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