Merge branch 'main' into link_threads

open-rmf · May 4, 2022 · 517e27b · 517e27b
2 parents 74b5a66 + 50f3211
commit 517e27b
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Showing 5 changed files with 34 additions and 29 deletions.
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -9,19 +9,33 @@ jobs:
   build_and_test:
     name: Build and test
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution:
+          - galactic
+          - rolling
+        include:
+          # Galactic Geochelone (May 2021 - November 2022)
+          - docker_image: ubuntu:focal
+            ros_distribution: galactic
+            ros_version: 2
+          # Rolling Ridley (No End-Of-Life)
+          - docker_image: ubuntu:jammy
+            ros_distribution: rolling
+            ros_version: 2
     container:
-      image: ubuntu:latest
+      image: ${{ matrix.docker_image }}
     steps:
       - name: pwd
         run: pwd
-      - name: deps
-        uses: ros-tooling/setup-ros@v0.2
+      - name: setup ROS environment
+        uses: ros-tooling/setup-ros@v0.3
         with:
-          required-ros-distributions: rolling
+          required-ros-distributions: ${{ matrix.ros_distribution }}
       - name: build
         uses: ros-tooling/action-ros-ci@v0.2
         with:
-          target-ros2-distro: rolling
+          target-ros2-distro: ${{ matrix.ros_distribution }}
           # build all packages listed in the meta package
           package-name: |
             rmf_traffic

diff --git a/rmf_traffic/include/rmf_traffic/schedule/Participant.hpp b/rmf_traffic/include/rmf_traffic/schedule/Participant.hpp
@@ -45,7 +45,7 @@ class Participant
   ///
   /// \param[in] itinerary
   ///   The new itinerary that the participant should reflect in the schedule.
-  void set(PlanId plan, std::vector<Route> itinerary);
+  bool set(PlanId plan, std::vector<Route> itinerary);
 
   /// Add more routes for the participant. All of the routes currently in the
   /// itinerary will still be in it.

diff --git a/rmf_traffic/src/rmf_traffic/schedule/Participant.cpp b/rmf_traffic/src/rmf_traffic/schedule/Participant.cpp
@@ -51,38 +51,24 @@ Participant::Implementation::Shared::Shared(
 }
 
 //==============================================================================
-void Participant::Implementation::Shared::set(
+bool Participant::Implementation::Shared::set(
   PlanId plan, std::vector<Route> itinerary)
 {
   if (rmf_utils::modular(plan).less_than_or_equal(_current_plan_id))
-  {
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      "[Participant::set] The given plan ID [" + std::to_string(plan)
-      + "] needs to be greater than the current ["
-      + std::to_string(_current_plan_id) + "]");
-    // *INDENT-ON*
-  }
+    return false;
 
   for (std::size_t i = 0; i < itinerary.size(); ++i)
   {
     const auto& r = itinerary[i];
     if (r.trajectory().size() < 2)
-    {
-      // *INDENT-OFF*
-      throw std::runtime_error(
-        "[Participant::set] Route [" + std::to_string(i) + "] has a trajectory "
-        "of size [" + std::to_string(r.trajectory().size()) + "], but the "
-        "minimum acceptable size is 2.");
-      // *INDENT-ON*
-    }
+      return false;
   }
 
   if (itinerary.empty())
   {
     // This situation is more efficient to express as a clear() command
     clear();
-    return;
+    return true;
   }
 
   _change_history.clear();
@@ -118,6 +104,8 @@ void Participant::Implementation::Shared::set(
     _writer->reached(
       _id, plan, _progress.reached_checkpoints, _progress.version);
   }
+
+  return true;
 }
 
 //==============================================================================
@@ -401,7 +389,7 @@ ItineraryVersion Participant::Implementation::Shared::get_next_version()
 }
 
 //==============================================================================
-void Participant::set(PlanId plan, std::vector<Route> itinerary)
+bool Participant::set(PlanId plan, std::vector<Route> itinerary)
 {
   return _pimpl->_shared->set(plan, std::move(itinerary));
 }

diff --git a/rmf_traffic/src/rmf_traffic/schedule/internal_Participant.hpp b/rmf_traffic/src/rmf_traffic/schedule/internal_Participant.hpp
@@ -47,7 +47,7 @@ class Participant::Implementation
       ParticipantDescription description,
       std::shared_ptr<Writer> writer);
 
-    void set(PlanId plan, std::vector<Route> itinerary);
+    bool set(PlanId plan, std::vector<Route> itinerary);
 
     void extend(std::vector<Route> additional_routes);
 

diff --git a/rmf_traffic/test/unit/agv/test_Rollout.cpp b/rmf_traffic/test/unit/agv/test_Rollout.cpp
@@ -61,9 +61,12 @@ class MockValidator : public rmf_traffic::agv::RouteValidator
           nullptr))
       {
         return Conflict{
-          _other_participant, 0, 0,
-          route.trajectory().index_after(conflict->time),
-          conflict->time
+          rmf_traffic::Dependency{
+            _other_participant, 0, 0,
+            route.trajectory().index_after(conflict->time),
+          },
+          conflict->time,
+          std::make_shared<rmf_traffic::Route>(route)
         };
       }
     }