Revision 3f72678f
ID | 3f72678f171cbcb5499524f6cbfe994f4a416364 |
Changing scheduler and WH robot to ROS messages
scout/libscout/src/behaviors/Scheduler.cpp | ||
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/** @Brief: Initialize data structures for the scheduler. */ |
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Scheduler::Scheduler(std::string scoutname):Behavior(scoutname, "Scheduler") |
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{ |
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WH_Robot* rob1 = new WH_Robot("Robot1", this); |
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WH_Robot* rob2 = new WH_Robot("Robot2", this); |
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WH_Robot* rob3 = new WH_Robot("Robot3", this); |
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ROS_INFO("Scheduler: Creating order PQ..."); |
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unassignedOrders = new PQWrapper(NUM_TASKS); |
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robots.push_back(rob1);
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robots.push_back(rob2); |
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robots.push_back(rob3);
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ROS_INFO("Scheduler: PQ orders initialized. ");
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sched_to_robot = n.advertise("sched_to_robot", 1000);
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create_orders(); |
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ROS_INFO("Scheduler: I am initialized!"); |
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} |
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/** @Brief: Free allocatetd memory. */ |
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Scheduler::~Scheduler() |
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{ |
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delete robots.at(0); |
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delete robots.at(1); |
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delete robots.at(2); |
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while(robots.size() != 0) |
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delete robots.at(0); |
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delete unassignedOrders;
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delete unassignedOrders; |
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} |
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/** @Brief: Add robot to the waiting queue. |
... | ... | |
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* the robot of the waiting queue, and gives it a |
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* task. |
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*/ |
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void Scheduler::get_task(WH_Robot* r)
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void Scheduler::get_task(int robot)
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{ |
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waitingRobots.push(r); |
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waitingRobots.push(robots[robot]);
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} |
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/** @Brief: Statically add orders to the Priority Queue Wrapper.*/ |
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void Scheduler::create_orders() |
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{ |
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ROS_INFO("Scheduler: Creating orders..."); |
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Path p; |
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p.len = 0; |
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p.path = NULL; |
... | ... | |
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Order d(4,0,2,t,p,end); |
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Order e(5,0,4,t,p,end); |
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ROS_INFO("Scheduler: Orders created. Adding to list"); |
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unassignedOrders->insert(a); |
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unassignedOrders->insert(b); |
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unassignedOrders->insert(c); |
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unassignedOrders->insert(d); |
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unassignedOrders->insert(e); |
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ROS_INFO("Scheduler: Orders initialized in list"); |
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} |
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/** @Brief: This is a confirmation that the task is complete. |
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This function removes the order from assignedOrders. */ |
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void Scheduler::task_complete(Order o) |
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{ |
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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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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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} |
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/** @Brief: This is a confirmation that the task failed. |
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This function places the order back on the PQWrapper. */ |
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void Scheduler::task_failed(Order o) |
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{ |
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ROS_INFO("Scheduler: Task id %d was failed", o.getid()); |
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task_complete(o); |
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unassignedOrders->insert(o); |
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} |
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/** @Brief: Do a waiting dance. */ |
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void Scheduler::waiting_dance() |
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{ |
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{
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ROS_INFO("Scheduler: TEEHEE i do a dance!"); |
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} |
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/** @Brief: The scheduling algorithm. Picks a task and pops from the PQWrapper. */ |
... | ... | |
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return *best; |
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} |
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void Scheduler::msg_callback(const std_msgs::String::ConstPtr& msg) |
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{ |
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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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for(int i=0; i<assignedOrders.size(); i++) |
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{ |
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if(assignedOrders[i].id == order_id) |
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{ |
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task_failed(assignedOrders[i]); |
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break; |
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} |
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} |
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} |
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else if(msg->data.compare(0, 7, "SUCCESS") == 0) |
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{ |
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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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if(assignedOrders[i].id == order_id) |
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{ |
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task_complete(assignedOrders[i]); |
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break; |
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} |
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} |
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} |
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else if(msg->data.compare(0, 8, "GET_TASK") == 0) |
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{ |
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int robot = atoi(msg->data.substr(9).c_str()); |
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get_task(robot); |
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} |
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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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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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std_msgs::String msg; |
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std::stringstream ss; |
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ss<<"REG_SUCCESS"; |
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msg.data = ss.str(); |
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sched_to_robot.publish(msg); |
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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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return; |
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} |
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/** @Brief: Continuously checks for waiting robots. If no robots are waiting, |
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this function calls the waiting_dance() function. */ |
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void Scheduler::run() |
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{ |
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while(robots.size() < 3); |
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while (ok()) |
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{ |
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ROS_INFO("Scheduler running"); |
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while(waitingRobots.empty() || unassignedOrders->arraySize()==0) |
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waiting_dance(); |
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(waitingRobots.front())->set_task(get_next_item()); |
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Order next = get_next_item(); |
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std_msgs::String msg; |
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std::stringstream ss; |
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ss<<"SET_TASK "<<next.id<<" "<<next.get_source()<<" "<<next.get_dest; |
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msg.data = ss.str(); |
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sched_to_robot.publish(msg); |
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waitingRobots.pop(); |
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} |
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} |
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