#include <sys/stat.h>
#include <sys/types.h>
#include <stdlib.h>
#include <unistd.h>
#include <time.h>
#include <float.h>
#include <fstream>
#include <iostream>
#include <string>
#include <ros/ros.h>
#include <ros/package.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 <std_msgs/Int16MultiArray.h>
#include <std_msgs/String.h>
#include "getgraph.h"
#include "message_types.h"
#include "patrolling_sim/GoToStartPosSrv.h"

Include dependency graph for monitor.cpp:

Defines
#define	DEAD_ROBOT_TIME 300.0
#define	EXTENDED_STAGE 0
#define	FOREVER true
#define	LOG_MONITOR 0
#define	MAX_COMPLETE_PATROL 100
#define	MAX_DIMENSION 200
#define	MAX_EXPERIMENT_TIME 86400
#define	MAXIDLENESS 500.0
#define	NUM_MAX_ROBOTS 32
#define	RESOLUTION 1.0
#define	SAVE_HYSTOGRAMS 0
#define	TIMEOUT_WRITE_RESULTS 180.0
Typedefs
typedef unsigned int	uint
Functions
uint	calculate_patrol_cycle (int *nr_visits, uint dimension)
bool	check_dead_robots ()
void	dolog (const char *str)
void	finish_simulation ()
double	get_last_goal_reached (int k)
int	main (int argc, char **argv)
double	Median (double *a, uint dimension)
void	resultsCB (const std_msgs::Int16MultiArray::ConstPtr &msg)
void	scenario_name (char name, const char graph_file, const char *teamsize_str)
void	set_last_goal_reached (int k, double val)
void	update_stats (int id_robot, int goal)
void	write_results (double avg_idleness, double stddev_idleness, int number_of_visits, uint complete_patrol, uint dimension, double worst_avg_idleness, double avg_graph_idl, double median_graph_idl, double stddev_graph_idl, double min_idleness, double gavg, double gstddev, double max_idleness, uint interference_cnt, uint tot_visits, float avg_visits, const char graph_file, const char *teamsize_str, double duration, double real_duration, double comm_delay, string filename)
Variables
string	algorithm
string	algparams
double	avg_graph_idl
double	avg_idleness [MAX_DIMENSION]
double	avg_stddev_graph_idl
uint	cnt = 0
double	comm_delay
uint	complete_patrol = 0
double	current_idleness [MAX_DIMENSION]
size_t	dimension
double	gavg
int	goal
bool	goal_reached = false
double	goal_reached_wait
bool	goto_start_pos = false
ros::ServiceServer	GotoStartPosMethod
double	gstddev
double	gT0 = 0.0
double	gT1 = 0.0
double	gT2 = 0.0
FILE *	idlfile
bool	init_robots [NUM_MAX_ROBOTS]
string	initial_positions
bool	initialize = true
uint	interference_cnt = 0
double	last_goal_reached [NUM_MAX_ROBOTS]
double	last_report_time
double	last_visit [MAX_DIMENSION]
pthread_mutex_t	lock_last_goal_reached
FILE *	logfile = NULL
double	lost_message_rate
double	max_idleness = 0.0
double	median_graph_idl
double	min_idleness = 0.0
string	nav_mod
int	number_of_visits [MAX_DIMENSION]
uint	patrol_cnt = 1
double	previous_avg_graph_idl = DBL_MAX
const std::string	PS_path = ros::package::getPath("patrolling_sim")
time_t	real_time_zero
ros::Publisher	results_pub
ros::Subscriber	results_sub
ros::Publisher	screenshot_pub
double	stddev_graph_idl
double	stddev_idleness [MAX_DIMENSION]
uint	teamsize
double	time_zero
double	total_0 [MAX_DIMENSION]
double	total_1 [MAX_DIMENSION]
double	total_2 [MAX_DIMENSION]
double	worst_avg_idleness

Define Documentation

#define DEAD_ROBOT_TIME 300.0

Definition at line 66 of file monitor.cpp.

#define EXTENDED_STAGE 0

Definition at line 75 of file monitor.cpp.

#define FOREVER true

Definition at line 68 of file monitor.cpp.

#define LOG_MONITOR 0

Definition at line 73 of file monitor.cpp.

#define MAX_COMPLETE_PATROL 100

Definition at line 64 of file monitor.cpp.

#define MAX_DIMENSION 200

Definition at line 110 of file monitor.cpp.

#define MAX_EXPERIMENT_TIME 86400

Definition at line 65 of file monitor.cpp.

#define MAXIDLENESS 500.0

Definition at line 71 of file monitor.cpp.

#define NUM_MAX_ROBOTS 32

Definition at line 63 of file monitor.cpp.

#define RESOLUTION 1.0

Definition at line 70 of file monitor.cpp.

#define SAVE_HYSTOGRAMS 0

Definition at line 74 of file monitor.cpp.

#define TIMEOUT_WRITE_RESULTS 180.0

Definition at line 67 of file monitor.cpp.

Typedef Documentation

typedef unsigned int uint

Definition at line 81 of file monitor.cpp.

Function Documentation

uint calculate_patrol_cycle	(	int *	nr_visits,
		uint	dimension
	)

Definition at line 424 of file monitor.cpp.

bool check_dead_robots ( )

Definition at line 513 of file monitor.cpp.

void dolog ( const char * str )

Definition at line 142 of file monitor.cpp.

void finish_simulation ( )

Definition at line 280 of file monitor.cpp.

double get_last_goal_reached ( int k )

Definition at line 152 of file monitor.cpp.

int main	(	int	argc,
		char **	argv
	)

D.Portugal: needed in case you "rosrun" from another folder

YOU MIGHT WANT TO IGNORE THIS IN REAL ROBOT EXPERIMENTS (RUN INDEFINITELY)

Definition at line 619 of file monitor.cpp.

double Median	(	double *	a,
		uint	dimension
	)

Definition at line 298 of file monitor.cpp.

void resultsCB ( const std_msgs::Int16MultiArray::ConstPtr & msg )

Definition at line 168 of file monitor.cpp.

void scenario_name	(	char *	name,
		const char *	graph_file,
		const char *	teamsize_str
	)

Definition at line 438 of file monitor.cpp.

void set_last_goal_reached	(	int	k,
		double	val
	)

Definition at line 160 of file monitor.cpp.

void update_stats	(	int	id_robot,
		int	goal
	)

Definition at line 541 of file monitor.cpp.

void write_results	(	double *	avg_idleness,
		double *	stddev_idleness,
		int *	number_of_visits,
		uint	complete_patrol,
		uint	dimension,
		double	worst_avg_idleness,
		double	avg_graph_idl,
		double	median_graph_idl,
		double	stddev_graph_idl,
		double	min_idleness,
		double	gavg,
		double	gstddev,
		double	max_idleness,
		uint	interference_cnt,
		uint	tot_visits,
		float	avg_visits,
		const char *	graph_file,
		const char *	teamsize_str,
		double	duration,
		double	real_duration,
		double	comm_delay,
		string	filename
	)