21 |
21 |
return nav_map->get_worst_case_time(start_state, target_state);
|
22 |
22 |
}
|
23 |
23 |
|
|
24 |
/** @brief Drives from state 2 to the robot home base and goes to sleep for
|
|
25 |
* x seconds
|
|
26 |
*/
|
|
27 |
void WH_Robot::go_home(int x)
|
|
28 |
{
|
|
29 |
unsigned int curr_state = nav_map->get_state();
|
|
30 |
if(curr_state != 2)
|
|
31 |
{
|
|
32 |
ROS_WARN("Tried to go home from incorrect state %d", curr_state);
|
|
33 |
return;
|
|
34 |
}
|
|
35 |
turn_straight();
|
|
36 |
follow_line();
|
|
37 |
turn_left();
|
|
38 |
follow_line();
|
|
39 |
Duration sleep_time(x);
|
|
40 |
sleep_time.sleep();
|
|
41 |
return;
|
|
42 |
}
|
|
43 |
|
|
44 |
void WH_Robot::leave_home()
|
|
45 |
{
|
|
46 |
unsigned int curr_state = nav_map->get_state();
|
|
47 |
if(curr_state != 2)
|
|
48 |
{
|
|
49 |
ROS_WARN("Tried to go home from incorrect state %d", curr_state);
|
|
50 |
return;
|
|
51 |
}
|
|
52 |
turn_straight();
|
|
53 |
follow_line();
|
|
54 |
nav_map->update_state(ISTRAIGHT);
|
|
55 |
turn_left();
|
|
56 |
follow_line();
|
|
57 |
}
|
|
58 |
|
24 |
59 |
/** @brief Based on the given path, make
|
25 |
60 |
* the series of turns to follow this path,
|
26 |
61 |
* updating the current state in the navigation map as we do so
|
... | ... | |
32 |
67 |
Turn t = path_to_follow.path[i];
|
33 |
68 |
unsigned int curr_state = nav_map->get_state();
|
34 |
69 |
|
35 |
|
ROS_INFO("making turn %d", t);
|
36 |
|
|
37 |
70 |
nav_map->update_state(t);
|
38 |
71 |
switch(t)
|
39 |
72 |
{
|
40 |
73 |
case ISTRAIGHT:
|
41 |
74 |
turn_straight();
|
42 |
75 |
follow_line();
|
|
76 |
if(curr_state == 2)
|
|
77 |
{
|
|
78 |
turn_straight();
|
|
79 |
follow_line();
|
|
80 |
turn_straight();
|
|
81 |
follow_line();
|
|
82 |
}
|
43 |
83 |
break;
|
44 |
84 |
case ILEFT:
|
45 |
85 |
turn_left();
|
... | ... | |
76 |
116 |
assert(curr_task != DEFAULT_TASK);
|
77 |
117 |
|
78 |
118 |
// remember where you started doing this task so we know where to return
|
79 |
|
State home_state = nav_map->get_state();
|
|
119 |
// State home_state = nav_map->get_state();
|
|
120 |
// For now, use state 2.
|
80 |
121 |
Path new_path = nav_map->shortest_path(curr_task->get_dest());
|
81 |
122 |
curr_task->set_path(new_path);
|
82 |
123 |
|
... | ... | |
97 |
138 |
ROS_INFO("WH_robot: TASK FAILED!");
|
98 |
139 |
did_task_complete = TASK_FAILED;
|
99 |
140 |
}
|
100 |
|
|
101 |
|
Path return_path = nav_map->shortest_path(home_state);
|
|
141 |
|
|
142 |
// For now use state 2 as home state
|
|
143 |
// Path return_path = nav_map->shortest_path(home_state);
|
|
144 |
Path return_path = nav_map->shortest_path(2);
|
102 |
145 |
curr_task->set_path(return_path);
|
103 |
146 |
|
104 |
147 |
follow_path(return_path);
|
... | ... | |
179 |
222 |
}
|
180 |
223 |
|
181 |
224 |
int error = exec_task();
|
|
225 |
|
|
226 |
/** Go to robot home base */
|
|
227 |
go_home(2);
|
|
228 |
leave_home();
|
|
229 |
|
182 |
230 |
if(error == TASK_COMPLETED)
|
183 |
231 |
{
|
184 |
232 |
std_msgs::String msg;
|