Fix charging status #347
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Fix charging status #347
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Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
arjo129
reviewed
Apr 26, 2024
| @@ -847,7 +854,8 @@ class RobotContext | |||
| std::size_t _charging_wp; | |||
| /// When the robot reaches its _charging_wp, is there to wait for a charger | |||
| /// (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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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".