Revision 7ac5e9bc
| ID | 7ac5e9bc2e048962b82aab3a995270bab56d816a |
ROS scheduler/whrobot behavior needs to be debugged
| scout/libscout/src/behaviors/WH_Robot.cpp | ||
|---|---|---|
| 4 | 4 |
/** @Brief: warehouse robot constructor **/ |
| 5 | 5 |
WH_Robot::WH_Robot(std::string scoutname):Behavior(scoutname, "WH_Robot") |
| 6 | 6 |
{
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ROS_INFO("WH_ROBOT: Creating a WH_Robot...");
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|
| 8 | 7 |
nav_map = new navigationMap(scoutname); |
| 9 | 8 |
curr_task = DEFAULT_TASK; |
| 10 | 9 |
name = scoutname; |
| 11 | 10 |
reg_failed = 1; |
| 12 | 11 |
|
| 13 |
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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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("A WH_Robot has been created");
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| 26 | 15 |
} |
| 27 | 16 |
|
| 28 | 17 |
WH_Robot::~WH_Robot() |
| ... | ... | |
| 54 | 43 |
} |
| 55 | 44 |
} |
| 56 | 45 |
|
| 57 |
void WH_Robot::msg_callback(const std_msgs::String::ConstPtr& msg)
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void WH_Robot::robot_callback(const std_msgs::String::ConstPtr& msg)
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| 58 | 47 |
{
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| 59 | 48 |
if(msg->data.compare(0, 11, "REG_SUCCESS") == 0) |
| 60 | 49 |
{
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id = atoi(msg->data.substr(12).c_str()); |
|
| 61 | 51 |
reg_failed = 0; |
| 62 | 52 |
} |
| 63 | 53 |
else if(msg->data.compare(0, 8, "SET_TASK") == 0) |
| 64 | 54 |
{
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char* string = msg->data.c_str(); |
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char* string = (char*)msg->data.c_str();
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| 66 | 56 |
char* data; |
| 67 | 57 |
data = strtok(string, " "); |
| 68 |
int id = atoi(data); |
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int order_id = atoi(data);
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| 69 | 59 |
data = strtok(string, " "); |
| 70 | 60 |
Address source = atoi(data); |
| 71 | 61 |
data = strtok(string, " "); |
| 72 | 62 |
Address dest = atoi(data); |
| 73 | 63 |
Time start_time = ros::Time::now(); |
| 74 |
Path path = NULL; |
|
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Path path; |
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path.len = 0; |
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path.path = NULL; |
|
| 75 | 67 |
Duration est_time(0); |
| 76 | 68 |
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curr_task = new Order(id, source, dest, start_time, path, est_time); |
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curr_task = new Order(order_id, source, dest, start_time, path, est_time);
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| 78 | 70 |
} |
| 79 | 71 |
else |
| 80 | 72 |
{
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ROS_INFO("I got a bad message: %s", msg->data);
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ROS_INFO("I got a bad message: %s", msg->data.c_str());
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| 82 | 74 |
} |
| 83 | 75 |
} |
| 84 | 76 |
|
| 85 | 77 |
void WH_Robot::run () |
| 86 | 78 |
{
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ROS_INFO("I am a robot. Registering with scheduler...");
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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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spinOnce(); |
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} |
|
| 87 | 90 |
|
| 88 | 91 |
while(ok()) |
| 89 | 92 |
{
|
| ... | ... | |
| 96 | 99 |
msg.data = ss.str(); |
| 97 | 100 |
robot_to_sched.publish(msg); |
| 98 | 101 |
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spinOnce(); |
|
| 99 | 103 |
|
| 100 | 104 |
while(curr_task == DEFAULT_TASK) |
| 101 | 105 |
continue; |
| ... | ... | |
| 104 | 108 |
{
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| 105 | 109 |
|
| 106 | 110 |
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ss << "SUCCESS "<<curr_task->id;
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ss << "SUCCESS "<<curr_task->getid();
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| 108 | 112 |
msg.data = ss.str(); |
| 109 | 113 |
robot_to_sched.publish(msg); |
| 110 | 114 |
|
| ... | ... | |
| 114 | 118 |
{
|
| 115 | 119 |
|
| 116 | 120 |
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ss << "FAILED "<<curr_task->id;
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ss << "FAILED "<<curr_task->getid();
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| 118 | 122 |
msg.data = ss.str(); |
| 119 | 123 |
robot_to_sched.publish(msg); |
| 120 | 124 |
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