From 5cf60be61512888182098dd49d8b115aec9d57f6 Mon Sep 17 00:00:00 2001
From: Grey <grey@openrobotics.org>
Date: Tue, 12 Dec 2023 21:42:15 +0800
Subject: [PATCH]   Mutex groups, dynamic charging, delivery alerts, and
 beacons (#60)

Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Xiyu Oh <xiyu@openrobotics.org>
Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai>
Co-authored-by: Xiyu Oh <xiyu@openrobotics.org>
---
 rmf_fleet_msgs/CMakeLists.txt                | 5 +++++
 rmf_fleet_msgs/msg/BeaconState.msg           | 7 +++++++
 rmf_fleet_msgs/msg/DeliveryAlert.msg         | 6 ++++++
 rmf_fleet_msgs/msg/DeliveryAlertAction.msg   | 5 +++++
 rmf_fleet_msgs/msg/DeliveryAlertCategory.msg | 5 +++++
 rmf_fleet_msgs/msg/DeliveryAlertTier.msg     | 3 +++
 6 files changed, 31 insertions(+)
 create mode 100644 rmf_fleet_msgs/msg/BeaconState.msg
 create mode 100644 rmf_fleet_msgs/msg/DeliveryAlert.msg
 create mode 100644 rmf_fleet_msgs/msg/DeliveryAlertAction.msg
 create mode 100644 rmf_fleet_msgs/msg/DeliveryAlertCategory.msg
 create mode 100644 rmf_fleet_msgs/msg/DeliveryAlertTier.msg

diff --git a/rmf_fleet_msgs/CMakeLists.txt b/rmf_fleet_msgs/CMakeLists.txt
index 15be7d7..14d7884 100644
--- a/rmf_fleet_msgs/CMakeLists.txt
+++ b/rmf_fleet_msgs/CMakeLists.txt
@@ -40,6 +40,11 @@ set(msg_files
   "msg/MutexGroupAssignment.msg"
   "msg/MutexGroupRequest.msg"
   "msg/MutexGroupStates.msg"
+  "msg/BeaconState.msg"
+  "msg/DeliveryAlert.msg"
+  "msg/DeliveryAlertAction.msg"
+  "msg/DeliveryAlertCategory.msg"
+  "msg/DeliveryAlertTier.msg"
 )
 
 set(srv_files
diff --git a/rmf_fleet_msgs/msg/BeaconState.msg b/rmf_fleet_msgs/msg/BeaconState.msg
new file mode 100644
index 0000000..843e172
--- /dev/null
+++ b/rmf_fleet_msgs/msg/BeaconState.msg
@@ -0,0 +1,7 @@
+# This message defines data from a robot beacon
+
+string id 
+bool online
+string category
+bool activated
+string level
diff --git a/rmf_fleet_msgs/msg/DeliveryAlert.msg b/rmf_fleet_msgs/msg/DeliveryAlert.msg
new file mode 100644
index 0000000..b10af3f
--- /dev/null
+++ b/rmf_fleet_msgs/msg/DeliveryAlert.msg
@@ -0,0 +1,6 @@
+string id
+DeliveryAlertCategory category
+DeliveryAlertTier tier
+string task_id
+DeliveryAlertAction action
+string message
diff --git a/rmf_fleet_msgs/msg/DeliveryAlertAction.msg b/rmf_fleet_msgs/msg/DeliveryAlertAction.msg
new file mode 100644
index 0000000..50500f8
--- /dev/null
+++ b/rmf_fleet_msgs/msg/DeliveryAlertAction.msg
@@ -0,0 +1,5 @@
+uint32 value
+uint32 WAITING=0
+uint32 CANCEL=1
+uint32 OVERRIDE=2
+uint32 RESUME=3
diff --git a/rmf_fleet_msgs/msg/DeliveryAlertCategory.msg b/rmf_fleet_msgs/msg/DeliveryAlertCategory.msg
new file mode 100644
index 0000000..205fc07
--- /dev/null
+++ b/rmf_fleet_msgs/msg/DeliveryAlertCategory.msg
@@ -0,0 +1,5 @@
+uint32 value
+uint32 MISSING=0
+uint32 WRONG=1
+uint32 OBSTRUCTED=2
+uint32 CANCELLED=3
diff --git a/rmf_fleet_msgs/msg/DeliveryAlertTier.msg b/rmf_fleet_msgs/msg/DeliveryAlertTier.msg
new file mode 100644
index 0000000..bacb6de
--- /dev/null
+++ b/rmf_fleet_msgs/msg/DeliveryAlertTier.msg
@@ -0,0 +1,3 @@
+uint32 value
+uint32 WARNING=0
+uint32 ERROR=1