Revision 58c19c15
| ID | 58c19c15b13ea81473e724302b2c64e055aaac82 |
better warehouse image (corresponds with lines now) and demo. Now only thing left is to implement home behavior.
| scout/libscout/src/behaviors/WH_Robot.cpp | ||
|---|---|---|
| 8 | 8 |
curr_task = DEFAULT_TASK; |
| 9 | 9 |
name = scoutname; |
| 10 | 10 |
reg_failed = 1; |
| 11 |
srand(0xDEADBEEF); |
|
| 11 | 12 |
} |
| 12 | 13 |
|
| 13 | 14 |
WH_Robot::~WH_Robot() |
| ... | ... | |
| 29 | 30 |
for(int i=0; i<path_to_follow.len; i++) |
| 30 | 31 |
{
|
| 31 | 32 |
Turn t = path_to_follow.path[i]; |
| 33 |
unsigned int curr_state = nav_map->get_state(); |
|
| 34 |
|
|
| 32 | 35 |
ROS_INFO("making turn %d", t);
|
| 36 |
|
|
| 33 | 37 |
nav_map->update_state(t); |
| 34 | 38 |
switch(t) |
| 35 | 39 |
{
|
| ... | ... | |
| 42 | 46 |
follow_line(); |
| 43 | 47 |
break; |
| 44 | 48 |
case IRIGHT: |
| 49 |
if(9 <= curr_state && curr_state <= 12) |
|
| 50 |
{
|
|
| 51 |
turn_straight(); |
|
| 52 |
follow_line(); |
|
| 53 |
} |
|
| 45 | 54 |
turn_right(); |
| 46 | 55 |
follow_line(); |
| 56 |
if(curr_state <= 4) |
|
| 57 |
{
|
|
| 58 |
turn_straight(); |
|
| 59 |
follow_line(); |
|
| 60 |
} |
|
| 47 | 61 |
break; |
| 48 | 62 |
case IUTURN: |
| 49 | 63 |
u_turn(); |
| 50 | 64 |
follow_line(); |
| 51 | 65 |
break; |
| 66 |
case ISPOTTURN: |
|
| 67 |
spot_turn(); |
|
| 68 |
follow_line(); |
|
| 69 |
break; |
|
| 52 | 70 |
} |
| 53 | 71 |
} |
| 54 | 72 |
} |
| 55 | 73 |
|
| 56 | 74 |
int WH_Robot::exec_task() |
| 57 | 75 |
{
|
| 58 |
ROS_INFO("WH_robot: Executing a task");
|
|
| 59 | 76 |
assert(curr_task != DEFAULT_TASK); |
| 60 | 77 |
|
| 61 | 78 |
// remember where you started doing this task so we know where to return |
| 62 | 79 |
State home_state = nav_map->get_state(); |
| 63 |
ROS_INFO("WH_robot: starting from home state %d", (int)home_state);
|
|
| 64 |
ROS_INFO("WH_robot: aiming for state %d", (int)curr_task->get_dest());
|
|
| 65 | 80 |
Path new_path = nav_map->shortest_path(curr_task->get_dest()); |
| 66 | 81 |
curr_task->set_path(new_path); |
| 67 | 82 |
|
| ... | ... | |
| 71 | 86 |
|
| 72 | 87 |
int did_task_complete; |
| 73 | 88 |
|
| 74 |
srand(0xDEADBEEF); |
|
| 75 | 89 |
int error = rand() % 12; |
| 76 |
if(error < 6) //Fail with 1/2 probability
|
|
| 90 |
if(error < 9) //Fail with 1/4 probability
|
|
| 77 | 91 |
{
|
| 78 | 92 |
ROS_INFO("WH_robot: TASK COMPLETE!");
|
| 79 | 93 |
did_task_complete = TASK_COMPLETED; |
| ... | ... | |
| 84 | 98 |
did_task_complete = TASK_FAILED; |
| 85 | 99 |
} |
| 86 | 100 |
|
| 87 |
ROS_INFO("WH_robot: Now I am attempting to go home from state %d to state %d",
|
|
| 88 |
(int)nav_map->get_state(), (int)home_state); |
|
| 89 |
|
|
| 90 | 101 |
Path return_path = nav_map->shortest_path(home_state); |
| 91 | 102 |
curr_task->set_path(return_path); |
| 92 | 103 |
|
| ... | ... | |
| 97 | 108 |
|
| 98 | 109 |
void WH_Robot::robot_callback(const std_msgs::String::ConstPtr& msg) |
| 99 | 110 |
{
|
| 100 |
std::cout << "robot callback called." << std::endl; |
|
| 101 | 111 |
if(msg->data.compare(0, 11, "REG_SUCCESS") == 0) |
| 102 | 112 |
{
|
| 103 | 113 |
id = atoi(msg->data.substr(12).c_str()); |
| ... | ... | |
| 105 | 115 |
} |
| 106 | 116 |
else if(msg->data.compare(0, 8, "SET_TASK") == 0) |
| 107 | 117 |
{
|
| 108 |
ROS_INFO("WH_ROBOT: Setting robot task");
|
|
| 109 | 118 |
char* string = (char*)msg->data.c_str(); |
| 110 |
ROS_INFO("Set task string is: %s", string);
|
|
| 111 | 119 |
char* data; |
| 112 | 120 |
data = strtok(string, " "); |
| 121 |
|
|
| 113 | 122 |
data = strtok(NULL, " "); |
| 114 | 123 |
int order_id = atoi(data); |
| 115 |
ROS_INFO("order Id: %d with string %s", order_id, data);
|
|
| 116 | 124 |
|
| 117 | 125 |
data = strtok(NULL, " "); |
| 118 | 126 |
Address source = atoi(data); |
| 119 |
ROS_INFO("source: %d with string %s", source, data);
|
|
| 120 | 127 |
|
| 121 | 128 |
data = strtok(NULL, " "); |
| 122 | 129 |
Address dest = atoi(data); |
| 123 |
ROS_INFO("dest: %d with string %s", dest, data);
|
|
| 124 | 130 |
|
| 125 | 131 |
Time start_time = ros::Time::now(); |
| 126 | 132 |
Path path; |
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