statusPublisher.cpp
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00001 #include "continual_planning_executive/statusPublisher.h"
00002 #include <sstream>
00003 using std::stringstream;
00004 using namespace continual_planning_executive;
00005 
00006 StatusPublisher::StatusPublisher()
00007 {
00008     ros::NodeHandle nh;
00009     _pubStatus = nh.advertise<ContinualPlanningStatus>(
00010             "continual_planning_status", 10);
00011     _enabled = true;
00012 }
00013 
00014 StatusPublisher::~StatusPublisher()
00015 {
00016 }
00017 
00018 void StatusPublisher::startedStateEstimation()
00019 {
00020     publishStatus(ContinualPlanningStatus::STATE_ESTIMATION, ContinualPlanningStatus::ACTIVE, "");
00021 }
00022 
00023 void StatusPublisher::finishedStateEstimation(bool success, const SymbolicState & state)
00024 {
00025     SymbolicState::OStreamMode::forceNewlines = true;
00026     stringstream ss;
00027     ss << state;
00028     SymbolicState::OStreamMode::forceNewlines = false;
00029     publishStatus(ContinualPlanningStatus::STATE_ESTIMATION,
00030             success ? int(ContinualPlanningStatus::SUCCESS) : int(ContinualPlanningStatus::FAILURE), ss.str());
00031 }
00032 
00033 
00034 void StatusPublisher::startedMonitoring()
00035 {
00036     publishStatus(ContinualPlanningStatus::MONITORING, ContinualPlanningStatus::ACTIVE, "");
00037 }
00038 
00039 void StatusPublisher::finishedMonitoring(bool success)
00040 {
00041     publishStatus(ContinualPlanningStatus::MONITORING,
00042             success ? int(ContinualPlanningStatus::SUCCESS) : int(ContinualPlanningStatus::FAILURE), "");
00043 }
00044 
00045 
00046 void StatusPublisher::startedPlanning()
00047 {
00048     publishStatus(ContinualPlanningStatus::PLANNING, ContinualPlanningStatus::ACTIVE, "");
00049 }
00050 
00051 void StatusPublisher::finishedPlanning(bool success, const Plan & plan)
00052 {
00053     stringstream ss;
00054     ss << std::fixed << std::setprecision(2) << plan;
00055     publishStatus(ContinualPlanningStatus::PLANNING,
00056             success ? int(ContinualPlanningStatus::SUCCESS) : int(ContinualPlanningStatus::FAILURE), ss.str());
00057 }
00058 
00059 
00060 void StatusPublisher::startedExecution(const DurativeAction & a)
00061 {
00062     stringstream ss;
00063     ss << std::fixed << std::setprecision(2);
00064     ss << a;
00065     publishStatus(ContinualPlanningStatus::EXECUTION, ContinualPlanningStatus::ACTIVE, ss.str());
00066 }
00067 
00068 void StatusPublisher::finishedExecution(bool success, const DurativeAction & a)
00069 {
00070     stringstream ss;
00071     ss << std::fixed << std::setprecision(2);
00072     ss << a;
00073     publishStatus(ContinualPlanningStatus::EXECUTION,
00074             success ? int(ContinualPlanningStatus::SUCCESS) : int(ContinualPlanningStatus::FAILURE), ss.str());
00075 }
00076 
00077 
00078 void StatusPublisher::updateCurrentPlan(const Plan & plan)
00079 {
00080     stringstream ss;
00081     ss << std::fixed << std::setprecision(2) << plan;
00082     publishStatus(ContinualPlanningStatus::CURRENT_PLAN, ContinualPlanningStatus::ACTIVE, ss.str());
00083 }
00084 
00085 
00086 void StatusPublisher::finishedContinualPlanning(bool success, const std::string & result)
00087 {
00088     publishStatus(ContinualPlanningStatus::CONTINUAL_PLANNING_FINISHED,
00089             success ? int(ContinualPlanningStatus::SUCCESS) : int(ContinualPlanningStatus::FAILURE), result);
00090 }
00091 
00092 void StatusPublisher::publishStatus(int component, int status, const std::string & description)
00093 {
00094     ContinualPlanningStatus msg;
00095     msg.component = component;
00096     msg.status = status;
00097     msg.description = description;
00098 
00099     if(_enabled && _pubStatus)
00100         _pubStatus.publish(msg);
00101 }
00102 
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continual_planning_executive
Author(s): Christian Dornhege
autogenerated on Tue Jan 22 2013 12:24:43