Add request_type identifier and configurable retreat_to_charger

open-rmf / rmf_task

RMF library for managing task allocations

Apache License 2.0

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Add request_type identifier and configurable retreat_to_charger #114

Closed xiyuoh closed 3 months ago

xiyuoh commented 8 months ago

This PR

Adds retreat_to_charger to the task planner params, enabling it to be configured from the fleet config
Adds a virtual get function in RequestFactory and implement them to allow request factory identifiers to be retrievable. The identifiers we currently have are Charge and ParkRobot.

xiyuoh commented 8 months ago

@Yadunund You're right, the timer is where it happens. This PR primarily stores retreat_to_charger as a boolean in Constraints, along with the other battery-related constraints. A check is implemented in my other PR in the fleet adapter - if retreat_to_charger is disabled, then exit the timer callback. Should i be storing this param elsewhere?