action_daemon.h

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/*
 * Copyright 2022 Technical University of Munich, Chair of Materials Handling,
 * Material Flow, Logistics – All Rights Reserved
 * 
 * You may use, distribute and modify this code under the terms of the 3-clause
 * BSD license. You should have received a copy of that license with this file.
 * If not, please write to {kontakt.fml@ed.tum.de}.
 */

#ifndef ACTION_DAEMON_H
#define ACTION_DAEMON_H
#include <string>
#include <list>
#include <deque>
#include <memory>
#include <ros/ros.h>
#include "daemon.h"
#include "vda5050_msgs/InstantActions.h"
#include "vda5050_msgs/ActionState.h"
#include "vda5050_msgs/OrderActions.h"
#include "std_msgs/Bool.h"
#include <string>
#include <list>
#include <deque>
#include <memory>

using namespace std;

class ActionElement
{
private:
    string orderId;
    string actionId;
    string actionType;
    string actionDescription;
    vector<vda5050_msgs::ActionParameter> actionParameters;
public:
    string state;        
    string blockingType; 
    bool sentToAgv;
    bool operator==(const ActionElement &s) const { return actionId == s.actionId; }
    bool operator!=(const ActionElement &s) const { return !operator==(s); }

    ActionElement(const vda5050_msgs::Action *incomingAction, string incomingOrderId, string state);

    bool compareActionId(string actionId2comp);

    bool compareOrderId(string orderId2comp);

    string getActionId() const;

    string getActionType() const;

    vda5050_msgs::Action packAction();
};

struct orderToCancel
{
    string orderIdToCancel;
    string iActionId;
    vector<weak_ptr<ActionElement>> actionsToCancel;
    bool allActionsCancelledSent;
};

class ActionDaemon : public Daemon
{
private:
    vector<shared_ptr<ActionElement>> activeActionsList;
    vector<orderToCancel> orderCancellations;
    ros::Subscriber orderActionSub;        
    ros::Subscriber orderTriggerSub;       
    ros::Subscriber orderCancelSub;        
    ros::Publisher actionStatesPub;        
    ros::Publisher orderCancelPub;         
    ros::Publisher allActionsCancelledPub; 
    bool isDriving;
protected:
    deque<vda5050_msgs::Action> orderActionQueue;   
    deque<vda5050_msgs::Action> instantActionQueue; 
    vector<string> ordersSucCancelled;              
public:
    ActionDaemon();

    void LinkPublishTopics(ros::NodeHandle *nh);

    void LinkSubscriptionTopics(ros::NodeHandle *nh);

    void OrderActionsCallback(const vda5050_msgs::OrderActions::ConstPtr &msg);

    void OrderTriggerCallback(const std_msgs::String &msg);

    void OrderCancelCallback(const std_msgs::String &msg);

    void InstantActionsCallback(const vda5050_msgs::InstantActions::ConstPtr &msg);

    void AgvActionStateCallback(const vda5050_msgs::ActionState::ConstPtr &msg);

    void DrivingCallback(const std_msgs::Bool::ConstPtr &msg);

    void AddActionToList(const vda5050_msgs::Action *incomingAction, string orderId, string state);

    bool checkDriving();

    vector<shared_ptr<ActionElement>> GetRunningActions();

    vector<shared_ptr<ActionElement>> GetRunningPausedActions();

    vector<shared_ptr<ActionElement>> GetActionsToCancel(string orderIdToCancel);

    shared_ptr<ActionElement> findAction(string actionId);

    void UpdateActions();
};

#endif