Revision 3f72678f
ID | 3f72678f171cbcb5499524f6cbfe994f4a416364 |
Changing scheduler and WH robot to ROS messages
scout/libscout/src/BehaviorList.cpp | ||
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7 | 7 |
behavior_list.push_back((Behavior*)new Odometry(scoutname)); |
8 | 8 |
behavior_list.push_back((Behavior*)new navigationMap(scoutname)); |
9 | 9 |
behavior_list.push_back((Behavior*)new sim_line(scoutname)); |
10 |
// behavior_list.push_back((Behavior*)new Scheduler(scoutname)); |
|
10 |
behavior_list.push_back((Behavior*)new Scheduler(scoutname)); |
|
11 |
behavior_list.push_back((Behavior*)new WH_Robot(scoutname)); |
|
11 | 12 |
return; |
12 | 13 |
} |
13 | 14 |
|
scout/libscout/src/BehaviorList.h | ||
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8 | 8 |
#include "behaviors/Odometry.h" |
9 | 9 |
#include "behaviors/navigationMap.h" |
10 | 10 |
#include "behaviors/Scheduler.h" |
11 |
#include "behaviors/WH_Robot.h" |
|
11 | 12 |
|
12 | 13 |
class BehaviorList |
13 | 14 |
{ |
scout/libscout/src/behaviors/Scheduler.cpp | ||
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6 | 6 |
/** @Brief: Initialize data structures for the scheduler. */ |
7 | 7 |
Scheduler::Scheduler(std::string scoutname):Behavior(scoutname, "Scheduler") |
8 | 8 |
{ |
9 |
WH_Robot* rob1 = new WH_Robot("Robot1", this); |
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10 |
WH_Robot* rob2 = new WH_Robot("Robot2", this); |
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11 |
WH_Robot* rob3 = new WH_Robot("Robot3", this); |
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9 |
|
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10 |
ROS_INFO("Scheduler: Creating order PQ..."); |
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12 | 11 |
|
13 | 12 |
unassignedOrders = new PQWrapper(NUM_TASKS); |
14 | 13 |
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15 |
robots.push_back(rob1);
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robots.push_back(rob2); |
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robots.push_back(rob3);
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18 |
|
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14 |
ROS_INFO("Scheduler: PQ orders initialized. ");
|
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15 |
|
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16 |
sched_to_robot = n.advertise("sched_to_robot", 1000);
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17 |
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19 | 18 |
create_orders(); |
19 |
ROS_INFO("Scheduler: I am initialized!"); |
|
20 | 20 |
} |
21 | 21 |
|
22 | 22 |
/** @Brief: Free allocatetd memory. */ |
23 | 23 |
Scheduler::~Scheduler() |
24 | 24 |
{ |
25 |
delete robots.at(0); |
|
26 |
delete robots.at(1); |
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27 |
delete robots.at(2); |
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25 |
while(robots.size() != 0) |
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26 |
delete robots.at(0); |
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28 | 27 |
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29 |
delete unassignedOrders;
|
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28 |
delete unassignedOrders; |
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30 | 29 |
} |
31 | 30 |
|
32 | 31 |
/** @Brief: Add robot to the waiting queue. |
... | ... | |
36 | 35 |
* the robot of the waiting queue, and gives it a |
37 | 36 |
* task. |
38 | 37 |
*/ |
39 |
void Scheduler::get_task(WH_Robot* r)
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void Scheduler::get_task(int robot)
|
|
40 | 39 |
{ |
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waitingRobots.push(r); |
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waitingRobots.push(robots[robot]);
|
|
42 | 41 |
} |
43 | 42 |
|
44 | 43 |
/** @Brief: Statically add orders to the Priority Queue Wrapper.*/ |
45 | 44 |
void Scheduler::create_orders() |
46 | 45 |
{ |
46 |
ROS_INFO("Scheduler: Creating orders..."); |
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|
|
47 | 48 |
Path p; |
48 | 49 |
p.len = 0; |
49 | 50 |
p.path = NULL; |
... | ... | |
55 | 56 |
Order d(4,0,2,t,p,end); |
56 | 57 |
Order e(5,0,4,t,p,end); |
57 | 58 |
|
59 |
ROS_INFO("Scheduler: Orders created. Adding to list"); |
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60 |
|
|
58 | 61 |
unassignedOrders->insert(a); |
59 | 62 |
unassignedOrders->insert(b); |
60 | 63 |
unassignedOrders->insert(c); |
61 | 64 |
unassignedOrders->insert(d); |
62 | 65 |
unassignedOrders->insert(e); |
66 |
|
|
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ROS_INFO("Scheduler: Orders initialized in list"); |
|
63 | 68 |
} |
64 | 69 |
|
65 | 70 |
/** @Brief: This is a confirmation that the task is complete. |
66 | 71 |
This function removes the order from assignedOrders. */ |
67 | 72 |
void Scheduler::task_complete(Order o) |
68 | 73 |
{ |
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for (unsigned int i=0; i<assignedOrders.size(); i++) |
|
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{ |
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if (assignedOrders[i].getid()==o.getid()) |
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{ |
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assignedOrders.erase(assignedOrders.begin()+i); |
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} |
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} |
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ROS_INFO("Scheduler: Task id %d was completed", o.getid()); |
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for (unsigned int i=0; i<assignedOrders.size(); i++) |
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{ |
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77 |
if (assignedOrders[i].getid()==o.getid()) |
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{ |
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assignedOrders.erase(assignedOrders.begin()+i); |
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} |
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81 |
} |
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76 | 82 |
} |
77 | 83 |
|
78 | 84 |
/** @Brief: This is a confirmation that the task failed. |
79 | 85 |
This function places the order back on the PQWrapper. */ |
80 | 86 |
void Scheduler::task_failed(Order o) |
81 | 87 |
{ |
88 |
ROS_INFO("Scheduler: Task id %d was failed", o.getid()); |
|
82 | 89 |
task_complete(o); |
83 | 90 |
unassignedOrders->insert(o); |
84 | 91 |
} |
85 | 92 |
|
86 | 93 |
/** @Brief: Do a waiting dance. */ |
87 | 94 |
void Scheduler::waiting_dance() |
88 |
{ |
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89 |
|
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95 |
{
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ROS_INFO("Scheduler: TEEHEE i do a dance!"); |
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90 | 97 |
} |
91 | 98 |
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92 | 99 |
/** @Brief: The scheduling algorithm. Picks a task and pops from the PQWrapper. */ |
... | ... | |
111 | 118 |
return *best; |
112 | 119 |
} |
113 | 120 |
|
121 |
void Scheduler::msg_callback(const std_msgs::String::ConstPtr& msg) |
|
122 |
{ |
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123 |
if(msg->data.compare(0, 6, "FAILED") == 0) |
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{ |
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int order_id = atoi(msg->data.substr(7).c_str()); |
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126 |
for(int i=0; i<assignedOrders.size(); i++) |
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{ |
|
128 |
if(assignedOrders[i].id == order_id) |
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129 |
{ |
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130 |
task_failed(assignedOrders[i]); |
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131 |
break; |
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132 |
} |
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133 |
} |
|
134 |
} |
|
135 |
else if(msg->data.compare(0, 7, "SUCCESS") == 0) |
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136 |
{ |
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137 |
int order_id = atoi(msg->data.substr(8).c_str()); |
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for(int i=0; i<assignedOrders.size(); i++) |
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{ |
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140 |
if(assignedOrders[i].id == order_id) |
|
141 |
{ |
|
142 |
task_complete(assignedOrders[i]); |
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143 |
break; |
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144 |
} |
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} |
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146 |
} |
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147 |
else if(msg->data.compare(0, 8, "GET_TASK") == 0) |
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148 |
{ |
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149 |
int robot = atoi(msg->data.substr(9).c_str()); |
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get_task(robot); |
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151 |
} |
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152 |
else if(msg->data.compare(0, 8, "REGISTER") == 0) |
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{ |
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int id = robots.size() +1; |
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Robot new_robot; |
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156 |
new_robot.name = msg->data.substr(9); |
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new_robot.topic = n.subscribe(new_robot.name + "_topic", 1000, msg_callback); |
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robots.push_back(new_robot); |
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159 |
|
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160 |
std_msgs::String msg; |
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161 |
std::stringstream ss; |
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162 |
ss<<"REG_SUCCESS"; |
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msg.data = ss.str(); |
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sched_to_robot.publish(msg); |
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165 |
|
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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); |
|
170 |
} |
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171 |
|
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172 |
return; |
|
173 |
} |
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174 |
|
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114 | 175 |
/** @Brief: Continuously checks for waiting robots. If no robots are waiting, |
115 | 176 |
this function calls the waiting_dance() function. */ |
116 | 177 |
void Scheduler::run() |
117 | 178 |
{ |
179 |
while(robots.size() < 3); |
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180 |
|
|
118 | 181 |
while (ok()) |
119 | 182 |
{ |
183 |
ROS_INFO("Scheduler running"); |
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120 | 184 |
while(waitingRobots.empty() || unassignedOrders->arraySize()==0) |
121 | 185 |
waiting_dance(); |
122 | 186 |
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123 |
(waitingRobots.front())->set_task(get_next_item()); |
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187 |
|
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188 |
Order next = get_next_item(); |
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std_msgs::String msg; |
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190 |
std::stringstream ss; |
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ss<<"SET_TASK "<<next.id<<" "<<next.get_source()<<" "<<next.get_dest; |
|
192 |
msg.data = ss.str(); |
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193 |
sched_to_robot.publish(msg); |
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194 |
|
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124 | 195 |
waitingRobots.pop(); |
125 | 196 |
} |
126 | 197 |
} |
scout/libscout/src/behaviors/Scheduler.h | ||
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3 | 3 |
|
4 | 4 |
#include "../helper_classes/PQWrapper.h" |
5 | 5 |
#include "../helper_classes/Order.h" |
6 |
#include "WH_Robot.h" |
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7 | 6 |
#include "../Behavior.h" |
8 | 7 |
|
9 | 8 |
#define NUM_TASKS 5 |
10 | 9 |
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10 |
typedef struct{ |
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11 |
std::string name; |
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12 |
ros::Subscriber topic; |
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} Robot; |
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14 |
|
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11 | 15 |
class Scheduler : Behavior { |
12 |
std::vector<WH_Robot*> robots;
|
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16 |
std::vector<Robot> robots;
|
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13 | 17 |
PQWrapper* unassignedOrders; |
14 | 18 |
std::vector<Order> assignedOrders; |
15 |
std::queue<WH_Robot*> waitingRobots;
|
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19 |
std::queue<Robot> waitingRobots;
|
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16 | 20 |
|
17 | 21 |
void create_orders(); |
18 | 22 |
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19 | 23 |
void waiting_dance(); |
20 | 24 |
|
25 |
void msg_callback(const std_msgs::String::ConstPtr& msg); |
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26 |
|
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21 | 27 |
public: |
22 | 28 |
Scheduler(std::string scoutname); |
23 | 29 |
~Scheduler(); |
24 | 30 |
|
25 |
void get_task(WH_Robot* robot);
|
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31 |
void get_task(int robot);
|
|
26 | 32 |
|
27 | 33 |
void task_complete(Order o); |
28 | 34 |
void task_failed(Order o); |
... | ... | |
31 | 37 |
Order get_next_item(); |
32 | 38 |
|
33 | 39 |
void run(); |
40 |
|
|
41 |
ros::Publisher sched_to_robot; |
|
34 | 42 |
|
35 | 43 |
}; |
36 | 44 |
#endif |
scout/libscout/src/behaviors/WH_Robot.cpp | ||
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1 | 1 |
#include "WH_Robot.h" |
2 |
#include "Scheduler.h" |
|
3 | 2 |
#include "../helper_classes/Order.h" |
4 | 3 |
|
5 | 4 |
/** @Brief: warehouse robot constructor **/ |
6 |
WH_Robot::WH_Robot(std::string scoutname, void* sched):Behavior(scoutname, "WH_Robot")
|
|
5 |
WH_Robot::WH_Robot(std::string scoutname):Behavior(scoutname, "WH_Robot") |
|
7 | 6 |
{ |
7 |
ROS_INFO("WH_ROBOT: Creating a WH_Robot..."); |
|
8 | 8 |
nav_map = new navigationMap(scoutname); |
9 | 9 |
curr_task = DEFAULT_TASK; |
10 |
scheduler = sched; |
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10 |
name = scoutname; |
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reg_failed = 1; |
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12 |
|
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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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15 |
|
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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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21 |
msg.data = ss.str(); |
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robot_to_sched.publish(msg); |
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} |
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24 |
|
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ROS_INFO("WH_Robot: I am a created WH robot"); |
|
11 | 26 |
} |
12 | 27 |
|
13 | 28 |
WH_Robot::~WH_Robot() |
... | ... | |
22 | 37 |
|
23 | 38 |
int WH_Robot::exec_task() |
24 | 39 |
{ |
40 |
ROS_INFO("WH_robot: Executing a task"); |
|
25 | 41 |
assert(curr_task != DEFAULT_TASK); |
26 | 42 |
//TODO: do task |
27 | 43 |
srand(0xDEADBEEF); |
28 | 44 |
int error = rand() % 12; |
29 | 45 |
if(error < 9) //Fail with 1/4 probability |
30 | 46 |
{ |
47 |
ROS_INFO("WH_robot: TASK COMPLETE!"); |
|
31 | 48 |
return TASK_COMPLETED; |
32 | 49 |
} |
33 | 50 |
else |
34 | 51 |
{ |
52 |
ROS_INFO("WH_robot: TASK FAILED!"); |
|
35 | 53 |
return TASK_FAILED; |
36 | 54 |
} |
37 | 55 |
} |
38 | 56 |
|
39 |
void WH_Robot::run (){ |
|
40 |
((Scheduler*)scheduler)->get_task(this); |
|
41 |
while(curr_task == DEFAULT_TASK) |
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42 |
continue; |
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43 |
int error = exec_task(); |
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44 |
if(error == TASK_COMPLETED) |
|
45 |
{ |
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46 |
((Scheduler*)scheduler)->task_complete(*curr_task); |
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47 |
} |
|
48 |
else //error == TASK_FAILED |
|
57 |
void WH_Robot::msg_callback(const std_msgs::String::ConstPtr& msg) |
|
58 |
{ |
|
59 |
if(msg->data.compare(0, 11, "REG_SUCCESS") == 0) |
|
60 |
{ |
|
61 |
reg_failed = 0; |
|
62 |
} |
|
63 |
else if(msg->data.compare(0, 8, "SET_TASK") == 0) |
|
64 |
{ |
|
65 |
char* string = msg->data.c_str(); |
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66 |
char* data; |
|
67 |
data = strtok(string, " "); |
|
68 |
int id = atoi(data); |
|
69 |
data = strtok(string, " "); |
|
70 |
Address source = atoi(data); |
|
71 |
data = strtok(string, " "); |
|
72 |
Address dest = atoi(data); |
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73 |
Time start_time = ros::Time::now(); |
|
74 |
Path path = NULL; |
|
75 |
Duration est_time(0); |
|
76 |
|
|
77 |
curr_task = new Order(id, source, dest, start_time, path, est_time); |
|
78 |
} |
|
79 |
else |
|
80 |
{ |
|
81 |
ROS_INFO("I got a bad message: %s", msg->data); |
|
82 |
} |
|
83 |
} |
|
84 |
|
|
85 |
void WH_Robot::run () |
|
86 |
{ |
|
87 |
|
|
88 |
while(ok()) |
|
49 | 89 |
{ |
50 |
((Scheduler*)scheduler)->task_failed(*curr_task); |
|
90 |
ROS_INFO("WH_ROBOT: Running main loop"); |
|
91 |
|
|
92 |
|
|
93 |
std_msgs::String msg; |
|
94 |
std::stringstream ss; |
|
95 |
ss << "GET_TASK "<<id; |
|
96 |
msg.data = ss.str(); |
|
97 |
robot_to_sched.publish(msg); |
|
98 |
|
|
99 |
|
|
100 |
while(curr_task == DEFAULT_TASK) |
|
101 |
continue; |
|
102 |
int error = exec_task(); |
|
103 |
if(error == TASK_COMPLETED) |
|
104 |
{ |
|
105 |
|
|
106 |
|
|
107 |
ss << "SUCCESS "<<curr_task->id; |
|
108 |
msg.data = ss.str(); |
|
109 |
robot_to_sched.publish(msg); |
|
110 |
|
|
111 |
|
|
112 |
} |
|
113 |
else //error == TASK_FAILED |
|
114 |
{ |
|
115 |
|
|
116 |
|
|
117 |
ss << "FAILED "<<curr_task->id; |
|
118 |
msg.data = ss.str(); |
|
119 |
robot_to_sched.publish(msg); |
|
120 |
|
|
121 |
|
|
122 |
} |
|
123 |
delete curr_task; |
|
124 |
curr_task = DEFAULT_TASK; |
|
51 | 125 |
} |
52 |
curr_task = DEFAULT_TASK; |
|
53 | 126 |
} |
54 | 127 |
|
55 | 128 |
void WH_Robot::set_task(Order order) |
scout/libscout/src/behaviors/WH_Robot.h | ||
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12 | 12 |
#include <stdlib.h> |
13 | 13 |
|
14 | 14 |
class WH_Robot : Behavior{ |
15 |
std::string name; |
|
16 |
int id; |
|
17 |
|
|
18 |
int reg_failed; |
|
15 | 19 |
|
16 | 20 |
Order* curr_task; |
17 | 21 |
navigationMap* nav_map; |
18 |
void* scheduler; |
|
19 | 22 |
|
20 | 23 |
Duration get_worst_case_time(State start_state, State target_state); |
21 | 24 |
int exec_task(); |
22 | 25 |
|
26 |
void msg_callback(const std_msgs::String::ConstPtr& msg); |
|
27 |
|
|
23 | 28 |
public: |
24 |
WH_Robot(std::string scoutname, void* sched);
|
|
29 |
WH_Robot(std::string scoutname); |
|
25 | 30 |
~WH_Robot(); |
26 | 31 |
void run(); |
27 | 32 |
|
28 | 33 |
void set_task(Order order); |
29 | 34 |
|
35 |
ros::Publisher robot_to_sched; |
|
36 |
ros::Subscriber sched_to_robot; |
|
37 |
|
|
30 | 38 |
}; |
31 | 39 |
|
32 | 40 |
#endif |
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