prada_planner_alg_node.cpp

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#include "prada_planner_alg_node.h"

PradaPlannerAlgNode::PradaPlannerAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<PradaPlannerAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  this->getBestAction_server_ = this->public_node_handle_.advertiseService("getBestAction", &PradaPlannerAlgNode::getBestActionCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
  
  // other
}

PradaPlannerAlgNode::~PradaPlannerAlgNode(void)
{
  // [free dynamic memory]
}

void PradaPlannerAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */

/*  [service callbacks] */
bool PradaPlannerAlgNode::getBestActionCallback(iri_planning_msgs::PradaPlanSrv::Request &req, iri_planning_msgs::PradaPlanSrv::Response &res) 
{ 
        ROS_DEBUG("PradaPlannerAlgNode::getBestActionCallback: New Request Received!"); 

        //use appropiate mutex to shared variables if necessary 
        //this->alg_.lock(); 
        //this->getBestAction_mutex_.enter(); 
        
        if (req.updated_rules)
                this->alg_.reloadRules();
        
        this->alg_.setPlanStateFromFile();
        
        // check if a solution was found
        std::stringstream ss;
        relational::Literal *action;
        relational::LitL plan = alg_.getCompletePlan( alg_.getRecommendedPlanLength(relational::reason::getConstants().N) );
        if (plan.d0 > 0) { // if there is a plan
                for (size_t i = 0; i < plan.d0; i++) { // d0 == size() in std::vector
                        estirabot_msgs::ArrayIndexes target_ellipses;
                        
                        // get action name
                        action = plan(i);
                        ss.str("");
                        ss << action->s->name;
                        res.actions.push_back(ss.str());
                        
                        ROS_DEBUG_STREAM("PradaPlannerAlgNode::getBestActionCallback: adding action "<<ss.str());
                        // get action params
                        for (size_t j = 0; j < action->args.d0; j ++) {
                                target_ellipses.indexes.push_back(action->args(j) - 60);
                                ROS_DEBUG_STREAM(action->args(j));
                        }
                        res.target_ellipses.push_back(target_ellipses);
                }
                
                res.succeeded = true;
        }
        else {
                res.succeeded = false;
                ss << "None";
                res.actions.push_back(ss.str());
        }

        return true; 
}

/*  [action callbacks] */

/*  [action requests] */

void PradaPlannerAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();
  
  this->alg_.unlock();
}

void PradaPlannerAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<PradaPlannerAlgNode>(argc, argv, "prada_planner_alg_node");
}