Rename functions

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Nov 15, 2024 · ab6f946 · ab6f946
1 parent 8140474
commit ab6f946
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Showing 4 changed files with 12 additions and 10 deletions.
diff --git a/free_fleet_adapter/free_fleet_adapter/fleet_adapter.py b/free_fleet_adapter/free_fleet_adapter/fleet_adapter.py
@@ -209,15 +209,15 @@ def run_in_parallel(*args, **kwargs):
 
 @parallel
 def update_robot(robot: Nav2RobotAdapter):
-    robot_pose = robot.pose()
+    robot_pose = robot.get_pose()
     if robot_pose is None:
         robot.node.get_logger().info(f'Failed to pose of robot [{robot.name}]')
         return None
 
     state = rmf_easy.RobotState(
         robot.map,
         robot_pose,
-        robot.battery_soc
+        robot.get_battery_soc()
     )
 
     if robot.update_handle is None:

diff --git a/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py
@@ -146,10 +146,10 @@ def _battery_state_callback(sample: zenoh.Sample):
             _battery_state_callback
         )
 
-    def battery_soc(self) -> float:
+    def get_battery_soc(self) -> float:
         return self.battery_soc
 
-    def pose(self) -> Annotated[list[float], 3] | None:
+    def get_pose(self) -> Annotated[list[float], 3] | None:
         transform = self.tf_handler.get_transform()
         if transform is None:
             error_message = \
@@ -305,6 +305,8 @@ def _handle_navigate_to_pose(
                 self.update_handle.more().replan()
                 self.nav_goal_id = None
                 return
+            except RuntimeError as e:
+                raise e
             except Exception as e:
                 payload = reply.err.payload.to_string()
                 self.node.get_logger().error(

diff --git a/free_fleet_adapter/free_fleet_adapter/robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/robot_adapter.py
@@ -29,7 +29,7 @@ class RobotAdapter(ABC):
     between 0 and 1.0.
     """
     @abstractmethod
-    def battery_soc(self) -> float:
+    def get_battery_soc(self) -> float:
         ...
 
     """
@@ -39,7 +39,7 @@ def battery_soc(self) -> float:
     returns None.
     """
     @abstractmethod
-    def pose(self) -> Annotated[list[float], 3] | None:
+    def get_pose(self) -> Annotated[list[float], 3] | None:
         ...
 
     """

diff --git a/free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py b/free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py
@@ -57,7 +57,7 @@ def test_non_existent_robot_pose(self):
 
         robot_exists = False
         for i in range(10):
-            transform = robot_adapter.pose()
+            transform = robot_adapter.get_pose()
             if transform is not None:
                 robot_exists = True
                 break
@@ -82,7 +82,7 @@ def test_robot_pose(self):
 
         robot_exists = False
         for i in range(10):
-            transform = robot_adapter.pose()
+            transform = robot_adapter.get_pose()
             if transform is not None:
                 robot_exists = True
                 break
@@ -105,7 +105,7 @@ def test_robot_battery_soc(self):
             tf_buffer=tf_buffer
         )
 
-        battery_soc = robot_adapter.battery_soc()
+        battery_soc = robot_adapter.get_battery_soc()
         assert math.isclose(battery_soc, 1.0)
 
     def test_robot_unable_to_update(self):
@@ -168,7 +168,7 @@ def test_robot_stop_without_command(self):
             tf_buffer=tf_buffer
         )
         assert robot_adapter.execution is None
-        robot_adapter.stop()
+        robot_adapter.stop(None)
         assert robot_adapter.execution is None
         assert robot_adapter._is_navigation_done()