](const rmf_task_msgs::msg::Delivery&){ return true; });
   }
 
   if (node->declare_parameter<bool>("perform_cleaning", false))

rmf_fleet_adapter/src/rmf_fleet_adapter/Task.cpp

@@ -88,6 +88,18 @@ const std::string& Task::id() const
   return _id;
 }
 
+//==============================================================================
+const rmf_task_msgs::msg::TaskProfile Task::profile_msg() const
+{
+  return _profile_msg;
+}
+
+//==============================================================================
+void Task::profile_msg(const rmf_task_msgs::msg::TaskProfile& profile)
+{
+  _profile_msg = profile;
+}
+
 //==============================================================================
 const rmf_task::ConstRequestPtr Task::request() const
 {

rmf_fleet_adapter/src/rmf_fleet_adapter/Task.hpp

@@ -40,6 +40,7 @@ class Task : public std::enable_shared_from_this<Task>
 public:
 
   using StatusMsg = rmf_task_msgs::msg::TaskSummary;
+  using TaskProfile = rmf_task_msgs::msg::TaskProfile;
 
   /// This class represents the active phase of a Task. It provides an
   /// observable that the Task can track to stay up-to-date on the status and to
@@ -123,6 +124,12 @@ class Task : public std::enable_shared_from_this<Task>
   void cancel();
 
   const std::string& id() const;
+
+  /// Get the profile msg, for publish status msg
+  const TaskProfile profile_msg() const;
+
+  /// Set the profile msg, for publish status msg
+  void profile_msg(const TaskProfile& profile);
 
   /// Get the request used to generate this task
   const rmf_task::ConstRequestPtr request() const;
@@ -162,6 +169,7 @@ class Task : public std::enable_shared_from_this<Task>
   rmf_traffic::Time _deployment_time;
   rmf_task::agv::State _finish_state;
   rmf_task::ConstRequestPtr _request;
+  TaskProfile _profile_msg;
 
   void _start_next_phase();