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refactor task components in fleet adapter #24

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youliangtan wants to merge 8 commits into from
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refactor task components in fleet adapter #24

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724dbd7
refactor task components on fleet adapter
youliangtan Apr 7, 2021
26358c7
Merge branch 'main' into enhance/refactor-task-manager
youliangtan Apr 13, 2021
edab260
support for future task revival, fix task test
youliangtan Apr 14, 2021
9a74229
Merge branch 'main' into enhance/refactor-task-manager
youliangtan Apr 16, 2021
5075f0f
fix from feedbacks
youliangtan May 5, 2021
0bdba9e
Merge branch 'main' into enhance/refactor-task-manager
youliangtan May 5, 2021
cd1b73f
move some fns to private, cleanups
youliangtan May 5, 2021
b811b73
solve merge conflicts
youliangtan May 17, 2021
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12 changes: 12 additions & 0 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/Task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,18 @@ const std::string& Task::id() const
return _id;
}

//==============================================================================
const rmf_task_msgs::msg::TaskProfile Task::task_profile_msg() const
{
return _task_profile_msg;
}

//==============================================================================
void Task::task_profile_msg(const rmf_task_msgs::msg::TaskProfile& profile)
{
_task_profile_msg = profile;
}

//==============================================================================
const rmf_task::ConstRequestPtr Task::request() const
{
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8 changes: 8 additions & 0 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/Task.hpp
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Expand Up @@ -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
Expand Down Expand Up @@ -124,6 +125,12 @@ class Task : public std::enable_shared_from_this<Task>

const std::string& id() const;

/// Get the profile msg, for publish status msg
const TaskProfile task_profile_msg() const;

/// Set the profile msg, for publish status msg
void task_profile_msg(const TaskProfile& profile);
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@Yadunund Yadunund Jun 17, 2021

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We can have this function return Task& instead of void


/// Get the request used to generate this task
const rmf_task::ConstRequestPtr request() const;

Expand Down Expand Up @@ -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 _task_profile_msg;

void _start_next_phase();

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