#include <action_daemon.h>

Inheritance diagram for ActionDaemon:

Public Member Functions
	ActionDaemon ()

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

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

bool	checkDriving ()

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

shared_ptr< ActionElement >	findAction (string actionId)

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

vector< shared_ptr< ActionElement > >	GetRunningActions ()

vector< shared_ptr< ActionElement > >	GetRunningPausedActions ()

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

void	LinkPublishTopics (ros::NodeHandle *nh)

void	LinkSubscriptionTopics (ros::NodeHandle *nh)

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

void	OrderCancelCallback (const std_msgs::String &msg)

void	OrderTriggerCallback (const std_msgs::String &msg)

void	UpdateActions ()

Public Member Functions inherited from Daemon
bool	CheckPassedTime ()

bool	CheckRange (double lowerRange, double upperRange, double value, std::string msg_name)

bool	CheckTopic (std::string str1, std::string str2)

bool	CompareStrings (std::string str1, std::string str2)

std::string	CreateTimestamp ()

void	createTopicStructurePrefix ()

	Daemon ()

	Daemon (ros::NodeHandle *nh, std::string daemonName)

vda5050_msgs::Header	GetHeader ()

std::vector< std::string >	GetMsgList (std::map< std::string, std::string > topicList)

std::string	GetParameter (std::string param)

std::string	GetTopic (std::string hierarchical_topic)

std::map< std::string, std::string >	GetTopicPublisherList ()

std::string	getTopicStructurePrefix ()

std::map< std::string, std::string >	GetTopicSubscriberList ()

void	InitHeaderInfo ()

void	LinkErrorTopics (ros::NodeHandle *nh)

void	PublishState ()

std::map< std::string, std::string >	ReadTopicParams (ros::NodeHandle *nh, std::string paramTopicName)

void	UpdateHeader ()

void	UpdateState ()

Protected Attributes
deque< vda5050_msgs::Action >	instantActionQueue

deque< vda5050_msgs::Action >	orderActionQueue

vector< string >	ordersSucCancelled

Protected Attributes inherited from Daemon
ros::Publisher	errorPublisher

std::map< std::string, ros::Publisher >	messagePublisher

ros::NodeHandle	nh

std::map< std::string, ros::Subscriber >	subscribers

Private Attributes
ros::Publisher	actionStatesPub

vector< shared_ptr< ActionElement > >	activeActionsList

ros::Publisher	allActionsCancelledPub

bool	isDriving

ros::Subscriber	orderActionSub

vector< orderToCancel >	orderCancellations

ros::Publisher	orderCancelPub

ros::Subscriber	orderCancelSub

ros::Subscriber	orderTriggerSub

Detailed Description

Daemon for processing of VDA 5050 action messages.

Definition at line 137 of file action_daemon.h.

Constructor & Destructor Documentation

◆ ActionDaemon()

ActionDaemon::ActionDaemon ( )

Constructor for the action daemon.

Initialize internal topics

Definition at line 79 of file action_daemon.cpp.

Member Function Documentation

◆ AddActionToList()

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

Adds a new action to the activeActionsList list.

Parameters

incomingAction	Incoming action
orderId	ID of the related order.
state	State of the incoming action.

Definition at line 351 of file action_daemon.cpp.

◆ AgvActionStateCallback()

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

Callback for agvActionState topic from AGV. This callback runs when a new message arrives at the /agvActionState topic. The message contains the state of a single action. The state is used to fill the actionStates sent to the state daemon and to track the current state for action blocking evaluation.

Parameters

msg	Message including the state of an action.

Definition at line 301 of file action_daemon.cpp.

◆ checkDriving()

bool ActionDaemon::checkDriving ( )

Checks if the AGV is driving and stops driving if so.

Returns: true if vehicle is not driving.; false if vehicle is driving.

Definition at line 357 of file action_daemon.cpp.

◆ DrivingCallback()

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

Callback for driving topic from AGV. This callback runs when a new message arrives at the /driving topic. The message contains the driving state of the AGV.

“true”: indicates that the AGV is driving and/or rotating. Other movements of the AGV (e.g. lift movements) are not included here.
“false”: indicates that the AGV is neither driving nor rotating.

Parameters

msg	Message including the driving state of the AGV.

Definition at line 346 of file action_daemon.cpp.

◆ findAction()

shared_ptr< ActionElement > ActionDaemon::findAction ( string actionId )

Finds and returns the action with the requested ID. Finds the action in the activeActionsList list which has the requested ID. The corresponding action is returned.

Parameters

actionId ID of the action to find within the active Actions.

Returns: Shared pointer to found action element.

Definition at line 410 of file action_daemon.cpp.

◆ GetActionsToCancel()

vector< shared_ptr< ActionElement > > ActionDaemon::GetActionsToCancel ( string orderIdToCancel )

Get all actions from activeActionsList which should be cancelled.

Parameters

orderIdToCancel ID of the order to cancel.

Returns: List of pointers to actions to cancel.

Definition at line 396 of file action_daemon.cpp.

◆ GetRunningActions()

vector< shared_ptr< ActionElement > > ActionDaemon::GetRunningActions ( )

Get all running actions.

Returns: List of running actions.

Definition at line 370 of file action_daemon.cpp.

◆ GetRunningPausedActions()

vector< shared_ptr< ActionElement > > ActionDaemon::GetRunningPausedActions ( )

Get all running or paused actions.

Returns: List of running or paused actions.

Definition at line 383 of file action_daemon.cpp.

◆ InstantActionsCallback()

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

Callback for instant Actions topic from the fleet controller. This callback is called when a new message arrives at the /instantActions topic. Actions are queued into a FIFO queue. The first element of that queue is sent to the AGV for execution.

Parameters

msg	Message including the incoming instant action.

Add action to active actions list

Initialize order ID variable

Decide if the action contains an order cancel

New actions to cancel

Add orderId to orderCancellations list and get all actions to cancel

Cancel actions from newActionsToCancel list

Wating actions can simply be removed as long as they have not been sent to the AGV

Check if Action has already been sent to AGV (in activeActionsList but not in queue)

action already sent to AGV

Send action cancel request to AGV

action not sent to AGV yet

action triggered and in queue (but still not sent to AGV)

delete action from queue

delete from newActionsToCancel

send failed state to state daemon

delete from activeActionsList

Running/Initializing/Paused actions must be stopped

Send action cancel request to AGV

Create new order to cancel

Add all remaining new actions to cancel to the list

If no action to cancel remains (i.e. no action has been sent to the AGV already)

-> remove order ID from cancellation list in update loop

Add new order to cancel to list

Send cancel request to order daemon

if the action contains no order cancel

Push to instant action queue

Create and publish action state msg

Description necessary?

Definition at line 168 of file action_daemon.cpp.

◆ LinkPublishTopics()

void ActionDaemon::LinkPublishTopics ( ros::NodeHandle * nh )

Links all external publishing topics.

Parameters

nh	ROS node handle for action daemon.

Definition at line 93 of file action_daemon.cpp.

◆ LinkSubscriptionTopics()

void ActionDaemon::LinkSubscriptionTopics ( ros::NodeHandle * nh )

Links all external subscribing topics

Parameters

nh	ROS node handle for action daemon.

Definition at line 113 of file action_daemon.cpp.

◆ OrderActionsCallback()

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

Callback for order actions topic from order_daemon. This callback is called when a new message arrives at the /orderAction topic. Actions are queued into a FIFO queue. The first element of that queue is sent to the AGV for execution.

Parameters

msg	Message including the incoming order action.

Add action to active actions list

Create and publish action state msg

Description necessary?

Definition at line 127 of file action_daemon.cpp.

◆ OrderCancelCallback()

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

Callback to process response to order cancel request from order daemon. This callback is called when a new message arrives at the /orderCancelResponse topic. When a order cancel request was sent to the order daemon, it sends the corresponding order id to cancel via the /orderCancelResponse topic back to the action daemon to confirm the cancellation.

Parameters

msg	Message including the ID of the cancelled order.

Definition at line 163 of file action_daemon.cpp.

◆ OrderTriggerCallback()

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

Callback for order trigger topic from order daemon. This callback is called when a new message arrives at the /orderTrigger topic. A trigger contains the ID of an action and triggers adding the corresponding action to the order action queue.

Parameters

msg	Message including the action ID to trigger.

Push action to queue

Definition at line 146 of file action_daemon.cpp.

◆ UpdateActions()

void ActionDaemon::UpdateActions ( )

Processes actions based on their type. The UpdateActions() method represents the main event loop. Based on the order and instan action queues, the method processes incoming actions and pauses driving state and pauses/resumes other actions.

check if orders must be cancelled -> block all actions

Remove failed/finished actions from observing list

TODO: FUNKTIONIERT NICHT!<--------------------------------------------------------------—

Only check the order cancel state, if all actions are cancelled

send all actions cancelled signal to order daemon

Check if order has been cancelled by order daemon

If order has been cancelled by order deamon

Send action state finished

Create and publish action state msg

Remove instant action from active actions list

Remove order to cancel from orderSucCancelled list

Remove order to cancel from orderCancellations list

Delete from List

Instant action routine -> block order actions

get running actions

hard blocking action running?

new instant action blocking hard

set sentToAgv to true

send action

Pause all actions

set sentToAgv to true

send action

set sentToAgv to true

send action

Pause all actions

no action running

set sentToAgv to true

send action to AGV

Order action routine

get running actions

hard blocking action running?

resume actions paused by instant actions

no actions to resume

new action blocking hard

TODO: Check if last action still running

If driving -> stop, else publish action

set sentToAgv to true

send action to AGV

new action blocking soft

If driving -> stop, else publish action

set sentToAgv to true

send action to AGV

new action not blocking

set sentToAgv to true

send action to AGV

no action running

set sentToAgv to true

send action to AGV

Definition at line 421 of file action_daemon.cpp.

Member Data Documentation

◆ actionStatesPub

ros::Publisher ActionDaemon::actionStatesPub

private

States of actions from action_daemon to state_daemon.

Definition at line 161 of file action_daemon.h.

◆ activeActionsList

vector<shared_ptr<ActionElement> > ActionDaemon::activeActionsList

private

List of actions to track all active actions.

Definition at line 140 of file action_daemon.h.

◆ allActionsCancelledPub

ros::Publisher ActionDaemon::allActionsCancelledPub

private

All actions of one order to cancel cancelled from action_daemon to order_daemon.

Definition at line 167 of file action_daemon.h.

◆ instantActionQueue

deque<vda5050_msgs::Action> ActionDaemon::instantActionQueue

protected

Queue for keeping track of instant actions.

Definition at line 180 of file action_daemon.h.

◆ isDriving

bool ActionDaemon::isDriving

private

True, if the vehicle is driving.

Definition at line 172 of file action_daemon.h.

◆ orderActionQueue

deque<vda5050_msgs::Action> ActionDaemon::orderActionQueue

protected

Queue for keeping track of order actions.

Definition at line 177 of file action_daemon.h.

◆ orderActionSub

ros::Subscriber ActionDaemon::orderActionSub

private

Declare all ROS subscriber and publisher topics for internal communication Ordinary order actions from order_daemon to action_daemon.

Definition at line 152 of file action_daemon.h.

◆ orderCancellations

vector<orderToCancel> ActionDaemon::orderCancellations

private

List of all orders to cancel and their respective order ID.

Definition at line 143 of file action_daemon.h.

◆ orderCancelPub

ros::Publisher ActionDaemon::orderCancelPub

private

Cancelled actions from action_daemon to order_daemon.

Definition at line 164 of file action_daemon.h.

◆ orderCancelSub

ros::Subscriber ActionDaemon::orderCancelSub

private

Order daemon sends response to order cancel request.

Definition at line 158 of file action_daemon.h.

◆ ordersSucCancelled

vector<string> ActionDaemon::ordersSucCancelled

protected

List of all orders cancelled by order daemon.

Definition at line 183 of file action_daemon.h.

◆ orderTriggerSub

ros::Subscriber ActionDaemon::orderTriggerSub

private

Order daemon triggers actions.

Definition at line 155 of file action_daemon.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ActionDaemon()

Member Function Documentation

◆ AddActionToList()

◆ AgvActionStateCallback()

◆ checkDriving()

◆ DrivingCallback()

◆ findAction()

◆ GetActionsToCancel()

◆ GetRunningActions()

◆ GetRunningPausedActions()

◆ InstantActionsCallback()

◆ LinkPublishTopics()

◆ LinkSubscriptionTopics()

◆ OrderActionsCallback()

◆ OrderCancelCallback()

◆ OrderTriggerCallback()

◆ UpdateActions()

Member Data Documentation

◆ actionStatesPub

◆ activeActionsList

◆ allActionsCancelledPub

◆ instantActionQueue

◆ isDriving

◆ orderActionQueue

◆ orderActionSub

◆ orderCancellations

◆ orderCancelPub

◆ orderCancelSub

◆ ordersSucCancelled

◆ orderTriggerSub