Conscientious_Reactive_Agent.cpp

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* Author: David Portugal (2011-2014), and Luca Iocchi (2014-2016)
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#include <sstream>
#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>

#include "PatrolAgent.h"



class Conscientious_Reactive_Agent: public PatrolAgent {
    
public:
    virtual int compute_next_vertex();
    //virtual void send_results();
    //virtual void receive_results();    
};



int Conscientious_Reactive_Agent::compute_next_vertex() {

  //number of neighbors of current vertex (number of existing possibilites)
  uint num_neighs = vertex_web[current_vertex].num_neigh;
  uint next_vertex;
  
  if (num_neighs > 1){
    
    double decision_table [num_neighs];
    uint neighbors [num_neighs];
    uint possibilities[num_neighs];
     
    uint i, hits=0;
    double max_idleness= -1;
    
    for (i=0; i<num_neighs; i++){
        neighbors[i] = vertex_web[current_vertex].id_neigh[i];        //neighbors table
        decision_table[i] = instantaneous_idleness [ neighbors[i] ];  //corresponding idleness table
        //printf("   --- vertex %u -> idleness %.1f\n",neighbors[i],decision_table[i]);
        
        //choose the one with maximum idleness:
        if (decision_table[i] > max_idleness){
            max_idleness = decision_table[i];       //maximum idleness
            hits=0;
            possibilities[hits] = neighbors[i];    
        } 
        else if(decision_table[i] == max_idleness) {
            hits ++;
            possibilities[hits] = neighbors[i];
        }
    }      
      
    if(hits>0){ //more than one possibility (choose at random)
      srand ( time(NULL) );
      i = rand() % (hits+1) + 0;    //0, ... ,hits
    
      //printf("rand integer = %d\n", i);
      next_vertex = possibilities [i];      // random vertex with higher idleness
        
      }else{
        next_vertex = possibilities[hits];  //vertex with higher idleness
      }
    
    }else{
        next_vertex = vertex_web[current_vertex].id_neigh[0]; //only one possibility
    }
  
    ROS_INFO("Conscientious_Reactive choice: %d",next_vertex);
    return next_vertex;
}

#if 0
// FIXME Not needed at all, right?
void Conscientious_Reactive_Agent::send_results() {
  ros::spinOnce();    
}

void Conscientious_Reactive_Agent::receive_results() {
  ros::spinOnce();   
}
#endif

int main(int argc, char** argv) {
  
    Conscientious_Reactive_Agent agent;
    agent.init(argc,argv);
    agent.run();

    return 0; 
}