Colony » Colony Scout » Colony Scout OS

#include "WH_Robot.h"

#include "../helper_classes/Order.h"

/** @Brief: warehouse robot constructor **/

WH_Robot::WH_Robot(std::string scoutname):line_follow(scoutname) 

{

  nav_map = new navigationMap(scoutname);

  curr_task = DEFAULT_TASK;

  name = scoutname;

  reg_failed = 1;

  srand(0xDEADBEEF);

}

WH_Robot::~WH_Robot()

{

  delete(nav_map);

}

Duration WH_Robot::get_worst_case_time(State start_state, State target_state)

{

  return nav_map->get_worst_case_time(start_state, target_state);

}

/** @brief Drives from state 2 to the robot home base and goes to sleep for

 *  x seconds

 */

void WH_Robot::go_home(int x)

{

  unsigned int curr_state = nav_map->get_state();

  if(curr_state != 2)

  {

    ROS_WARN("Tried to go home from incorrect state %d", curr_state);

    return;

  }

  turn_straight();

  follow_line();

  turn_left();

  follow_line();

  Duration sleep_time(x);

  sleep_time.sleep();

  return;

}

void WH_Robot::leave_home()

{

  unsigned int curr_state = nav_map->get_state();

  if(curr_state != 2)

  {

    ROS_WARN("Tried to go home from incorrect state %d", curr_state);

    return;

  }

  turn_straight();

  follow_line();

  nav_map->update_state(ISTRAIGHT);

  turn_left();

  follow_line();

}

/** @brief Based on the given path, make

 *         the series of turns to follow this path,

 *         updating the current state in the navigation map as we do so   

 *  @param the Path to follow

 */

void WH_Robot::follow_path(Path path_to_follow){

  for(int i=0; i<path_to_follow.len; i++)

  {

    Turn t = path_to_follow.path[i];

    unsigned int curr_state = nav_map->get_state();

    nav_map->update_state(t);

    switch(t)

    {

      case ISTRAIGHT:

        turn_straight();

        follow_line();

        if(curr_state == 2)

        {

          turn_straight();

          follow_line();

          turn_straight();

          follow_line();

        }

        break;

      case ILEFT:

        turn_left();

        follow_line();

        break;

      case IRIGHT:

        if(9 <= curr_state && curr_state <= 12)

        {

          turn_straight();

          follow_line();

        }

        turn_right();

        follow_line();

        if(curr_state <= 4)

        {

          turn_straight();

          follow_line();

        }

        break;

      case IUTURN:

        u_turn();

        follow_line();

        break;

      case ISPOTTURN:

        spot_turn();

        follow_line();

        break;

    }

  }  

}

int WH_Robot::exec_task()

{

  assert(curr_task != DEFAULT_TASK);

  // remember where you started doing this task so we know where to return

  // State home_state = nav_map->get_state();

  // For now, use state 2.

  Path new_path = nav_map->shortest_path(curr_task->get_dest());

  curr_task->set_path(new_path);

  follow_path(new_path);

  //TODO: forklift yaaaay

  int did_task_complete;

  int error = rand() % 12;

  if(error < 9) //Fail with 1/4 probability

  {

    ROS_INFO("WH_robot: TASK COMPLETE!");

    did_task_complete = TASK_COMPLETED;

  }

  else

  {

    ROS_INFO("WH_robot: TASK FAILED!");

    did_task_complete = TASK_FAILED;

  }

  // For now use state 2 as home state

  // Path return_path = nav_map->shortest_path(home_state);

  Path return_path = nav_map->shortest_path(2);

  curr_task->set_path(return_path);

  follow_path(return_path);

  return did_task_complete;

}

void WH_Robot::robot_callback(const std_msgs::String::ConstPtr& msg)

{

  if(msg->data.compare(0, 11, "REG_SUCCESS") == 0)

  {

    id = atoi(msg->data.substr(12).c_str());

    reg_failed = 0;

  }

  else if(msg->data.compare(0, 8, "SET_TASK") == 0)

  {

    char* string = (char*)msg->data.c_str();

    char* data;

    data = strtok(string, " ");

    data = strtok(NULL, " ");

    int order_id = atoi(data);

    data = strtok(NULL, " ");

    Address source = atoi(data);

    data = strtok(NULL, " ");

    Address dest = atoi(data);

    Time start_time = ros::Time::now();

    Path path;

    path.len = 0;

    path.path = NULL;

    Duration est_time(0);

    curr_task = new Order(order_id, source, dest, start_time, path, est_time);

  }

  else

  {

    ROS_INFO("I got a bad message: %s", msg->data.c_str());

  }

}

void WH_Robot::run ()

{

  ROS_INFO("A WH_Robot has been created");

  robot_to_sched = node.advertise<std_msgs::String>("robot_to_sched", 1000);

  sched_to_robot = node.subscribe(name + "_topic", 1000, &WH_Robot::robot_callback, this);

  ROS_INFO("I am a robot. Registering with scheduler...");

  while(reg_failed && ok())

  {

    std_msgs::String msg;

    std::stringstream ss;

    ss << "REGISTER "<<name;

    msg.data = ss.str();

    robot_to_sched.publish(msg);

    spinOnce();

  }

  follow_line();

  while(ok())

  {

    ROS_INFO("WH_ROBOT: Running main loop");

      std_msgs::String msg;

      std::stringstream ss;

      ss << "GET_TASK "<<id;

      msg.data = ss.str();

      robot_to_sched.publish(msg);

    while(curr_task == DEFAULT_TASK && ok()){

      spinOnce();

    }

    int error = exec_task();

    /** Go to robot home base */

    go_home(2);

    leave_home();

    if(error == TASK_COMPLETED)

    {

      std_msgs::String msg;

      std::stringstream ss;

      ss << "SUCCESS "<<curr_task->getid();

      msg.data = ss.str();

      robot_to_sched.publish(msg);

    }

    else //error == TASK_FAILED

    {

      std_msgs::String msg;

      std::stringstream ss;

      ss << "FAILED "<<curr_task->getid();

      msg.data = ss.str();

      robot_to_sched.publish(msg);

    }

    delete curr_task;

    curr_task = DEFAULT_TASK;

  }

}

void WH_Robot::set_task(Order order)

{

  curr_task = new Order(order.getid(), order.get_source(), order.get_dest(), 

      order.get_start_time(), order.get_path(), order.get_est_time()); 

  return;

}