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Adds an option to generate unique hex strings for new task ids, fix time stamp logic #319

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merged 3 commits into from
Jan 22, 2024
Merged

Adds an option to generate unique hex strings for new task ids, fix time stamp logic #319

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8a0e3d5
Adds an option to generate unique hex strings for new task ids, fix t…
aaronchongth Jan 22, 2024
73da20c
Use static_cast
aaronchongth Jan 22, 2024
c11b157
Lint
aaronchongth Jan 22, 2024
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43 changes: 41 additions & 2 deletions rmf_task_ros2/src/rmf_task_ros2/Dispatcher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@
#include <rmf_api_msgs/schemas/task_state.hpp>
#include <rmf_api_msgs/schemas/error.hpp>

#include <random>
#include <unordered_set>

namespace rmf_task_ros2 {
Expand Down Expand Up @@ -90,6 +91,24 @@ nlohmann::json_schema::json_validator make_validator(nlohmann::json schema)
return nlohmann::json_schema::json_validator(
std::move(schema), schema_loader);
}

//==============================================================================
std::string generate_random_hex_string(const std::size_t length = 3)
{
std::stringstream ss;
for (std::size_t i = 0; i < length; ++i)
{
std::random_device rd;
std::mt19937 gen(rd());
std::uniform_int_distribution<> dis(0, 255);
const auto random_char = dis(gen);
std::stringstream hexstream;
hexstream << std::hex << random_char;
auto hex = hexstream.str();
ss << (hex.length() < 2 ? '0' + hex : hex);
}
return ss.str();
}
} // anonymous namespace

//==============================================================================
Expand Down Expand Up @@ -176,6 +195,7 @@ class Dispatcher::Implementation
std::size_t terminated_tasks_max_size;
int publish_active_tasks_period;
bool use_timestamp_for_task_id;
bool use_unique_hex_string_with_task_id;

std::unordered_map<std::size_t, std::string> legacy_task_type_names =
{
Expand Down Expand Up @@ -215,6 +235,12 @@ class Dispatcher::Implementation
RCLCPP_INFO(node->get_logger(),
" Use timestamp with task_id: %s",
(use_timestamp_for_task_id ? "true" : "false"));
use_unique_hex_string_with_task_id =
node->declare_parameter<bool>("use_unique_hex_string_with_task_id",
false);
RCLCPP_INFO(node->get_logger(),
" Use unique hex string with task_id: %s",
(use_unique_hex_string_with_task_id ? "true" : "false"));

std::optional<std::string> server_uri = std::nullopt;
const std::string uri =
Expand Down Expand Up @@ -483,10 +509,23 @@ class Dispatcher::Implementation
task_request_json["category"].get<std::string>()
+ ".dispatch-";

if (use_timestamp_for_task_id)
if (use_unique_hex_string_with_task_id)
{
if (use_timestamp_for_task_id)
{
RCLCPP_WARN(
node->get_logger(),
"Overwriting use_timestamp_for_task_id option with "
"use_unique_hex_string_with_task_id"
);
}
task_id += generate_random_hex_string(5);
}
else if (use_timestamp_for_task_id)
{
task_id += std::to_string(
static_cast<int>(node->get_clock()->now().nanoseconds()/1e6));
static_cast<int>(std::round(node->get_clock()->now().seconds() *
1e3)));
}
else
{
Expand Down
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