Revision 2009
Rewrote some of the WH_Robot.h code to make it c-compatible. Most of the c++ was commented out instead of deleted.
| WH_Robot.cpp | ||
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#include "WH_Robot.h" |
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#include "../helper_classes/Order.h" |
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/** @Brief: warehouse robot constructor **/ |
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WH_Robot::WH_Robot(std::string scoutname):Behavior(scoutname, "Scheduler")
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WH_Robot::WH_Robot(std::string scoutname):Behavior(scoutname, "WH_Robot")
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{
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nav_map = navigationMap(scoutname); |
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nav_map = new navigationMap(scoutname);
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curr_task = DEFAULT_TASK; |
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scheduler = Scheduler(scoutname); |
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name = scoutname; |
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reg_failed = 1; |
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robot_to_sched = node.advertise<std_msgs::String>("robot_to_sched", 1000);
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sched_to_robot = node.subscribe(name + "_topic", 1000, &WH_Robot::robot_callback, this); |
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ROS_INFO("A WH_Robot has been created");
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} |
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Time WH_Robot::get_wc_time(State dest)
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WH_Robot::~WH_Robot()
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{
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//TODO: integrate Lalitha's code |
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return 0.0; |
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delete(nav_map); |
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} |
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Duration WH_Robot::get_worst_case_time(State start_state, State target_state) |
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{
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return nav_map->get_worst_case_time(start_state, target_state); |
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} |
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int WH_Robot::exec_task() |
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{
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ROS_INFO("WH_robot: Executing a task");
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assert(curr_task != DEFAULT_TASK); |
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//TODO: do task |
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srand(0xDEADBEEF); |
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int error = rand() % 12; |
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if(error < 9) //Fail with 1/4 probability |
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{
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ROS_INFO("WH_robot: TASK COMPLETE!");
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return TASK_COMPLETED; |
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} |
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else |
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{
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ROS_INFO("WH_robot: TASK FAILED!");
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return TASK_FAILED; |
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} |
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} |
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void WH_Robot::run (){
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Scheduler.get_task(*this); |
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while(curr_task == DEFAULT_TASK) |
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continue; |
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int error = exec_task(); |
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if(error == TASK_COMPLETE) |
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void WH_Robot::robot_callback(const std_msgs::String::ConstPtr& msg) |
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{
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if(msg->data.compare(0, 11, "REG_SUCCESS") == 0) |
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{
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id = atoi(msg->data.substr(12).c_str()); |
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reg_failed = 0; |
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} |
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else if(msg->data.compare(0, 8, "SET_TASK") == 0) |
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{
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char* string = (char*)msg->data.c_str(); |
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char* data; |
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data = strtok(string, " "); |
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int order_id = atoi(data); |
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data = strtok(string, " "); |
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Address source = atoi(data); |
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data = strtok(string, " "); |
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Address dest = atoi(data); |
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Time start_time = ros::Time::now(); |
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Path path; |
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path.len = 0; |
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path.path = NULL; |
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Duration est_time(0); |
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curr_task = new Order(order_id, source, dest, start_time, path, est_time); |
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} |
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else |
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{
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ROS_INFO("I got a bad message: %s", msg->data.c_str());
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} |
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} |
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void WH_Robot::run () |
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{
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ROS_INFO("I am a robot. Registering with scheduler...");
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while(reg_failed) |
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{
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schedule.task_complete(*curr_task); |
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std_msgs::String msg; |
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std::stringstream ss; |
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ss << "REGISTER "<<name; |
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msg.data = ss.str(); |
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robot_to_sched.publish(msg); |
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spinOnce(); |
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} |
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else //error == TASK_FAILED |
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while(ok()) |
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{
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schedule.task_failed(*curr_task); |
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ROS_INFO("WH_ROBOT: Running main loop");
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std_msgs::String msg; |
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std::stringstream ss; |
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ss << "GET_TASK "<<id; |
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msg.data = ss.str(); |
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robot_to_sched.publish(msg); |
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spinOnce(); |
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while(curr_task == DEFAULT_TASK) |
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continue; |
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int error = exec_task(); |
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if(error == TASK_COMPLETED) |
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{
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ss << "SUCCESS "<<curr_task->getid(); |
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msg.data = ss.str(); |
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robot_to_sched.publish(msg); |
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} |
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else //error == TASK_FAILED |
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{
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ss << "FAILED "<<curr_task->getid(); |
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msg.data = ss.str(); |
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robot_to_sched.publish(msg); |
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} |
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delete curr_task; |
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curr_task = DEFAULT_TASK; |
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} |
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curr_task = DEFAULT_TASK; |
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} |
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void WH_Robot::set_task(Order order) |
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