Fix charging status #347
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Fix charging status #347
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Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
arjo129
reviewed
Apr 26, 2024
| /// (true) or to actually charge (false)? | ||
| bool _waiting_for_charger; | ||
| bool _waiting_for_charger = false; | ||
| std::shared_ptr<void> _lock_charging; |
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Do you mind if I ask why we are using a std::shared_ptr<void> here? It might be worth documenting the rationale. Are we some how abusing reference counting here?
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I don't consider it an abuse, but yes, we're taking advantage of the fact that std::shared_ptr has implemented atomic reference counting, so we can use RAII to lock and release tokens that represent resources. We're using the same technique in a few other places, like traffic schedule stubbornness and holding/releasing lift requests.
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There's been a long outstanding TODO for the fleet adapter to set the published robot status to charging when a robot is charging. This PR fixes that, and also accounts for whether the robot's dedicated waypoint is a charging waypoint or actually just a waiting point.
This also adds a
parking: [ ... ]list to the charging schedule node so that certain waypoints can be tagged as parking waypoints and that will get updated correctly. Note that this means the charging schedule node will not work with any fleets that have the name"parking".