def from_dict(request_dict):
id = request_dict.get('id', generate_uuid())
request = TaskRequest(id=id)
request.load_type = request_dict["loadType"]
request.load_id = request_dict["loadId"]
request.user_id = request_dict["userId"]
request.earliest_pickup_time = TimeStamp.from_str(
request_dict["earliestPickupTime"])
request.latest_pickup_time = TimeStamp.from_str(
request_dict["latestPickupTime"])
pickup_area_dict = request_dict.get('pickup_pose', None)
if pickup_area_dict:
request.pickup_pose = Area.from_dict(pickup_area_dict)
else: # when the provided dict is from json schema
request.pickup_pose = Area()
request.pickup_pose.name = request_dict.get("pickupLocation", '')
request.pickup_pose.floor_number = request_dict.get(
"pickupLocationLevel", 0)
delivery_area_dict = request_dict.get('delivery_pose', None)
if delivery_area_dict:
request.delivery_pose = Area.from_dict(delivery_area_dict)
else: # when the provided dict is from json schema
request.delivery_pose = Area()
request.delivery_pose.name = request_dict.get(
"deliveryLocation", '')
request.delivery_pose.floor_number = request_dict.get(
"deliveryLocationLevel", 0)
request.priority = request_dict["priority"]
return request
def from_dict(task_dict):
task = Task()
task.id = task_dict['id']
task.loadType = task_dict['loadType']
task.loadId = task_dict['loadId']
task.team_robot_ids = task_dict['team_robot_ids']
task.earliest_start_time = TimeStamp.from_str(
task_dict['earliest_start_time'])
task.latest_start_time = TimeStamp.from_str(
task_dict['latest_start_time'])
task.estimated_duration = datetime.timedelta(
minutes=task_dict['estimated_duration'])
task.earliest_finish_time = TimeStamp.from_str(
task_dict['earliest_finish_time'])
task.latest_finish_time = TimeStamp.from_str(
task_dict['latest_finish_time'])
start_time = task_dict.get('start_time', None)
if start_time:
task.start_time = TimeStamp.from_str(start_time)
else:
task.start_time = start_time
finish_time = task_dict.get('finish_time', None)
if finish_time:
task.finish_time = TimeStamp.from_str(finish_time)
else:
task.finish_time = finish_time
task.pickup_pose = Area.from_dict(task_dict['pickup_pose'])
task.delivery_pose = Area.from_dict(task_dict['delivery_pose'])
task.priority = task_dict['priority']
task.status = TaskStatus.from_dict(task_dict['status'])
task.hard_constraints = task_dict['hard_constraints']
for robot_id, actions in task_dict['robot_actions'].items():
task.robot_actions[robot_id] = list()
for action_dict in actions:
action = Action.from_dict(action_dict)
task.robot_actions[robot_id].append(action)
return task
def from_dict(action_dict):
action = Action()
action.id = action_dict['id']
action.type = action_dict['type']
action.start_floor = action_dict['start_floor']
action.goal_floor = action_dict['goal_floor']
action.level = action_dict['level']
action.elevator_id = action_dict['elevator_id']
action.execution_status = action_dict['execution_status']
action.eta = action_dict['eta']
for area_dict in action_dict['areas']:
area = Area.from_dict(area_dict)
action.areas.append(area)
for subarea_dict in action_dict['subareas']:
subarea = SubArea.from_dict(subarea_dict)
action.subareas.append(subarea)
return action
