Mega Re-name

As per a discussion with @mxgrey we are avoiding the use of the word
"chope".

Signed-off-by: Arjo Chakravarty <[email protected]>

rmf_fleet_adapter/package.xml

@@ -21,7 +21,7 @@
   <depend>rmf_api_msgs</depend>
   <depend>rmf_battery</depend>
   <depend>rmf_building_map_msgs</depend>
-  <depend>rmf_chope_msgs</depend>
+  <depend>rmf_reservation_msgs</depend>
   <depend>rmf_dispenser_msgs</depend>
   <depend>rmf_door_msgs</depend>
   <depend>rmf_fleet_msgs</depend>

rmf_fleet_adapter/src/rmf_fleet_adapter/agv/Node.hpp

@@ -33,12 +33,12 @@
 #include <rmf_lift_msgs/msg/lift_request.hpp>
 #include <rmf_lift_msgs/msg/lift_state.hpp>
 #include <rmf_task_msgs/msg/task_summary.hpp>
-#include <rmf_chope_msgs/msg/flexible_time_request.hpp>
-#include <rmf_chope_msgs/msg/claim_request.hpp>
-#include <rmf_chope_msgs/msg/ticket.hpp>
-#include <rmf_chope_msgs/msg/reservation_allocation.hpp>
-#include <rmf_chope_msgs/msg/release_request.hpp>
-#include <rmf_chope_msgs/msg/free_parking_spots.hpp>
+#include <rmf_reservation_msgs/msg/flexible_time_request.hpp>
+#include <rmf_reservation_msgs/msg/claim_request.hpp>
+#include <rmf_reservation_msgs/msg/ticket.hpp>
+#include <rmf_reservation_msgs/msg/reservation_allocation.hpp>
+#include <rmf_reservation_msgs/msg/release_request.hpp>
+#include <rmf_reservation_msgs/msg/free_parking_spots.hpp>
 
 #include <std_msgs/msg/bool.hpp>
 
@@ -143,30 +143,30 @@ class Node : public rmf_rxcpp::Transport
   using MutexGroupStatesObs = rxcpp::observable<MutexGroupStates::SharedPtr>;
   const MutexGroupStatesObs& mutex_group_states() const;
 
-  using ReservationRequest = rmf_chope_msgs::msg::FlexibleTimeRequest;
+  using ReservationRequest = rmf_reservation_msgs::msg::FlexibleTimeRequest;
   using ReservationRequestPub =
     rclcpp::Publisher<ReservationRequest>::SharedPtr;
   const ReservationRequestPub& location_requester() const;
 
-  using ReservationTicket = rmf_chope_msgs::msg::Ticket;
+  using ReservationTicket = rmf_reservation_msgs::msg::Ticket;
   using ReservationTicketObs = rxcpp::observable<ReservationTicket::SharedPtr>;
   const ReservationTicketObs& location_ticket_obs() const;
 
-  using ReservationClaim = rmf_chope_msgs::msg::ClaimRequest;
+  using ReservationClaim = rmf_reservation_msgs::msg::ClaimRequest;
   using ReservationClaimPub = rclcpp::Publisher<ReservationClaim>::SharedPtr;
   const ReservationClaimPub& claim_location_ticket() const;
 
-  using ReservationAllocation = rmf_chope_msgs::msg::ReservationAllocation;
+  using ReservationAllocation = rmf_reservation_msgs::msg::ReservationAllocation;
   using ReservationAllocationObs =
     rxcpp::observable<ReservationAllocation::SharedPtr>;
   const ReservationAllocationObs& allocated_claims_obs() const;
 
-  using ReservationRelease = rmf_chope_msgs::msg::ReleaseRequest;
+  using ReservationRelease = rmf_reservation_msgs::msg::ReleaseRequest;
   using ReservationReleasePub =
     rclcpp::Publisher<ReservationRelease>::SharedPtr;
   const ReservationReleasePub& release_location() const;
 
-  using ReservationFreeSpotStatus = rmf_chope_msgs::msg::FreeParkingSpots;
+  using ReservationFreeSpotStatus = rmf_reservation_msgs::msg::FreeParkingSpots;
   using ReservationFreeSpotObs =
     rxcpp::observable<ReservationFreeSpotStatus::SharedPtr>;
   const ReservationFreeSpotObs& freespots_obs() const;

rmf_fleet_adapter/src/rmf_fleet_adapter/agv/ReservationManager.hpp

@@ -19,7 +19,7 @@
 #define SRC__RMF_FLEET_ADAPTER__AGV__RESERVATION_MANAGER_HPP
 #include <deque>
 #include <optional>
-#include <rmf_chope_msgs/msg/reservation_allocation.hpp>
+#include <rmf_reservation_msgs/msg/reservation_allocation.hpp>
 
 namespace rmf_fleet_adapter {
 namespace agv {
@@ -28,12 +28,12 @@ namespace agv {
 class ReservationManager
 {
 public:
-  void add_ticket(const rmf_chope_msgs::msg::ReservationAllocation alloc)
+  void add_ticket(const rmf_reservation_msgs::msg::ReservationAllocation alloc)
   {
     allocations.push_front(alloc);
   }
 
-  std::optional<rmf_chope_msgs::msg::ReservationAllocation> release_ticket()
+  std::optional<rmf_reservation_msgs::msg::ReservationAllocation> release_ticket()
   {
     if (allocations.size() <= 1)
     {
@@ -50,7 +50,7 @@ class ReservationManager
     return allocations.size() != 0;
   }
 
-  std::deque<rmf_chope_msgs::msg::ReservationAllocation> allocations;
+  std::deque<rmf_reservation_msgs::msg::ReservationAllocation> allocations;
 };
 }
 }

rmf_fleet_adapter/src/rmf_fleet_adapter/agv/RobotContext.cpp

@@ -1732,7 +1732,7 @@ void RobotContext::_publish_mutex_group_requests()
 
 //==============================================================================
 void RobotContext::_set_allocated_destination(
-  const rmf_chope_msgs::msg::ReservationAllocation& ticket)
+  const rmf_reservation_msgs::msg::ReservationAllocation& ticket)
 {
   _reservation_mgr.add_ticket(ticket);
 }
@@ -1750,7 +1750,7 @@ bool RobotContext::_parking_spot_manager_enabled()
 }
 
 //==============================================================================
-std::optional<rmf_chope_msgs::msg::ReservationAllocation>
+std::optional<rmf_reservation_msgs::msg::ReservationAllocation>
 RobotContext::_release_resource()
 {
   return _reservation_mgr.release_ticket();

rmf_fleet_adapter/src/rmf_fleet_adapter/agv/RobotContext.hpp

@@ -757,7 +757,7 @@ class RobotContext
 
   /// Set an allocated destination.
   void _set_allocated_destination(
-    const rmf_chope_msgs::msg::ReservationAllocation&);
+    const rmf_reservation_msgs::msg::ReservationAllocation&);
 
   /// Set if the parking spot manager is used or not
   void _set_parking_spot_manager(const bool enabled);
@@ -772,7 +772,7 @@ class RobotContext
   bool _parking_spot_manager_enabled();
 
   /// Release last resource that was acquired.
-  std::optional<rmf_chope_msgs::msg::ReservationAllocation> _release_resource();
+  std::optional<rmf_reservation_msgs::msg::ReservationAllocation> _release_resource();
 
   /// Has ticket now
   bool _has_ticket() const;

rmf_fleet_adapter/src/rmf_fleet_adapter/events/EmergencyPullover.cpp

@@ -167,15 +167,15 @@ auto EmergencyPullover::Active::make(
   }
   else
   {
-    // Use chope node to retrieve the best emergency location.
+    // Use reservation node to retrieve the best emergency location.
     active->_chosen_goal = std::nullopt;
 
     const auto potential_waitpoints =
       active->_context->_find_and_sort_parking_spots(true);
 
     RCLCPP_INFO(active->_context->node()->get_logger(),
-      "Creating Chope negotiator");
-    active->_chope_client = chope::ChopeNodeNegotiator::make(
+      "Creating reservation negotiator");
+    active->_reservation_client = reservation::reservationNodeNegotiator::make(
       active->_context,
       potential_waitpoints,
       true,
@@ -265,7 +265,7 @@ void EmergencyPullover::Active::cancel()
   _state->update_log().info("Received signal to cancel");
   if (_context->_parking_spot_manager_enabled())
   {
-    _chope_client->force_release();
+    _reservation_client->force_release();
   }
   _finished();
 }
@@ -278,7 +278,7 @@ void EmergencyPullover::Active::kill()
   _state->update_log().info("Received signal to kill");
   if (_context->_parking_spot_manager_enabled())
   {
-    _chope_client->force_release();
+    _reservation_client->force_release();
   }
   _finished();
 }

rmf_fleet_adapter/src/rmf_fleet_adapter/events/EmergencyPullover.hpp

@@ -23,7 +23,7 @@
 
 #include "../services/FindEmergencyPullover.hpp"
 #include "../services/FindPath.hpp"
-#include "internal_ChopeNegotiator.hpp"
+#include "internal_ReservationNegotiator.hpp"
 
 
 #include "ExecutePlan.hpp"
@@ -129,7 +129,7 @@ class EmergencyPullover : public rmf_task_sequence::Event
     rclcpp::TimerBase::SharedPtr _find_path_timeout;
     std::optional<rmf_traffic::agv::Plan::Goal> _chosen_goal;
 
-    std::shared_ptr<chope::ChopeNodeNegotiator> _chope_client;
+    std::shared_ptr<reservation::reservationNodeNegotiator> _reservation_client;
 
     bool _is_interrupted = false;
   };

rmf_fleet_adapter/src/rmf_fleet_adapter/events/GoToPlace.cpp

@@ -17,7 +17,7 @@
 
 #include "GoToPlace.hpp"
 #include "../project_itinerary.hpp"
-#include "internal_ChopeNegotiator.hpp"
+#include "internal_ReservationNegotiator.hpp"
 #include "internal_Utilities.hpp"
 #include "PerformAction.hpp"
 
@@ -286,8 +286,8 @@ auto GoToPlace::Active::make(
     active->_chosen_goal = std::nullopt;
 
     RCLCPP_INFO(active->_context->node()->get_logger(),
-      "Creating Chope negotiator");
-    active->_chope_client = std::move(chope::ChopeNodeNegotiator::make(
+      "Creating reservation negotiator");
+    active->_reservation_client = std::move(reservation::reservationNodeNegotiator::make(
           active->_context,
           active->_description.one_of(),
           active->_description.prefer_same_map(),
@@ -296,15 +296,15 @@ auto GoToPlace::Active::make(
           {
             if (auto self = w.lock())
             {
-              self->_on_chope_node_allocate_final_destination(goal);
+              self->_on_reservation_node_allocate_final_destination(goal);
             }
           },
           [w =
           active->weak_from_this()](const rmf_traffic::agv::Plan::Goal& goal)
           {
             if (auto self = w.lock())
             {
-              self->_on_chope_node_allocate_waitpoint(goal);
+              self->_on_reservation_node_allocate_waitpoint(goal);
             }
           }
     ));
@@ -320,11 +320,11 @@ auto GoToPlace::Active::state() const -> ConstStatePtr
 }
 
 //==============================================================================
-void GoToPlace::Active::_on_chope_node_allocate_final_destination(
+void GoToPlace::Active::_on_reservation_node_allocate_final_destination(
   const rmf_traffic::agv::Plan::Goal& goal)
 {
   RCLCPP_INFO(_context->node()->get_logger(),
-    "%s Received final destination %s from chope node",
+    "%s Received final destination %s from reservation node",
     _context->requester_id().c_str(),
     wp_name(*_context, goal).c_str());
   _is_final_destination = true;
@@ -334,11 +334,11 @@ void GoToPlace::Active::_on_chope_node_allocate_final_destination(
 }
 
 //==============================================================================
-void GoToPlace::Active::_on_chope_node_allocate_waitpoint(
+void GoToPlace::Active::_on_reservation_node_allocate_waitpoint(
   const rmf_traffic::agv::Plan::Goal& goal)
 {
   RCLCPP_INFO(_context->node()->get_logger(),
-    "Received waitpoint from chope node");
+    "Received waitpoint from reservation node");
   _chosen_goal = goal;
   _find_plan();
 }
@@ -433,7 +433,7 @@ void GoToPlace::Active::cancel()
 
   if (_context->_parking_spot_manager_enabled())
   {
-    _chope_client->force_release();
+    _reservation_client->force_release();
   }
   _finished();
 }
@@ -446,7 +446,7 @@ void GoToPlace::Active::kill()
   _state->update_log().info("Received signal to kill");
   if (_context->_parking_spot_manager_enabled())
   {
-    _chope_client->force_release();
+    _reservation_client->force_release();
   }
   _finished();
 }
@@ -478,11 +478,11 @@ std::optional<rmf_traffic::agv::Plan::Goal> GoToPlace::Active::_choose_goal(
   if (_context->_parking_spot_manager_enabled())
   {
     RCLCPP_INFO(_context->node()->get_logger(),
-      "Requesting Chope Node For Time To Progress");
+      "Requesting reservation Node For Time To Progress");
   }
   else
   {
-    RCLCPP_INFO(_context->node()->get_logger(), "Skipping chope node.");
+    RCLCPP_INFO(_context->node()->get_logger(), "Skipping reservation node.");
     auto lowest_cost = std::numeric_limits<double>::infinity();
     std::optional<std::size_t> selected_idx;
     for (std::size_t i = 0; i < _description.one_of().size(); ++i)
@@ -758,7 +758,7 @@ void GoToPlace::Active::_execute_plan(
       {
         RCLCPP_INFO(
           _context->node()->get_logger(),
-          "Chope: Finished execution");
+          "reservation: Finished execution");
         _stop_and_clear();
         _finished();
       }, _tail_period);
@@ -772,7 +772,7 @@ void GoToPlace::Active::_execute_plan(
       {
         RCLCPP_INFO(
           _context->node()->get_logger(),
-          "Chope: Reached waitpoint");
+          "reservation: Reached waitpoint");
 
         _reached_waitpoint = true;
       }, _tail_period);

rmf_fleet_adapter/src/rmf_fleet_adapter/events/GoToPlace.hpp

@@ -24,7 +24,7 @@
 #include "../services/FindPath.hpp"
 
 #include "ExecutePlan.hpp"
-#include "internal_ChopeNegotiator.hpp"
+#include "internal_ReservationNegotiator.hpp"
 
 #include <cstdint>
 #include <optional>
@@ -126,10 +126,10 @@ class GoToPlace : public rmf_task_sequence::Event
 
     void _stop_and_clear();
 
-    void _on_chope_node_allocate_final_destination(
+    void _on_reservation_node_allocate_final_destination(
       const rmf_traffic::agv::Plan::Goal& goal);
 
-    void _on_chope_node_allocate_waitpoint(
+    void _on_reservation_node_allocate_waitpoint(
       const rmf_traffic::agv::Plan::Goal& goal);
 
     Negotiator::NegotiatePtr _respond(
@@ -154,7 +154,7 @@ class GoToPlace : public rmf_task_sequence::Event
     rmf_rxcpp::subscription_guard _replan_request_subscription;
     rmf_rxcpp::subscription_guard _graph_change_subscription;
 
-    std::shared_ptr<chope::ChopeNodeNegotiator> _chope_client;
+    std::shared_ptr<reservation::reservationNodeNegotiator> _reservation_client;
 
     bool _is_interrupted = false;
     bool _is_final_destination = true;