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core_zone_exec.h
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/*
* Copyright 2014 Instituto de Sistemas e Robotica, Instituto Superior Tecnico
*
* This file is part of RoAH RSBB.
*
* RoAH RSBB is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* RoAH RSBB is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with RoAH RSBB. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __CORE_ZONE_EXEC_H__
#define __CORE_ZONE_EXEC_H__
#include "core_includes.h"
#include "core_shared_state.h"
#include "core_zone_base.h"
class ExecutingBenchmark
: boost::noncopyable
{
protected:
CoreSharedState& ss_;
Publisher timeout_pub_;
Event const& event_;
DisplayText display_log_;
DisplayText display_online_data_;
roah_rsbb_msgs::BenchmarkState::State state_;
enum { PHASE_PRE, PHASE_EXEC, PHASE_POST } phase_;
bool stoped_due_to_timeout_;
TimeControl time_;
Time last_stop_time_;
string state_desc_;
Time state_time_;
string manual_operation_;
RsbbLog log_;
vector<ScoringItem> scoring_;
void
set_state (Time const& now,
roah_rsbb_msgs::BenchmarkState::State const& state,
string const& desc)
{
state_ = state;
state_desc_ = desc;
state_time_ = now;
log_.set_state (now, state, desc);
}
virtual void
phase_exec_2 (Time const& now) {}
void
phase_exec (string const& desc)
{
Time now = Time::now();
if (phase_ == PHASE_PRE) {
time_.start_reset (now);
}
else {
time_.resume_hot (now);
}
phase_ = PHASE_EXEC;
stoped_due_to_timeout_ = false;
set_state (now, roah_rsbb_msgs::BenchmarkState_State_PREPARE, desc);
phase_exec_2 (now);
}
virtual void
phase_post_2 (Time const& now) {}
void
phase_post (string const& desc)
{
Time now = Time::now();
cout << "AT PHASE POST --- REASON: " << desc << endl;
phase_ = PHASE_POST;
last_stop_time_ = now;
set_state (now, roah_rsbb_msgs::BenchmarkState_State_STOP, desc);
time_.stop_pause (now);
phase_post_2 (now);
}
private:
boost::function<void() > end_;
void
timeout_2 ()
{
if (phase_ != PHASE_EXEC) {
return;
}
stoped_due_to_timeout_ = true;
phase_post ("Stopped due to timeout!");
timeout_pub_.publish (std_msgs::Empty());
}
public:
ExecutingBenchmark (CoreSharedState& ss,
Event const& event,
boost::function<void() > end)
: ss_ (ss)
, timeout_pub_ (ss_.nh.advertise<std_msgs::Empty> ("/timeout", 1, false))
, event_ (event)
, display_log_()
, display_online_data_()
, phase_ (PHASE_PRE)
, stoped_due_to_timeout_ (false)
, time_ (ss, event_.benchmark.timeout, boost::bind (&ExecutingBenchmark::timeout_2, this))
, manual_operation_ ("")
, log_ (event.team, event.round, event.run, ss.run_uuid, display_log_)
, scoring_ (event.benchmark.scoring)
, end_ (end)
{
Time now = Time::now();
set_state (now, roah_rsbb_msgs::BenchmarkState_State_STOP, "All OK for start");
}
virtual ~ExecutingBenchmark()
{
log_.end();
}
void
terminate_benchmark()
{
time_.stop_pause (Time());
stop_communication();
end_();
}
void
set_score (roah_rsbb::Score const& score)
{
Time now = Time::now();
for (ScoringItem& i : scoring_) {
if ( (score.group == i.group) && (score.desc == i.desc)) {
i.current_value = score.value;
log_.log_score ("/rsbb_log/score", now, score);
return;
}
}
ROS_ERROR_STREAM ("Did not find group " << score.group << " desc " << score.desc);
}
virtual void
manual_operation_complete()
{
ROS_WARN_STREAM ("Ignored unexpected manual operation command");
}
virtual void
omf_complete()
{
ROS_WARN_STREAM ("Ignored unexpected omf_complete command");
}
virtual void
omf_damaged (uint8_t damaged)
{
ROS_WARN_STREAM ("Ignored unexpected omf_damaged command");
}
virtual void
omf_button (uint8_t button)
{
ROS_WARN_STREAM ("Ignored unexpected omf_button command");
}
void
start()
{
switch (state_) {
case roah_rsbb_msgs::BenchmarkState_State_STOP:
phase_exec ("Robot preparing for task");
return;
case roah_rsbb_msgs::BenchmarkState_State_PREPARE:
case roah_rsbb_msgs::BenchmarkState_State_GOAL_TX:
case roah_rsbb_msgs::BenchmarkState_State_WAITING_RESULT:
return;
}
}
void
stop()
{
switch (state_) {
case roah_rsbb_msgs::BenchmarkState_State_STOP:
terminate_benchmark();
return;
case roah_rsbb_msgs::BenchmarkState_State_PREPARE:
case roah_rsbb_msgs::BenchmarkState_State_GOAL_TX:
case roah_rsbb_msgs::BenchmarkState_State_WAITING_RESULT:
phase_post ("Benchmark Stopped by referee");
return;
}
}
virtual void
fill_2 (Time const& now,
roah_rsbb::ZoneState& zone) = 0;
void
fill (Time const& now,
roah_rsbb::ZoneState& zone)
{
switch (phase_) {
case PHASE_PRE:
zone.timer = event_.benchmark.timeout;
break;
case PHASE_EXEC:
zone.timer = time_.get_until_timeout (now);
break;
case PHASE_POST:
zone.timer = last_stop_time_ + Duration (param_direct<double> ("~after_stop_duration", 120.0)) - now;
break;
}
zone.state = state_desc_;
zone.manual_operation = manual_operation_;
zone.start_enabled = state_ == roah_rsbb_msgs::BenchmarkState_State_STOP;
zone.stop_enabled = ! zone.start_enabled;
const size_t log_size = param_direct<int> ("~display_log_size", 3000);
zone.log = display_log_.last (log_size);
zone.online_data = display_online_data_.last (log_size);
for (ScoringItem const& i : scoring_) {
if (zone.scoring.empty() || (zone.scoring.back().group_name != i.group)) {
zone.scoring.push_back (roah_rsbb::ZoneScoreGroup());
zone.scoring.back().group_name = i.group;
}
switch (i.type) {
case ScoringItem::SCORING_BOOL:
zone.scoring.back().types.push_back (roah_rsbb::ZoneScoreGroup::SCORING_BOOL);
break;
case ScoringItem::SCORING_UINT:
zone.scoring.back().types.push_back (roah_rsbb::ZoneScoreGroup::SCORING_UINT);
break;
default:
ROS_FATAL_STREAM ("type in ScoringItem error");
abort_rsbb();
}
zone.scoring.back().descriptions.push_back (i.desc);
zone.scoring.back().current_values.push_back (i.current_value);
}
fill_2 (now, zone);
}
roah_rsbb_msgs::BenchmarkState::State
state()
{
return state_;
}
virtual void
stop_communication() = 0;
};
class ExecutingSingleRobotBenchmark
: public ExecutingBenchmark
{
protected:
string robot_name_;
unique_ptr<roah_rsbb::RosPrivateChannel> private_channel_;
roah_rsbb_msgs::Time ack_;
Duration last_skew_;
Time last_beacon_;
Timer state_timer_;
uint32_t messages_saved_;
ReceiverRepeated rcv_notifications_;
ReceiverRepeated rcv_activation_event_;
ReceiverRepeated rcv_visitor_;
ReceiverRepeated rcv_final_command_;
virtual void
receive_robot_state_2 (Time const& now,
roah_rsbb_msgs::RobotState const& msg) {}
virtual void
fill_benchmark_state_2 (roah_rsbb_msgs::BenchmarkState& msg) {}
private:
void
transmit_state (const TimerEvent& = TimerEvent())
{
ROS_DEBUG ("Transmitting benchmark state");
roah_rsbb_msgs::BenchmarkState msg;
msg.set_benchmark_type (event_.benchmark_code);
msg.set_benchmark_state (state_);
(* (msg.mutable_acknowledgement())) = ack_;
fill_benchmark_state_2 (msg);
private_channel_->send (msg);
}
void
receive_benchmark_state (boost::asio::ip::udp::endpoint endpoint,
uint16_t comp_id,
uint16_t msg_type,
std::shared_ptr<const roah_rsbb_msgs::BenchmarkState> msg)
{
ROS_ERROR_STREAM ("Detected another RSBB transmitting in the private channel for team " << event_.team << ": " << endpoint.address().to_string()
<< ":" << endpoint.port()
<< ", COMP_ID " << comp_id
<< ", MSG_TYPE " << msg_type << endl);
}
void
receive_robot_state (boost::asio::ip::udp::endpoint endpoint,
uint16_t comp_id,
uint16_t msg_type,
std::shared_ptr<const roah_rsbb_msgs::RobotState> msg)
{
Time now = last_beacon_ = Time::now();
Time msg_time (msg->time().sec(), msg->time().nsec());
Duration last_skew_ = msg_time - now;
ROS_DEBUG_STREAM ("Received RobotState from " << endpoint.address().to_string()
<< ":" << endpoint.port()
<< ", COMP_ID " << comp_id
<< ", MSG_TYPE " << msg_type
<< ", time: " << msg->time().sec() << "." << msg->time().nsec()
<< ", skew: " << last_skew_);
ss_.active_robots.add (event_.team, robot_name_, last_skew_, now);
messages_saved_ = msg->messages_saved();
/* if ( (messages_saved_ == 0) */
/* && (param_direct<bool> ("~check_messages_saved", true)) */
/* && ( (state_ == roah_rsbb_msgs::BenchmarkState_State_GOAL_TX) */
/* || (state_ == roah_rsbb_msgs::BenchmarkState_State_WAITING_RESULT)) */
/* && ( (now - state_time_).toSec() > param_direct<double> ("~check_messages_saved_timeout", 5.0))) { */
/* phase_post ("STOPPED BENCHMARK: Messages saved information received from robot is still 0!"); */
/* } */
ack_ = msg->time();
rcv_notifications_.receive (now, msg->notifications());
rcv_activation_event_.receive (now, msg->activation_event());
rcv_visitor_.receive (now, msg->visitor());
rcv_final_command_.receive (now, msg->final_command());
receive_robot_state_2 (now, *msg);
}
public:
ExecutingSingleRobotBenchmark (CoreSharedState& ss,
Event const& event,
boost::function<void() > end,
string const& robot_name)
: ExecutingBenchmark (ss, event, end)
, robot_name_ (robot_name)
, private_channel_ (new roah_rsbb::RosPrivateChannel (param_direct<string> ("~rsbb_host", "10.255.255.255"),
ss_.private_port(),
event_.password,
param_direct<string> ("~rsbb_cypher", "aes-128-cbc")))
, state_timer_ (ss_.nh.createTimer (Duration (0.2), &ExecutingSingleRobotBenchmark::transmit_state, this))
, messages_saved_ (0)
, rcv_notifications_ (log_, "/notification", display_online_data_)
, rcv_activation_event_ (log_, "/command", display_online_data_)
, rcv_visitor_ (log_, "/visitor", display_online_data_)
, rcv_final_command_ (log_, "/command", display_online_data_)
{
ack_.set_sec (0);
ack_.set_nsec (0);
private_channel_->set_benchmark_state_callback (&ExecutingSingleRobotBenchmark::receive_benchmark_state, this);
private_channel_->set_robot_state_callback (&ExecutingSingleRobotBenchmark::receive_robot_state, this);
ss_.benchmarking_robots[event_.team] = make_pair (robot_name_, private_channel_->port());
}
void
stop_communication()
{
state_timer_.stop();
private_channel_->signal_benchmark_state_received().disconnect_all_slots();
private_channel_->signal_robot_state_received().disconnect_all_slots();
ss_.benchmarking_robots.erase (event_.team);
}
};
class ExecutingSimpleBenchmark
: public ExecutingSingleRobotBenchmark
{
void
receive_robot_state_2 (Time const& now,
roah_rsbb_msgs::RobotState const& msg)
{
switch (state_) {
case roah_rsbb_msgs::BenchmarkState_State_STOP:
break;
case roah_rsbb_msgs::BenchmarkState_State_PREPARE:
if (msg.robot_state() == roah_rsbb_msgs::RobotState_State_WAITING_GOAL) {
set_state (now, roah_rsbb_msgs::BenchmarkState_State_WAITING_RESULT, "Robot finished preparation, executing (no explicit goal)");
}
break;
case roah_rsbb_msgs::BenchmarkState_State_GOAL_TX:
ROS_FATAL_STREAM ("Internal error, state should never be BenchmarkState_State_GOAL_TX for this benchmark");
terminate_benchmark();
return;
case roah_rsbb_msgs::BenchmarkState_State_WAITING_RESULT:
switch (msg.robot_state()) {
case roah_rsbb_msgs::RobotState_State_STOP:
case roah_rsbb_msgs::RobotState_State_PREPARING:
phase_exec ("Received wrong state from robot, retrying from prepare");
break;
case roah_rsbb_msgs::RobotState_State_WAITING_GOAL:
case roah_rsbb_msgs::RobotState_State_EXECUTING:
// Keep
break;
case roah_rsbb_msgs::RobotState_State_RESULT_TX:
phase_post ("Benchmark completed by the robot");
break;
}
break;
}
if (event_.benchmark_code == "HCFGAC") {
if (msg.has_devices_switch_1()
&& (msg.devices_switch_1() != ss_.last_devices_state->switch_1)) {
roah_devices::Bool b;
b.request.data = msg.devices_switch_1();
call_service ("/devices/switch_1/set", b);
log_.log_uint8 ("/rsbb_log/devices/switch_1", now, b.request.data ? 1 : 0);
}
if (msg.has_devices_switch_2()
&& (msg.devices_switch_2() != ss_.last_devices_state->switch_2)) {
roah_devices::Bool b;
b.request.data = msg.devices_switch_2();
call_service ("/devices/switch_2/set", b);
log_.log_uint8 ("/rsbb_log/devices/switch_2", now, b.request.data ? 1 : 0);
}
if (msg.has_devices_switch_3()
&& (msg.devices_switch_3() != ss_.last_devices_state->switch_3)) {
roah_devices::Bool b;
b.request.data = msg.devices_switch_3();
call_service ("/devices/switch_3/set", b);
log_.log_uint8 ("/rsbb_log/devices/switch_3", now, b.request.data ? 1 : 0);
}
if (msg.has_devices_blinds()
&& (msg.devices_blinds() != ss_.last_devices_state->blinds)) {
roah_devices::Percentage p;
p.request.data = msg.devices_blinds();
call_service ("/devices/blinds/set", p);
log_.log_uint8 ("/rsbb_log/devices/blinds", now, p.request.data);
}
if (msg.has_devices_dimmer()
&& (msg.devices_dimmer() != ss_.last_devices_state->dimmer)) {
roah_devices::Percentage p;
p.request.data = msg.devices_dimmer();
call_service ("/devices/dimmer/set", p);
log_.log_uint8 ("/rsbb_log/devices/dimmer", now, p.request.data);
}
if (msg.has_tablet_display_map()
&& (ss_.tablet_display_map != msg.tablet_display_map())) {
ss_.tablet_display_map = msg.tablet_display_map();
log_.log_uint8 ("/rsbb_log/tablet/display_map", now, ss_.tablet_display_map ? 1 : 0);
}
}
}
public:
ExecutingSimpleBenchmark (CoreSharedState& ss,
Event const& event,
boost::function<void() > end,
string const& robot_name)
: ExecutingSingleRobotBenchmark (ss, event, end, robot_name)
{
}
void
fill_2 (Time const& now,
roah_rsbb::ZoneState& zone)
{
add_to_sting (zone.state) << "Messages saved: " << messages_saved_;
if (last_skew_ > Duration (0.5)) {
zone.state += "\nWARNING: Last clock skew above threshold: " + to_string (last_skew_.toSec());
}
if ( (now - last_beacon_) > Duration (5)) {
zone.state += "\nWARNING: Last robot transmission received " + to_string ( (now - last_beacon_).toSec()) + " seconds ago";
}
}
};
class ExecutingExternallyControlledBenchmark
: public ExecutingSingleRobotBenchmark
{
bool waiting_for_omf_complete_;
rockin_benchmarking::RefBoxState::_state_type refbox_state_;
string annoying_refbox_payload_;
rockin_benchmarking::ClientState::_state_type client_state_;
string annoying_client_payload_;
Publisher client_state_pub_;
Publisher refbox_state_pub_;
Subscriber bmbox_state_sub_;
rockin_benchmarking::BmBoxState::ConstPtr last_bmbox_state_;
Timer annoying_timer_;
vector<bool> goal_initial_state_;
vector<uint32_t> goal_switches_;
Time last_exec_start_;
Duration exec_duration_;
set<uint32_t> on_switches_;
vector<uint32_t> changed_switches_;
uint32_t damaged_switches_;
Duration total_timeout_;
bool last_timeout_;
vector<vector<double> > fbm2_locations_;
int location_idx_;
double fbm2_penalty_time_;
double fbm2_timeout_time_;
int fbm2_num_points_;
vector<double> fbm2_starting_pose_;
void
set_client_state (Time const& now,
rockin_benchmarking::ClientState::_state_type client_state,
string const& payload = "")
{
if (client_state != client_state_) {
// ROS_INFO("-------------------Setting Client state to: %d", client_state);
client_state_ = client_state;
annoying_client_payload_ = payload;
rockin_benchmarking::ClientState msg;
msg.state = client_state;
msg.payload = payload;
client_state_pub_.publish (msg);
log_.log_uint8 ("/rsbb_log/client_state", now, client_state);
log_.log_string ("/rsbb_log/client_state_payload", now, payload);
}
}
void
set_refbox_state (Time const& now,
rockin_benchmarking::RefBoxState::_state_type refbox_state,
string const& payload = "")
{
if (refbox_state != refbox_state_) {
// ROS_INFO("-------------------Setting RefBox state to: %d-------------------", refbox_state);
refbox_state_ = refbox_state;
annoying_refbox_payload_ = payload;
rockin_benchmarking::RefBoxState msg;
msg.state = refbox_state;
msg.payload = payload;
refbox_state_pub_.publish (msg);
log_.log_uint8 ("/rsbb_log/refbox_state", now, refbox_state);
log_.log_string ("/rsbb_log/refbox_state_payload", now, payload);
}
}
void
annoying_timer (const TimerEvent& = TimerEvent())
{
if (client_state_ != rockin_benchmarking::ClientState::START) {
rockin_benchmarking::ClientState msg;
msg.state = client_state_;
msg.payload = annoying_client_payload_;
client_state_pub_.publish (msg);
}
if (refbox_state_ != rockin_benchmarking::RefBoxState::START) {
rockin_benchmarking::RefBoxState msg;
msg.state = refbox_state_;
msg.payload = annoying_refbox_payload_;
refbox_state_pub_.publish (msg);
}
}
void
check_bmbox_transition()
{
Time now = Time::now();
switch (state_) {
case roah_rsbb_msgs::BenchmarkState_State_STOP:
if (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::TRANSMITTING_SCORE) {
cout << "AT STOP" << endl;
}
break;
case roah_rsbb_msgs::BenchmarkState_State_PREPARE:
if (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::TRANSMITTING_SCORE) {
if (event_.benchmark_code == "HNF") {
if (location_idx_ >= fbm2_num_points_) {
set_client_state (now, rockin_benchmarking::ClientState::END);
set_refbox_state (now, rockin_benchmarking::RefBoxState::RECEIVED_SCORE);
phase_post ("Benchmark complete! Received score from BmBox: " + last_bmbox_state_->payload);
}
}
}
if ( (refbox_state_ == rockin_benchmarking::RefBoxState::READY)
&& (client_state_ == rockin_benchmarking::ClientState::WAITING_GOAL)) {
//ROS_INFO("-------------------BmBox: at_prepare");
if (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::WAITING_MANUAL_OPERATION) {
set_refbox_state (now, rockin_benchmarking::RefBoxState::EXECUTING_MANUAL_OPERATION);
manual_operation_ = last_bmbox_state_->payload;
// Stop main timer
time_.stop_pause (now);
}
}
if ( ( (refbox_state_ == rockin_benchmarking::RefBoxState::READY)
|| (refbox_state_ == rockin_benchmarking::RefBoxState::EXECUTING_GOAL))
&& (client_state_ == rockin_benchmarking::ClientState::WAITING_GOAL)) {
//ROS_INFO("-------------------BmBox: PRE ---- transmitting goal");
if (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::TRANSMITTING_GOAL) {
//ROS_INFO("-------------------BmBox: transmitting goal");
last_exec_start_ = now;
exec_duration_ = Duration();
// Resume main timer
time_.resume (now);
YAML::Node node = YAML::Load (last_bmbox_state_->payload);
goal_initial_state_.clear();
for (auto const& i : node[0]["initial_state"]) {
goal_initial_state_.push_back (i.as<int>() ? true : false);
}
for (size_t i = 0; i < goal_initial_state_.size(); ++i) {
if (goal_initial_state_[i]) {
on_switches_.insert (i + 1);
}
}
goal_switches_.clear();
for (auto const& i : node[0]["switches"]) {
goal_switches_.push_back (i.as<uint32_t>() + param_direct<int> ("~switch_ids_bmbox_to_right", 1));
}
log_.log_string ("/rsbb_log/bmbox/goal", now, last_bmbox_state_->payload);
set_state (now, roah_rsbb_msgs::BenchmarkState_State_GOAL_TX, "Robot finished preparation, received goal from BmBox, starting execution");
}
else if (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::WAITING_RESULT) {
last_exec_start_ = now;
exec_duration_ = Duration();
// Resume main timer
time_.resume (now);
set_state (now, roah_rsbb_msgs::BenchmarkState_State_GOAL_TX, "Robot finished preparation, no goal from BmBox, starting execution");
set_refbox_state (now, rockin_benchmarking::RefBoxState::EXECUTING_GOAL);
set_client_state (now, rockin_benchmarking::ClientState::EXECUTING_GOAL);
// No check_bmbox_transition here
}/* else if (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::READY) { */
/* cout << "\n\nMAIS UM PRINT BONITO\n\n"; */
/* } */
}
break;
case roah_rsbb_msgs::BenchmarkState_State_GOAL_TX:
if (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::TRANSMITTING_SCORE) {
cout << "AT GOAL TX" << endl;
}
if ( (refbox_state_ == rockin_benchmarking::RefBoxState::EXECUTING_GOAL)
&& (client_state_ == rockin_benchmarking::ClientState::EXECUTING_GOAL)
&& (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::WAITING_RESULT)) {
//ROS_INFO("-------------------BmBox: goal tx");
set_state (now, roah_rsbb_msgs::BenchmarkState_State_WAITING_RESULT, "Robot received goal, waiting for result");
}
break;
case roah_rsbb_msgs::BenchmarkState_State_WAITING_RESULT:
if (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::TRANSMITTING_SCORE) {
cout << "AT WAITING RESULT" << endl;
}
if ( (refbox_state_ == rockin_benchmarking::RefBoxState::READY)
&& (client_state_ == rockin_benchmarking::ClientState::COMPLETED_GOAL)) {
//ROS_INFO("-------------------BmBox: waiting result");
if (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::TRANSMITTING_SCORE) {
log_.log_string ("/rsbb_log/bmbox/score", now, last_bmbox_state_->payload);
set_refbox_state (now, rockin_benchmarking::RefBoxState::RECEIVED_SCORE);
phase_post ("Benchmark complete! Received score from BmBox: " + last_bmbox_state_->payload);
}
else if ( (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::WAITING_MANUAL_OPERATION)
|| (last_bmbox_state_->state == rockin_benchmarking::BmBoxState::TRANSMITTING_GOAL)) {
phase_exec ("Robot preparing for new goal!");
}
}
break;
}
}
void
receive_robot_state_2 (Time const& now,
roah_rsbb_msgs::RobotState const& msg)
{
switch (state_) {
case roah_rsbb_msgs::BenchmarkState_State_STOP:
break;
case roah_rsbb_msgs::BenchmarkState_State_PREPARE:
/* if (event_.benchmark_code == "HNF") { */
/* set_state (now, roah_rsbb_msgs::BenchmarkState_State_GOAL_TX, "Robot is waiting for goal."); */
/* set_refbox_state (now, rockin_benchmarking::RefBoxState::EXECUTING_GOAL); */
/* set_client_state (now, rockin_benchmarking::ClientState::WAITING_GOAL); */
/* } */
if (client_state_ != rockin_benchmarking::ClientState::WAITING_GOAL) {
if (msg.robot_state() == roah_rsbb_msgs::RobotState_State_WAITING_GOAL) {
set_refbox_state (now, rockin_benchmarking::RefBoxState::READY);
set_client_state (now, rockin_benchmarking::ClientState::WAITING_GOAL);
check_bmbox_transition();
set_state (now, state_, "Robot is waiting for goal.");
//ROS_INFO("-------------------ROBOT: at_prepare");
}
}
break;
case roah_rsbb_msgs::BenchmarkState_State_GOAL_TX:
if (client_state_ == rockin_benchmarking::ClientState::WAITING_GOAL) {
if (msg.robot_state() == roah_rsbb_msgs::RobotState_State_EXECUTING) {
set_refbox_state (now, rockin_benchmarking::RefBoxState::EXECUTING_GOAL);
set_client_state (now, rockin_benchmarking::ClientState::EXECUTING_GOAL);
check_bmbox_transition();
set_state (now, state_, "Robot is executing.");
//ROS_INFO("-------------------ROBOT: at_goal_tx");
}
}
break;
case roah_rsbb_msgs::BenchmarkState_State_WAITING_RESULT:
if (client_state_ == rockin_benchmarking::ClientState::EXECUTING_GOAL) {
if (msg.robot_state() == roah_rsbb_msgs::RobotState_State_RESULT_TX) {
//ROS_INFO("-------------------ROBOT: at_waiting_result");
if (exec_duration_.isZero()) {
exec_duration_ = now - last_exec_start_;
if (event_.benchmark_code == "HOMF") {
set_state (now, state_, "Robot finished executing. Waiting for switches input from referee.");
//ROS_INFO("-------------------ROBOT: at_waiting_Result_2");
// Time for the referee to press OMF Complete should be discarded
time_.stop_pause (now);
}
}
if (event_.benchmark_code == "HOPF") {
YAML::Node node;
// node["object_class"] = msg.has_object_class() ? msg.object_class() : "";
// node["object_name"] = msg.has_object_class() ? msg.object_name() : "";
// node["object_pose"]["x"] = msg.has_object_class() ? msg.object_pose_x() : 0;
// node["object_pose"]["y"] = msg.has_object_class() ? msg.object_pose_y() : 0;
// node["object_pose"]["theta"] = msg.has_object_class() ? msg.object_pose_theta() : 0;
node["item_class"] = msg.has_object_class() ? msg.object_class() : "";
node["item_instance"] = msg.has_object_class() ? msg.object_name() : "";
node["x"] = msg.has_object_class() ? msg.object_pose_x() : 0;
node["y"] = msg.has_object_class() ? msg.object_pose_y() : 0;
node["theta"] = msg.has_object_class() ? msg.object_pose_theta() : 0;
node["execution_time"] = exec_duration_.toSec();
string result = YAML::Dump (node);
log_.log_string ("/rsbb_log/opf_result", now, result);
set_refbox_state (now, rockin_benchmarking::RefBoxState::READY);
set_client_state (now, rockin_benchmarking::ClientState::COMPLETED_GOAL, result);
check_bmbox_transition();
}
else if (event_.benchmark_code == "HOMF") {
waiting_for_omf_complete_ = true;
}
else if (event_.benchmark_code == "HNF") {
if (location_idx_ < fbm2_num_points_) {
location_idx_++;
if (location_idx_ == fbm2_num_points_) {
set_refbox_state (now, rockin_benchmarking::RefBoxState::RECEIVED_SCORE);
phase_post ("Benchmark complete! Received score from BmBox: " + last_bmbox_state_->payload);
}
}
//cout << "\n\nCENAS COISAS ACONTECERAM\n\n" << flush;
set_refbox_state (now, rockin_benchmarking::RefBoxState::READY);
set_client_state (now, rockin_benchmarking::ClientState::COMPLETED_GOAL, "");
check_bmbox_transition();
}
}
}
break;
}
}
void
fill_benchmark_state_2 (roah_rsbb_msgs::BenchmarkState& msg)
{
if (state_ == roah_rsbb_msgs::BenchmarkState_State_GOAL_TX) {
/* for (auto const& i : goal_initial_state_) { */
/* msg.add_initial_state (i); */
/* } */
/* for (auto const& i : goal_switches_) { */
/* msg.add_switches (i); */
/* } */
msg.set_target_pose_x (fbm2_locations_[location_idx_][0]);
msg.set_target_pose_y (fbm2_locations_[location_idx_][1]);
msg.set_target_pose_theta (fbm2_locations_[location_idx_][2]);
ROS_INFO ("Publishing Goal!!");
ROS_INFO ("Goal: %f, %f, %f", fbm2_locations_[location_idx_][0], fbm2_locations_[location_idx_][1], fbm2_locations_[location_idx_][2]);
}
}
void
bmbox_state_callback (rockin_benchmarking::BmBoxState::ConstPtr const& msg)
{
Time now = Time::now();
if (msg->state == last_bmbox_state_->state) {
return;
}
last_bmbox_state_ = msg;
if (phase_ != PHASE_EXEC) {
return;
}
check_bmbox_transition();
}
void
phase_exec_2 (Time const& now)
{
waiting_for_omf_complete_ = false;
/* goal_initial_state_.clear(); */
/* goal_switches_.clear(); */
/* on_switches_.clear(); */
/* changed_switches_.clear(); */
/* damaged_switches_ = 0; */
// OPF: Timeout should also happen for each object.
// Therefore, timeout refers to each object and a total_timeout
// is added for the whole benchmark.
total_timeout_ -= time_.get_elapsed (now);
if (event_.benchmark.timeout < total_timeout_) {
time_.start_reset (now, event_.benchmark.timeout);
last_timeout_ = false;
}
else {
time_.start_reset (now, total_timeout_);
last_timeout_ = true;
}
}
void
phase_post_2 (Time const& now)
{
if (refbox_state_ != rockin_benchmarking::RefBoxState::RECEIVED_SCORE) {
if (stoped_due_to_timeout_
&& (! last_timeout_)) {
// Partial timeout
//ROS_INFO("TIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUTTIMEOUT");
/* if (location_idx_ >= fbm2_num_points_) { */
/* set_refbox_state (now, rockin_benchmarking::RefBoxState::RECEIVED_SCORE); */
/* set_client_state (now, rockin_benchmarking::ClientState::END); */
/* phase_post ("Benchmark complete! Received score from BmBox: " + last_bmbox_state_->payload); */
/* return; */
/* } */
// If there is a partial timeout, update the FBM2 location index accordingly
if (event_.benchmark_code == "HNF") {
if (location_idx_ < fbm2_num_points_) {
location_idx_++;
set_client_state (now, rockin_benchmarking::ClientState::COMPLETED_GOAL, "reason: timeout");
//cout << "\n\nINCREMENTING LOCATION IDX DUE TO TIMEOUT!!!!\n\n";
if (location_idx_ == fbm2_num_points_) {
//set_refbox_state (now, rockin_benchmarking::RefBoxState::RECEIVED_SCORE);
set_client_state (now, rockin_benchmarking::ClientState::COMPLETED_GOAL, "reason: timeout");
//phase_post ("Benchmark complete! Received score from BmBox: " + last_bmbox_state_->payload);
}
}
set_state (now, roah_rsbb_msgs::BenchmarkState_State_WAITING_RESULT, "Robot received goal, waiting for result");
}
else {
set_refbox_state (now, rockin_benchmarking::RefBoxState::END, "reason: timeout");
set_client_state (now, rockin_benchmarking::ClientState::END);
}
/* ros::Duration(1).sleep(); */
/* set_client_state (now, rockin_benchmarking::ClientState::READY); */
phase_exec ("Robot timedout a goal, trying the next one...");
}
else {
// Global timeout
//ROS_INFO("GOBAL TIMEOUT || GOBAL TIMEOUT || GOBAL TIMEOUT || GOBAL TIMEOUT || GOBAL TIMEOUT || GOBAL TIMEOUT || GOBAL TIMEOUT || GOBAL TIMEOUT || GOBAL TIMEOUT || GOBAL TIMEOUT || GOBAL TIMEOUT");
set_state (now, roah_rsbb_msgs::BenchmarkState_State_STOP, "Global timeout.");
set_refbox_state (now, rockin_benchmarking::RefBoxState::END, "reason: stop");
set_client_state (now, rockin_benchmarking::ClientState::END);
}
}
}
private:
string
bmbox_prefix (Event const& event)
{
if (event.benchmark_code == "HOPF") {
return "/fbm1h/";
}
else if (event.benchmark_code == "HNF") {
return "/fbm2h/";
}
ROS_FATAL_STREAM ("Cannot execute benchmark of type " << event.benchmark_code << " with ExecutingExternallyControlledBenchmark");
terminate_benchmark();
return "/";
}
public:
ExecutingExternallyControlledBenchmark (CoreSharedState& ss,
Event const& event,
boost::function<void() > end,
string const& robot_name)
: ExecutingSingleRobotBenchmark (ss, event, end, robot_name)
, waiting_for_omf_complete_ (false)
, refbox_state_ (rockin_benchmarking::RefBoxState::START)
, client_state_ (rockin_benchmarking::ClientState::START)
, client_state_pub_ (ss_.nh.advertise<rockin_benchmarking::ClientState> (bmbox_prefix (event) + "client_state", 1, true))
, refbox_state_pub_ (ss_.nh.advertise<rockin_benchmarking::RefBoxState> (bmbox_prefix (event) + "refbox_state", 1, true))
, bmbox_state_sub_ (ss_.nh.subscribe (bmbox_prefix (event) + "bmbox_state", 1, &ExecutingExternallyControlledBenchmark::bmbox_state_callback, this))
, last_bmbox_state_ (boost::make_shared<rockin_benchmarking::BmBoxState>())
, annoying_timer_ (ss_.nh.createTimer (Duration (0.2), &ExecutingExternallyControlledBenchmark::annoying_timer, this))
, total_timeout_ (event.benchmark.total_timeout)
, location_idx_ (0)
{
Time now = Time::now();
std::vector< std::vector<double> > temp;
string fbm2_locations;
ss_.nh.getParam ("/roah_rsbb_core/fbm2_locations_file", fbm2_locations);
YAML::Node fbm2_config = YAML::LoadFile (fbm2_locations);
if (!fbm2_config["goal"]["starting_pose"]) {
ROS_FATAL_STREAM ("FBM2H file is missing a \"starting_pose\" entry!");
abort_rsbb();
}
else {
fbm2_starting_pose_ = fbm2_config["goal"]["starting_pose"].as<std::vector<double>>();
}
if (!fbm2_config["goal"]["penalty_time"]) {
ROS_FATAL_STREAM ("FBM2H file is missing a \"penalty_time\" entry!");
abort_rsbb();
}
else {
fbm2_penalty_time_ = fbm2_config["goal"]["penalty_time"].as<double>();
}
if (!fbm2_config["goal"]["timeout_time"]) {
ROS_FATAL_STREAM ("FBM2H file is missing a \"timeout_time\" entry!");
abort_rsbb();
}
else {
fbm2_timeout_time_ = fbm2_config["goal"]["timeout_time"].as<double>();
}
if (!fbm2_config["goal"]["waypoints"]) {
ROS_FATAL_STREAM ("FBM2H file is missing a \"timeout_time\" entry!");
abort_rsbb();
}
else {
for (YAML::const_iterator it = fbm2_config["goal"]["waypoints"].begin(); it != fbm2_config["goal"]["waypoints"].end(); ++it) {
std::vector<double> wp = (*it).as<std::vector<double>>();