-
Notifications
You must be signed in to change notification settings - Fork 8
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Change RMF transporter to be a workcell instead
Signed-off-by: Luca Della Vedova <[email protected]>
- Loading branch information
1 parent
c79195e
commit fb67a79
Showing
15 changed files
with
319 additions
and
499 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,173 @@ | ||
| /* | ||
| * Copyright (C) 2022 Johnson & Johnson | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| #include <yaml-cpp/yaml.h> | ||
|
|
||
| #include "dispatch_transporter.hpp" | ||
|
|
||
| namespace nexus::system_orchestrator { | ||
|
|
||
| BT::PortsList DispatchTransporter::providedPorts() | ||
| { | ||
| return {BT::OutputPort<std::string>("result"), BT::OutputPort<WorkcellTask>("transport_task") }; | ||
| } | ||
|
|
||
| BT::NodeStatus DispatchTransporter::onStart() | ||
| { | ||
| auto node = this->_w_node.lock(); | ||
| if (!node) | ||
| { | ||
| std::cerr << | ||
| "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES" << | ||
| std::endl; | ||
| std::terminate(); | ||
| } | ||
|
|
||
| // Create a list of destination from the current context tasks | ||
| const auto& task_assignments = this->_ctx->workcell_task_assignments; | ||
| YAML::Node orders; | ||
| std::vector<std::string> locations; | ||
|
|
||
| for (const auto& task : this->_ctx->tasks) | ||
| { | ||
| auto assignment_it = task_assignments.find(task.id); | ||
| if (assignment_it == task_assignments.end()) | ||
| { | ||
| RCLCPP_ERROR( | ||
| node->get_logger(), "%s: Unable to transport, task [%s] was not assigned to a workcell", | ||
| this->name().c_str(), task.id.c_str()); | ||
| return BT::NodeStatus::FAILURE; | ||
| } | ||
| // Multipickup task | ||
| // TODO(luca) Consider encoding where is a pickup and where a dropoff | ||
| YAML::Node order; | ||
| order["type"] = "pickup"; | ||
| order["destination"] = assignment_it->second; | ||
| orders.push_back(order); | ||
| } | ||
| this->_transport_task.id = this->_ctx->job_id; | ||
| this->_transport_task.type = "transportation"; | ||
| YAML::Emitter out; | ||
| out << orders; | ||
| this->_transport_task.payload = out.c_str(); | ||
|
|
||
| // Probe workcells for transportation capability to this set of destinations | ||
| auto req = | ||
| std::make_shared<endpoints::IsTaskDoableService::ServiceType::Request>(); | ||
| req->task = this->_transport_task; | ||
| // send request to all transporters in parallel | ||
| for (auto& [workcell_id, session] : this->_ctx->workcell_sessions) | ||
| { | ||
| auto fut = session->task_doable_client->async_send_request(req); | ||
| this->_ongoing_requests.emplace(workcell_id, | ||
| OngoingRequest{session->task_doable_client, std::move(fut)}); | ||
| } | ||
| this->_time_limit = std::chrono::steady_clock::now() + | ||
| std::chrono::seconds{5}; | ||
|
|
||
| return BT::NodeStatus::RUNNING; | ||
| } | ||
|
|
||
| BT::NodeStatus DispatchTransporter::onRunning() | ||
| { | ||
| auto result = this->_update_ongoing_requests(); | ||
| if (result != BT::NodeStatus::RUNNING) | ||
| { | ||
| // action is done, drop requests that have not received response to avoid callback leak. | ||
| this->_cleanup_pending_requests(); | ||
| } | ||
| return result; | ||
| } | ||
|
|
||
| void DispatchTransporter::onHalted() | ||
| { | ||
| // can't cancel a service call, so we just drop the requests. | ||
| this->_cleanup_pending_requests(); | ||
| } | ||
|
|
||
| void DispatchTransporter::_cleanup_pending_requests() | ||
| { | ||
| for (auto& [_, ongoing_req] : this->_ongoing_requests) | ||
| { | ||
| ongoing_req.client->remove_pending_request(ongoing_req.fut); | ||
| } | ||
| } | ||
|
|
||
| BT::NodeStatus DispatchTransporter::_update_ongoing_requests() | ||
| { | ||
| auto node = this->_w_node.lock(); | ||
| if (!node) | ||
| { | ||
| std::cerr << | ||
| "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES" << | ||
| std::endl; | ||
| std::terminate(); | ||
| } | ||
|
|
||
| if (std::chrono::steady_clock::now() > this->_time_limit) | ||
| { | ||
| for (const auto& [workcell_id, _] : this->_ongoing_requests) | ||
| { | ||
| RCLCPP_WARN( | ||
| node->get_logger(), "%s: Skipped transporter [%s] (no response)", | ||
| this->name().c_str(), | ||
| workcell_id.c_str()); | ||
| } | ||
| RCLCPP_ERROR( | ||
| node->get_logger(), "%s: No transporter is able to perform task", | ||
| this->name().c_str()); | ||
| return BT::NodeStatus::FAILURE; | ||
| } | ||
|
|
||
| std::vector<std::string> finished_requests; | ||
| for (auto& [workcell_id, ongoing_req] : this->_ongoing_requests) | ||
| { | ||
| if (ongoing_req.fut.wait_for(std::chrono::seconds{0}) == | ||
| std::future_status::ready) | ||
| { | ||
| finished_requests.emplace_back(workcell_id); | ||
| auto resp = ongoing_req.fut.get(); | ||
| // TODO(luca) make this proper bidding | ||
| // use first available transporter | ||
| if (resp->success) | ||
| { | ||
| RCLCPP_INFO( | ||
| node->get_logger(), "[%s]: Bid awarded to [%s]", | ||
| this->name().c_str(), | ||
| workcell_id.c_str()); | ||
| this->setOutput("result", workcell_id); | ||
| this->setOutput("transport_task", this->_transport_task); | ||
| return BT::NodeStatus::SUCCESS; | ||
| } | ||
| else | ||
| { | ||
| RCLCPP_DEBUG( | ||
| node->get_logger(), "%s: Transporter [%s] cannot perform task", | ||
| this->name().c_str(), workcell_id.c_str()); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| for (const auto& workcell_id : finished_requests) | ||
| { | ||
| this->_ongoing_requests.erase(workcell_id); | ||
| } | ||
|
|
||
| return BT::NodeStatus::RUNNING; | ||
| } | ||
|
|
||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| /* | ||
| * Copyright (C) 2022 Johnson & Johnson | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| #ifndef NEXUS_SYSTEM_ORCHESTRATOR__DISPATCH_TRANSPORTER_HPP | ||
| #define NEXUS_SYSTEM_ORCHESTRATOR__DISPATCH_TRANSPORTER_HPP | ||
|
|
||
| #include "context.hpp" | ||
| #include "session.hpp" | ||
|
|
||
| #include <nexus_common/models/work_order.hpp> | ||
| #include <nexus_orchestrator_msgs/msg/workcell_task.hpp> | ||
|
|
||
| #include <behaviortree_cpp_v3/action_node.h> | ||
|
|
||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <rclcpp_action/rclcpp_action.hpp> | ||
| #include <rclcpp_lifecycle/lifecycle_node.hpp> | ||
|
|
||
| #include <nexus_endpoints.hpp> | ||
|
|
||
| #include <string> | ||
| #include <unordered_map> | ||
| #include <vector> | ||
|
|
||
| namespace nexus::system_orchestrator { | ||
|
|
||
| /** | ||
| * Iterates over all the tasks and sends a request to the transporter to move | ||
| * the item inbetween workcells. | ||
| * | ||
| * Input Ports: | ||
| * destination |std::string| Destination to transport to. | ||
| * Output Ports: | ||
| * result |std::string| Id of the transporter assigned. | ||
| */ | ||
| class DispatchTransporter : public BT::StatefulActionNode | ||
| { | ||
| public: using IsTaskDoableService = | ||
| endpoints::IsTaskDoableService; | ||
|
|
||
| public: using WorkcellTask = | ||
| nexus_orchestrator_msgs::msg::WorkcellTask; | ||
|
|
||
| public: static BT::PortsList providedPorts(); | ||
|
|
||
| public: DispatchTransporter(const std::string& name, | ||
| const BT::NodeConfiguration& config, | ||
| rclcpp_lifecycle::LifecycleNode::WeakPtr w_node, | ||
| std::shared_ptr<Context> ctx) | ||
| : BT::StatefulActionNode{name, config}, _w_node{w_node}, _ctx{std::move(ctx)} | ||
| { | ||
| } | ||
|
|
||
| public: BT::NodeStatus onStart() override; | ||
| public: BT::NodeStatus onRunning() override; | ||
| public: void onHalted() override; | ||
|
|
||
| private: struct OngoingRequest | ||
| { | ||
| rclcpp::Client<IsTaskDoableService::ServiceType>::SharedPtr client; | ||
| rclcpp::Client<IsTaskDoableService::ServiceType>:: | ||
| FutureAndRequestId fut; | ||
| }; | ||
|
|
||
| private: rclcpp_lifecycle::LifecycleNode::WeakPtr _w_node; | ||
| private: std::shared_ptr<Context> _ctx; | ||
| private: std::unordered_map<std::string, OngoingRequest> _ongoing_requests; | ||
| private: std::chrono::steady_clock::time_point _time_limit; | ||
| private: WorkcellTask _transport_task; | ||
|
|
||
| private: void _cleanup_pending_requests(); | ||
| private: BT::NodeStatus _update_ongoing_requests(); | ||
| }; | ||
|
|
||
| } | ||
|
|
||
| #endif |
Oops, something went wrong.