MSP_Agent.cpp

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* Author: David Portugal (2011-2014), and Luca Iocchi (2014-2016)
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#include <string>
#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"
#include "algorithms.h"

using namespace std;

class MSP_Agent: public PatrolAgent {

private:
    int i_vertex;
    uint route_dimension;
    uint *route;
    
public:
    virtual void init(int argc, char** argv);
    virtual int compute_next_vertex();
    //virtual void send_results();
    //virtual void receive_results();    
};



void MSP_Agent::init(int argc, char** argv) {
    
    string msp_file = string(argv[4]);
    
    PatrolAgent::init(argc,argv);
    
    //Check Route Dimension:
    route_dimension = get_MSP_dimension(msp_file.c_str());
    
    //Create Structure to save the Route Info;
    route = new uint[route_dimension];
    
    //Get the Route info from the MSP Route File
    get_MSP_route (route, route_dimension, msp_file.c_str());
    
    printf("\nFinal Path: ");
    for(size_t i=0; i<route_dimension; i++){
        if (i==route_dimension-1)
            printf("%i\n", route[i]);
        else
            printf("%i, ", route[i]); 
    }
    printf("Number of elements = %i\n", route_dimension);  
    
    i_vertex = 0;
//    if(route_dimension>1){ i=1; next_vertex = route[i]; }  

}

int MSP_Agent::compute_next_vertex() {
    i_vertex++;
    if ( i_vertex>=route_dimension ) 
        i_vertex=1;
    return route[i_vertex];
}

#if 0
// FIXME DONE
void MSP_Agent::send_results() {
    ros::spinOnce();
}

// FIXME DONE
void MSP_Agent::receive_results() {
  ros::spinOnce();
}
#endif

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

    return 0; 
}