Add identifier in RequestFactory

Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
open-rmf · Mar 12, 2024 · 4ed0837 · 4ed0837
1 parent a63096d
commit 4ed0837
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Showing 5 changed files with 25 additions and 2 deletions.
diff --git a/rmf_task/include/rmf_task/RequestFactory.hpp b/rmf_task/include/rmf_task/RequestFactory.hpp
@@ -36,6 +36,9 @@ class RequestFactory
   ///   request.
   virtual ConstRequestPtr make_request(const State& state) const = 0;
 
+  /// Returns an identifier representing the request type.
+  virtual const std::string& request_type() const = 0;
+
   virtual ~RequestFactory() = default;
 };
 

diff --git a/rmf_task/include/rmf_task/requests/ChargeBatteryFactory.hpp b/rmf_task/include/rmf_task/requests/ChargeBatteryFactory.hpp
@@ -69,6 +69,9 @@ class ChargeBatteryFactory : public RequestFactory
   /// Documentation inherited
   ConstRequestPtr make_request(const State& state) const final;
 
+  /// Documentation inherited
+  const std::string& request_type() const final;
+
   class Implementation;
 
 private:

diff --git a/rmf_task/include/rmf_task/requests/ParkRobotFactory.hpp b/rmf_task/include/rmf_task/requests/ParkRobotFactory.hpp
@@ -72,6 +72,9 @@ class ParkRobotFactory : public RequestFactory
   /// Documentation inherited
   ConstRequestPtr make_request(const State& state) const final;
 
+  /// Documentation inherited
+  const std::string& request_type() const final;
+
   class Implementation;
 
 private:

diff --git a/rmf_task/src/rmf_task/requests/ChargeBatteryFactory.cpp b/rmf_task/src/rmf_task/requests/ChargeBatteryFactory.cpp
@@ -50,6 +50,7 @@ class ChargeBatteryFactory::Implementation
   std::optional<std::string> requester;
   std::function<rmf_traffic::Time()> time_now_cb;
   bool indefinite = false;
+  std::string request_type = "Charge";
 };
 
 //==============================================================================
@@ -85,7 +86,7 @@ bool ChargeBatteryFactory::indefinite() const
 //==============================================================================
 ConstRequestPtr ChargeBatteryFactory::make_request(const State& state) const
 {
-  const std::string id = "Charge" + generate_uuid();
+  const std::string id = _pimpl->request_type + generate_uuid();
   Task::ConstBookingPtr booking;
   if (_pimpl->requester.has_value() && _pimpl->time_now_cb)
   {
@@ -114,5 +115,11 @@ ConstRequestPtr ChargeBatteryFactory::make_request(const State& state) const
   return std::make_shared<Request>(std::move(booking), std::move(description));
 }
 
+//==============================================================================
+const std::string& ChargeBatteryFactory::request_type() const
+{
+  return _pimpl->request_type;
+}
+
 } // namespace requests
 } // namespace rmf_task
diff --git a/rmf_task/src/rmf_task/requests/ParkRobotFactory.cpp b/rmf_task/src/rmf_task/requests/ParkRobotFactory.cpp
@@ -51,6 +51,7 @@ class ParkRobotFactory::Implementation
   std::optional<std::string> requester;
   std::function<rmf_traffic::Time()> time_now_cb;
   std::optional<std::size_t> parking_waypoint;
+  const std::string request_type = "ParkRobot";
 };
 
 //==============================================================================
@@ -76,7 +77,7 @@ ParkRobotFactory::ParkRobotFactory(
 //==============================================================================
 ConstRequestPtr ParkRobotFactory::make_request(const State& state) const
 {
-  std::string id = "ParkRobot" + generate_uuid();
+  std::string id = _pimpl->request_type + generate_uuid();
   const auto start_waypoint = state.waypoint().value();
   const auto finish_waypoint = _pimpl->parking_waypoint.has_value() ?
     _pimpl->parking_waypoint.value() :
@@ -105,5 +106,11 @@ ConstRequestPtr ParkRobotFactory::make_request(const State& state) const
     true);
 }
 
+//==============================================================================
+const std::string& ParkRobotFactory::request_type() const
+{
+  return _pimpl->request_type;
+}
+
 } // namespace requests
 } // namespace rmf_task