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Add api for robot charging tasks #283

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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_battery.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
{
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I don't think we necessarily need this event_description schema since we don't support any ChargeBattery events in rmf_task.
With this description, users can theoretically submit a composable task with a ChargeBattery event injected between other activities but the fleet adapter will not find the right builder from rmf_task_sequence to generate the Model and Description for this event.

Not a blocker imo but it would be good to test what happens when such a compose task is submitted to make sure any errors are gracefully handled.

"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://raw.githubusercontent.com/open-rmf/rmf_ros2/main/rmf_fleet_adapter/schemas/event_description__charge_battery.json",
"title": "Charge Battery Event",
"description": "Charge a robot's battery",
"type": "object",
"properties": {
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I think right now the battery level to which the robot charges up to is statically defined in the fleet config. In the future it would be good to specify this % in the properties here and have the TaskPlanner accept this value in the Options it receives before it plans. Not a blocker.

}
}
7 changes: 7 additions & 0 deletions rmf_fleet_adapter/schemas/task_description__charge_battery.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_battery.json",
"title": "Charge Battery Task",
"description": "Charge a robot's battery",
"$ref": "event_description__charge_battery.json"
}
14 changes: 14 additions & 0 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp
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Expand Up @@ -379,6 +379,16 @@ void FleetUpdateHandle::Implementation::bid_notice_cb(
});
}

const auto& category = request_msg["category"].get<std::string>();
if (bid_ignored_categories.find(category) != bid_ignored_categories.end())
{
RCLCPP_WARN(
node->get_logger(),
"Fleet [%s] received bid request for category [%s] that can only "
"be a direct task assignment", name.c_str(), category.c_str());
return;
}

std::vector<std::string> errors = {};
const auto new_request = convert(task_id, request_msg, errors);
if (!new_request)
Expand Down Expand Up @@ -1130,6 +1140,7 @@ void FleetUpdateHandle::Implementation::add_standard_tasks()
node->clock());

tasks::add_charge_battery(
deserialization,
*activation.task,
activation.phase,
*activation.event,
Expand All @@ -1139,6 +1150,9 @@ void FleetUpdateHandle::Implementation::add_standard_tasks()
deserialization,
activation,
node->clock());

// TODO(luca) make this configurable to system integrators
bid_ignored_categories.insert("charge_battery");
}

//==============================================================================
Expand Down
3 changes: 3 additions & 0 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/agv/internal_FleetUpdateHandle.hpp
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Expand Up @@ -253,6 +253,9 @@ class FleetUpdateHandle::Implementation

TaskActivation activation = TaskActivation();
TaskDeserialization deserialization = TaskDeserialization();
// Categories of tasks that the fleet adapter should not bid for but should
// still accept as direct tasks, such as battery charging
std::unordered_set<std::string> bid_ignored_categories = {};

// LegacyTask planner params
std::shared_ptr<rmf_task::CostCalculator> cost_calculator =
Expand Down
23 changes: 23 additions & 0 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/tasks/ChargeBattery.cpp
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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_battery.hpp>
#include <rmf_fleet_adapter/schemas/event_description__charge_battery.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 +184,25 @@ 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_battery);

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

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_battery", validate_charge_task,
deserialize_charge);

auto charge_battery_event_unfolder =
[](const ChargeBatteryEventDescription&)
{
Expand Down
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