From 8e7d64b48b19d14452fac9288df54628a3a3387d Mon Sep 17 00:00:00 2001
From: lkw303 <lum_kai_wen@artc.a-star.edu.sg>
Date: Thu, 19 Oct 2023 14:58:44 +0000
Subject: [PATCH] Get task id from task state json instead of ros2 message's
 request id. (ROSI-AP/rosi-ap_commercial/cag/rmf_scheduler!29)

* Get task id from task state json instead of ros2 message's request id.

Signed-off-by: Kai Wen Lum <lum_kai_wen@artc.a-star.edu.sg>
---
 .../src/robot_task_execution_client.cpp       | 24 +++++++++++--------
 1 file changed, 14 insertions(+), 10 deletions(-)

diff --git a/rmf_scheduler_plugins/src/robot_task_execution_client.cpp b/rmf_scheduler_plugins/src/robot_task_execution_client.cpp
index a38542a..1634e04 100644
--- a/rmf_scheduler_plugins/src/robot_task_execution_client.cpp
+++ b/rmf_scheduler_plugins/src/robot_task_execution_client.cpp
@@ -193,34 +193,38 @@ void RobotTaskExecutionClient::cancel(const std::string & id)
 void RobotTaskExecutionClient::handle_response(
   const rmf_task_msgs::msg::ApiResponse & response)
 {
-  auto task_status_itr = task_status_map_.find(response.request_id);
-  if (task_status_itr == task_status_map_.end()) {
-    return;
-  }
-
   nlohmann::json task_state_json;
   try {
     task_state_json = nlohmann::json::parse(response.json_msg);
   } catch (const std::exception & e) {
     RCLCPP_ERROR(
       node_->get_logger(),
-      "Error when parsing task states for task [%s]%s",
-      response.request_id.c_str(),
+      "Error when parsing task states %s",
       e.what());
     return;
   }
-  std::string status = task_state_json["status"].get<std::string>();
+  auto task_id = task_state_json["data"]["booking"]["id"].get<std::string>();
+  auto task_status_itr = task_status_map_.find(task_id);
+  if (task_status_itr == task_status_map_.end()) {
+    return;
+  }
+  std::string status = task_state_json["data"]["status"].get<std::string>();
   if (status != task_status_itr->second) {
     RCLCPP_INFO(
       node_->get_logger(),
       "Received new task status [%s] for task [%s];",
       status.c_str(),
-      response.request_id.c_str());
+      task_id.c_str());
     task_status_itr->second = status;
   }
 
   if (status == "completed") {
-    notify_completion(response.request_id, true, "completed");
+    RCLCPP_INFO(
+      node_->get_logger(),
+      "Task [%s] is [%s];",
+      task_id.c_str(),
+      status.c_str());
+    notify_completion(task_id, true, "completed");
   }
 }