Revision 3f72678f
Changing scheduler and WH robot to ROS messages
| scout/libscout/src/behaviors/WH_Robot.cpp | ||
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#include "WH_Robot.h" |
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#include "Scheduler.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, void* sched):Behavior(scoutname, "WH_Robot")
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WH_Robot::WH_Robot(std::string scoutname):Behavior(scoutname, "WH_Robot") |
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{
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ROS_INFO("WH_ROBOT: Creating a WH_Robot...");
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nav_map = new navigationMap(scoutname); |
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curr_task = DEFAULT_TASK; |
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scheduler = sched; |
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name = scoutname; |
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reg_failed = 1; |
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robot_to_sched = n.advertise<std_msgs::String>(name + "_topic", 1000); |
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sched_to_robot = n.subscribe("sched_to_robot", 1000, msg_callback);
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while(reg_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 << "REGISTER "<<name; |
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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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ROS_INFO("WH_Robot: I am a created WH robot");
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} |
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WH_Robot::~WH_Robot() |
| ... | ... | |
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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*)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_COMPLETED) |
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{
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((Scheduler*)scheduler)->task_complete(*curr_task); |
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} |
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else //error == TASK_FAILED |
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void WH_Robot::msg_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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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 = msg->data.c_str(); |
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char* data; |
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data = strtok(string, " "); |
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int 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 = NULL; |
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Duration est_time(0); |
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curr_task = new 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);
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} |
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} |
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void WH_Robot::run () |
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{
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while(ok()) |
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{
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((Scheduler*)scheduler)->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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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->id; |
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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->id; |
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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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