Merge branch 'main' into safer_phase_switch

open-rmf · Mar 1, 2024 · 9693cf0 · 9693cf0
2 parents b828890 + cf29dbd
commit 9693cf0
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Showing 2 changed files with 26 additions and 4 deletions.
diff --git a/rmf_task/include/rmf_task/Task.hpp b/rmf_task/include/rmf_task/Task.hpp
@@ -79,11 +79,15 @@ class Task::Booking
   ///
   /// \param[in] automatic
   ///   Whether this booking was automatically generated
+  ///
+  /// \param[in] labels
+  ///   Labels to describe the purpose of the task dispatch request.
   Booking(
     std::string id,
     rmf_traffic::Time earliest_start_time,
     ConstPriorityPtr priority,
-    bool automatic = false);
+    bool automatic = false,
+    const std::vector<std::string>& labels = {});
 
   /// Constructor
   ///
@@ -105,13 +109,17 @@ class Task::Booking
   /// \param[in] automatic
   ///   Whether this booking was automatically generated, default value as
   ///   false.
+  ///
+  /// \param[in] labels
+  ///   Labels to describe the purpose of the task dispatch request.
   Booking(
     std::string id,
     rmf_traffic::Time earliest_start_time,
     ConstPriorityPtr priority,
     const std::string& requester,
     rmf_traffic::Time request_time,
-    bool automatic = false);
+    bool automatic = false,
+    const std::vector<std::string>& labels = {});
 
   /// The unique id for this booking.
   const std::string& id() const;
@@ -133,6 +141,9 @@ class Task::Booking
   // Returns true if this booking was automatically generated.
   bool automatic() const;
 
+  /// Get the labels that describe the purpose of the task dispatch request.
+  std::vector<std::string> labels() const;
+
   class Implementation;
 private:
   rmf_utils::impl_ptr<Implementation> _pimpl;

diff --git a/rmf_task/src/rmf_task/Task.cpp b/rmf_task/src/rmf_task/Task.cpp
@@ -31,14 +31,16 @@ class Task::Booking::Implementation
   std::optional<std::string> requester;
   std::optional<rmf_traffic::Time> request_time;
   bool automatic;
+  std::vector<std::string> labels;
 };
 
 //==============================================================================
 Task::Booking::Booking(
   std::string id,
   rmf_traffic::Time earliest_start_time,
   ConstPriorityPtr priority,
-  bool automatic)
+  bool automatic,
+  const std::vector<std::string>& labels)
 : _pimpl(rmf_utils::make_impl<Implementation>(
       Implementation{
         std::move(id),
@@ -47,6 +49,7 @@ Task::Booking::Booking(
         std::nullopt,
         std::nullopt,
         automatic,
+        labels,
       }))
 {
   // Do nothing
@@ -59,7 +62,8 @@ Task::Booking::Booking(
   ConstPriorityPtr priority,
   const std::string& requester,
   rmf_traffic::Time request_time,
-  bool automatic)
+  bool automatic,
+  const std::vector<std::string>& labels)
 : _pimpl(rmf_utils::make_impl<Implementation>(
       Implementation{
         std::move(id),
@@ -68,6 +72,7 @@ Task::Booking::Booking(
         requester,
         std::move(request_time),
         automatic,
+        labels,
       }))
 {
   // Do nothing
@@ -109,6 +114,12 @@ bool Task::Booking::automatic() const
   return _pimpl->automatic;
 }
 
+//==============================================================================
+std::vector<std::string> Task::Booking::labels() const
+{
+  return _pimpl->labels;
+}
+
 //==============================================================================
 class Task::Tag::Implementation
 {