Enable multiple signal config of each type

Signed-off-by: Xiyu Oh <[email protected]>

configs/mir_config.yaml

@@ -116,14 +116,26 @@ plugins:
     actions: ["wait_until"]
     timeout: 60 # Optional, in seconds. Timeout if there is no move-off signal received, after which robot will move off regardless. Default to 60 seconds.
     update_gap: 30 # Optional, in seconds. The fleet adapter will log an update using this interval. Default to 30 seconds.
-    signal_type: # Defines the default configs for various move off signal types. If this field is not provided, the robot will wait the full duration of the default timeout. Signal configs can be overridden by task description.
+    signals: # Configure various move off signal types. If this field is not provided in the fleet config or task description, the robot will wait the full duration of the default timeout.
       # Currently three signal types are supported: [mission, plc, custom].
-      mission:
+      sample_mission_1: # Only a unique name
+        signal_type: "mission" # Specifies the actual type
         mission_name: "some_mission_name" # If this mission is found on the robot, it will be queued when the action starts, and the robot will move off when the mission is completed.
         retry_count: 10 # Optional field for signal type "mission". The fleet adapter will re-attempt queueing the mission for this number of tries.
         resubmit_on_abort: False # Optional field for signal type "mission". Set to True to resubmit mission if the mission gets aborted by the robot. Default to False.
-      plc:
+      sample_mission_2:
+        signal_type: "mission" # Specifies the actual type
+        mission_name: "some_other_mission_name"
+      sample_plc_1:
+        signal_type: "plc" # Specifies the actual type
         register: 20 # Fill in with PLC register number. Robot moves off when this PLC register returns True
-      custom:
+      sample_plc_2:
+        signal_type: "plc" # Specifies the actual type
+        register: 21
+      custom_1:
+        signal_type: "custom" # Specifies the actual type
         module: "fleet_adapter_mir_actions.rmf_move_off_on_alert" # Fill in with path to custom module written. Robot moves off when module provides the user-defined move off signal.
-      default: "custom" # Specifies a default signal type out of those listed above. If the task description does not provide any signal config, the fleet adapter will use this default signal type.
+      custom_2:
+        signal_type: "custom" # Specifies the actual type
+        module: "fleet_adapter_mir_actions.rmf_move_off_on_something_else"
+    default_signal: "custom_1" # Specifies a default signal type out of those listed above. If the task description does not provide any signal config, the fleet adapter will use this default signal type.