root / scout / libscout / src / test_behaviors / WH_Robot.cpp @ beaf9201
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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, Sensors* sensors):
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line_follow(scoutname, sensors) |
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{ |
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nav_map = new navigationMap(scoutname, sensors);
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curr_task = DEFAULT_TASK; |
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name = scoutname; |
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reg_failed = 1;
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srand(0xDEADBEEF);
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} |
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WH_Robot::~WH_Robot() |
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{ |
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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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/** @brief Drives from state 2 to the robot home base and goes to sleep for
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* x seconds
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*/
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void WH_Robot::go_home(int x) |
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{ |
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unsigned int curr_state = nav_map->get_state(); |
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if(curr_state != 2) |
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{ |
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ROS_WARN("Tried to go home from incorrect state %d", curr_state);
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return;
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} |
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turn_straight(); |
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follow_line(); |
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turn_left(); |
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follow_line(); |
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Duration sleep_time(x); |
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sleep_time.sleep(); |
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return;
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} |
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void WH_Robot::leave_home()
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{ |
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unsigned int curr_state = nav_map->get_state(); |
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if(curr_state != 2) |
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{ |
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ROS_WARN("Tried to go home from incorrect state %d", curr_state);
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return;
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} |
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turn_straight(); |
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follow_line(); |
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nav_map->update_state(ISTRAIGHT); |
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turn_left(); |
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follow_line(); |
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} |
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/** @brief Based on the given path, make
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* the series of turns to follow this path,
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* updating the current state in the navigation map as we do so
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* @param the Path to follow
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*/
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void WH_Robot::follow_path(Path path_to_follow){
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for(int i=0; i<path_to_follow.len; i++) |
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{ |
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Turn t = path_to_follow.path[i]; |
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unsigned int curr_state = nav_map->get_state(); |
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nav_map->update_state(t); |
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switch(t)
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{ |
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case ISTRAIGHT:
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turn_straight(); |
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follow_line(); |
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if(curr_state == 2) |
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{ |
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turn_straight(); |
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follow_line(); |
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turn_straight(); |
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follow_line(); |
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} |
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break;
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case ILEFT:
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turn_left(); |
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follow_line(); |
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break;
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case IRIGHT:
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if(9 <= curr_state && curr_state <= 12) |
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{ |
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turn_straight(); |
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follow_line(); |
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} |
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turn_right(); |
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follow_line(); |
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if(curr_state <= 4) |
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{ |
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turn_straight(); |
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follow_line(); |
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} |
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break;
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case IUTURN:
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u_turn(); |
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follow_line(); |
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break;
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case ISPOTTURN:
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spot_turn(); |
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follow_line(); |
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break;
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} |
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} |
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} |
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int WH_Robot::exec_task()
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{ |
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assert(curr_task != DEFAULT_TASK); |
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// remember where you started doing this task so we know where to return
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// State home_state = nav_map->get_state();
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// For now, use state 2.
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Path new_path = nav_map->shortest_path(curr_task->get_dest()); |
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curr_task->set_path(new_path); |
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follow_path(new_path); |
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//TODO: forklift yaaaay
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int did_task_complete;
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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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did_task_complete = 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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did_task_complete = TASK_FAILED; |
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} |
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// For now use state 2 as home state
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// Path return_path = nav_map->shortest_path(home_state);
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Path return_path = nav_map->shortest_path(2);
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curr_task->set_path(return_path); |
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follow_path(return_path); |
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return did_task_complete;
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} |
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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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data = strtok(NULL, " "); |
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int order_id = atoi(data);
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data = strtok(NULL, " "); |
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Address source = atoi(data); |
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data = strtok(NULL, " "); |
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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("A WH_Robot has been created");
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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("I am a robot. Registering with scheduler...");
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while(reg_failed && ok())
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{ |
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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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follow_line(); |
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while(ok())
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{ |
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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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while(curr_task == DEFAULT_TASK && ok()){
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spinOnce(); |
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} |
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int error = exec_task();
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/** Go to robot home base */
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go_home(2);
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leave_home(); |
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if(error == TASK_COMPLETED)
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{ |
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std_msgs::String msg; |
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std::stringstream ss; |
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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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std_msgs::String msg; |
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std::stringstream ss; |
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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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} |
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void WH_Robot::set_task(Order order)
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{ |
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curr_task = new Order(order.getid(), order.get_source(), order.get_dest(),
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order.get_start_time(), order.get_path(), order.get_est_time()); |
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return;
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} |
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