root / trunk / code / projects / warehouse / WH_Robot.cpp @ 2009
History | View | Annotate | Download (3.22 KB)
1 | 2002 | jmcarrol | #include "WH_Robot.h" |
---|---|---|---|
2 | 2009 | jmcarrol | #include "../helper_classes/Order.h" |
3 | 2002 | jmcarrol | |
4 | /** @Brief: warehouse robot constructor **/
|
||
5 | 2009 | jmcarrol | WH_Robot::WH_Robot(std::string scoutname):Behavior(scoutname, "WH_Robot") |
6 | 2002 | jmcarrol | { |
7 | 2009 | jmcarrol | nav_map = new navigationMap(scoutname);
|
8 | 2002 | jmcarrol | curr_task = DEFAULT_TASK; |
9 | 2009 | jmcarrol | name = scoutname; |
10 | reg_failed = 1;
|
||
11 | |||
12 | robot_to_sched = node.advertise<std_msgs::String>("robot_to_sched", 1000); |
||
13 | sched_to_robot = node.subscribe(name + "_topic", 1000, &WH_Robot::robot_callback, this); |
||
14 | ROS_INFO("A WH_Robot has been created");
|
||
15 | 2002 | jmcarrol | } |
16 | |||
17 | 2009 | jmcarrol | WH_Robot::~WH_Robot() |
18 | 2002 | jmcarrol | { |
19 | 2009 | jmcarrol | delete(nav_map);
|
20 | 2002 | jmcarrol | } |
21 | |||
22 | 2009 | jmcarrol | Duration WH_Robot::get_worst_case_time(State start_state, State target_state) |
23 | { |
||
24 | return nav_map->get_worst_case_time(start_state, target_state);
|
||
25 | } |
||
26 | |||
27 | 2002 | jmcarrol | int WH_Robot::exec_task()
|
28 | { |
||
29 | 2009 | jmcarrol | ROS_INFO("WH_robot: Executing a task");
|
30 | 2002 | jmcarrol | assert(curr_task != DEFAULT_TASK); |
31 | //TODO: do task
|
||
32 | srand(0xDEADBEEF);
|
||
33 | int error = rand() % 12; |
||
34 | if(error < 9) //Fail with 1/4 probability |
||
35 | { |
||
36 | 2009 | jmcarrol | ROS_INFO("WH_robot: TASK COMPLETE!");
|
37 | 2002 | jmcarrol | return TASK_COMPLETED;
|
38 | } |
||
39 | else
|
||
40 | { |
||
41 | 2009 | jmcarrol | ROS_INFO("WH_robot: TASK FAILED!");
|
42 | 2002 | jmcarrol | return TASK_FAILED;
|
43 | } |
||
44 | } |
||
45 | |||
46 | 2009 | jmcarrol | void WH_Robot::robot_callback(const std_msgs::String::ConstPtr& msg) |
47 | { |
||
48 | if(msg->data.compare(0, 11, "REG_SUCCESS") == 0) |
||
49 | { |
||
50 | id = atoi(msg->data.substr(12).c_str());
|
||
51 | reg_failed = 0;
|
||
52 | } |
||
53 | else if(msg->data.compare(0, 8, "SET_TASK") == 0) |
||
54 | { |
||
55 | char* string = (char*)msg->data.c_str(); |
||
56 | char* data;
|
||
57 | data = strtok(string, " "); |
||
58 | int order_id = atoi(data);
|
||
59 | data = strtok(string, " "); |
||
60 | Address source = atoi(data); |
||
61 | data = strtok(string, " "); |
||
62 | Address dest = atoi(data); |
||
63 | Time start_time = ros::Time::now(); |
||
64 | Path path; |
||
65 | path.len = 0;
|
||
66 | path.path = NULL;
|
||
67 | Duration est_time(0);
|
||
68 | |||
69 | curr_task = new Order(order_id, source, dest, start_time, path, est_time);
|
||
70 | } |
||
71 | else
|
||
72 | { |
||
73 | ROS_INFO("I got a bad message: %s", msg->data.c_str());
|
||
74 | } |
||
75 | } |
||
76 | |||
77 | void WH_Robot::run ()
|
||
78 | { |
||
79 | ROS_INFO("I am a robot. Registering with scheduler...");
|
||
80 | while(reg_failed)
|
||
81 | 2002 | jmcarrol | { |
82 | 2009 | jmcarrol | std_msgs::String msg; |
83 | std::stringstream ss; |
||
84 | ss << "REGISTER "<<name;
|
||
85 | msg.data = ss.str(); |
||
86 | robot_to_sched.publish(msg); |
||
87 | |||
88 | spinOnce(); |
||
89 | 2002 | jmcarrol | } |
90 | 2009 | jmcarrol | |
91 | while(ok())
|
||
92 | 2002 | jmcarrol | { |
93 | 2009 | jmcarrol | ROS_INFO("WH_ROBOT: Running main loop");
|
94 | |||
95 | |||
96 | std_msgs::String msg; |
||
97 | std::stringstream ss; |
||
98 | ss << "GET_TASK "<<id;
|
||
99 | msg.data = ss.str(); |
||
100 | robot_to_sched.publish(msg); |
||
101 | |||
102 | spinOnce(); |
||
103 | |||
104 | while(curr_task == DEFAULT_TASK)
|
||
105 | continue;
|
||
106 | int error = exec_task();
|
||
107 | if(error == TASK_COMPLETED)
|
||
108 | { |
||
109 | |||
110 | |||
111 | ss << "SUCCESS "<<curr_task->getid();
|
||
112 | msg.data = ss.str(); |
||
113 | robot_to_sched.publish(msg); |
||
114 | |||
115 | |||
116 | } |
||
117 | else //error == TASK_FAILED |
||
118 | { |
||
119 | |||
120 | |||
121 | ss << "FAILED "<<curr_task->getid();
|
||
122 | msg.data = ss.str(); |
||
123 | robot_to_sched.publish(msg); |
||
124 | |||
125 | |||
126 | } |
||
127 | delete curr_task;
|
||
128 | curr_task = DEFAULT_TASK; |
||
129 | 2002 | jmcarrol | } |
130 | } |
||
131 | |||
132 | void WH_Robot::set_task(Order order)
|
||
133 | { |
||
134 | curr_task = new Order(order.getid(), order.get_source(), order.get_dest(),
|
||
135 | order.get_start_time(), order.get_path(), order.get_est_time()); |
||
136 | return;
|
||
137 | } |