OrderDaemon Class Reference

#include <order_daemon.h>

Inheritance diagram for OrderDaemon:

Public Member Functions
void	ActionStateCallback (const vda5050_msgs::ActionState::ConstPtr &msg)
void	AgvPositionCallback (const vda5050_msgs::AGVPosition::ConstPtr &msg)
void	allActionsCancelledCallback (const std_msgs::String::ConstPtr &msg)
void	appendNewOrder (const vda5050_msgs::Order::ConstPtr &msg)
void	DrivingCallback (const std_msgs::Bool::ConstPtr &msg)
bool	inDevRange (vda5050_msgs::Node node)
void	LinkPublishTopics (ros::NodeHandle *nh)
void	LinkSubscriptionTopics (ros::NodeHandle *nh)
void	OrderCallback (const vda5050_msgs::Order::ConstPtr &msg)
void	OrderCancelRequestCallback (const std_msgs::String::ConstPtr &msg)
	OrderDaemon ()
void	orderUpdateError (string orderId, int orderUpdateId)
void	orderValidationError (string orderId, int orderUpdateId)
void	sendMotionCommand ()
void	startNewOrder (const vda5050_msgs::Order::ConstPtr &msg)
void	triggerNewActions (string nodeOrEdge)
void	updateExistingOrder (const vda5050_msgs::Order::ConstPtr &msg)
void	UpdateOrders ()
bool	validationCheck (const vda5050_msgs::Order::ConstPtr &msg)
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
int	currSequenceId
bool	isDriving
vector< string >	ordersToCancel
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
AGVPosition	agvPosition
ros::Subscriber	agvPositionSub
ros::Subscriber	allActionsCancelledSub
vector< CurrentOrder >	currentOrders
ros::Publisher	edgeStatesPub
ros::Publisher	lastNodeIdPub
ros::Publisher	lastNodeSequenceIdPub
ros::Publisher	nodeStatesPub
ros::Publisher	orderActionPub
ros::Publisher	orderCancelPub
ros::Subscriber	orderCancelSub
ros::Publisher	orderIdPub
ros::Publisher	orderTriggerPub
ros::Publisher	orderUpdateIdPub

Detailed Description

Daemon for processing VDA 5050 order messages.

Definition at line 229 of file order_daemon.h.

Constructor & Destructor Documentation

OrderDaemon()

OrderDaemon::OrderDaemon

(

)

Constructor for OrderDaemon objects. Links all internal and external ROS topics.

Initialize external ROS topics

Initialize internal ROS topics

Definition at line 213 of file order_daemon.cpp.

Member Function Documentation

ActionStateCallback()

void OrderDaemon::ActionStateCallback

(

const vda5050_msgs::ActionState::ConstPtr &

msg

)

Tracks action states to decide if the current node/edge is finished and can be left.

Parameters

msg	Incoming action state message.

TODO: Abort order and delete complete actionList

Definition at line 451 of file order_daemon.cpp.

AgvPositionCallback()

void OrderDaemon::AgvPositionCallback

(

const vda5050_msgs::AGVPosition::ConstPtr &

msg

)

Updates the saved position with the incoming position. Depending on position and action states it decides whether or not the current node or edge is finished and the next one can be started.

Parameters

msg	Incoming position update message.

reset actions finished flag

delete edgeState from queue

Further node in base?

No further node -> error; all orders must begin and end with a node

TODO: Send on error topic?, How to proceed?

reset actionsFinished flag

send last node ID to state daemon

send last node sequence ID to state daemon

delete nodeState from queue

further edge in base?

-> must be placed after nodeList.pop() to ensure that correct next node position is sent

send order ID to state daemon

send order update ID to state daemon

Definition at line 472 of file order_daemon.cpp.

allActionsCancelledCallback()

void OrderDaemon::allActionsCancelledCallback

(

const std_msgs::String::ConstPtr &

msg

)

Callback for incoming information about the cancellation of all actions. Sets flag in currentOrders in case all related actions have been successfully cancelled in case of order cancellation.

Parameters

msg	Order ID of the order to cancel.

Definition at line 440 of file order_daemon.cpp.

appendNewOrder()

void OrderDaemon::appendNewOrder

(

const vda5050_msgs::Order::ConstPtr &

msg

)

Appends the new order instead of the horizon.

Parameters

msg	Newly arrived order.

clear horizon

add new order

send node and edge states to state daemon

Definition at line 604 of file order_daemon.cpp.

DrivingCallback()

void OrderDaemon::DrivingCallback

(

const std_msgs::Bool::ConstPtr &

msg

)

Keeps track of the driving state of the AGV.

Parameters

msg	Driving state message from AGV.

Definition at line 559 of file order_daemon.cpp.

inDevRange()

bool OrderDaemon::inDevRange

(

vda5050_msgs::Node

node

)

Decides whether the AGV position is within the permissible deviation range of the given node.

Parameters

node	node to calculate the distance to

Returns

true if AGV position is in the deviation range

false if AGV position is not in the deviation range

Definition at line 273 of file order_daemon.cpp.

LinkPublishTopics()

void OrderDaemon::LinkPublishTopics

(

ros::NodeHandle *

nh

)

Links all external publishing topics.

Parameters

nh	ROS node handle for order daemon.

Definition at line 234 of file order_daemon.cpp.

LinkSubscriptionTopics()

void OrderDaemon::LinkSubscriptionTopics

(

ros::NodeHandle *

nh

)

Links all external subscribing topics

Parameters

nh	ROS node handle for order daemon.

Definition at line 251 of file order_daemon.cpp.

OrderCallback()

void OrderDaemon::OrderCallback

(

const vda5050_msgs::Order::ConstPtr &

msg

)

Callback for incoming orders. Decides if the incoming order should be appended or rejected according to the flowchart in VDA 5050.

Parameters

msg	Incoming order message.

Definition at line 348 of file order_daemon.cpp.

OrderCancelRequestCallback()

void OrderDaemon::OrderCancelRequestCallback

(

const std_msgs::String::ConstPtr &

msg

)

Callback for incoming cancel requests. When an instantAction message with a cancel request arrives at the action daemon, the request is transferred to the order daemon by this topic.

Parameters

msg	Message containing the order cancel request.

Definition at line 420 of file order_daemon.cpp.

orderUpdateError()

void OrderDaemon::orderUpdateError	(	string	orderId,
		int	orderUpdateId
	)

Sends an order update error to the error topic.

Parameters

orderId	Order ID of the incoming order.
orderUpdateId	Order updeate ID of the incoming order.

Definition at line 700 of file order_daemon.cpp.

orderValidationError()

void OrderDaemon::orderValidationError	(	string	orderId,
		int	orderUpdateId
	)

Sends an order validation error to the error topic.

Parameters

orderId	Order ID of the incoming order.
orderUpdateId	Order update ID of the incoming order.

Definition at line 709 of file order_daemon.cpp.

sendMotionCommand()

void OrderDaemon::sendMotionCommand

(

)

Sends motion commands to the AGV.

TODO: catch exceptions if certain optional keys are not inlcuded in the message

check if trajectory is in use

Definition at line 321 of file order_daemon.cpp.

startNewOrder()

void OrderDaemon::startNewOrder

(

const vda5050_msgs::Order::ConstPtr &

msg

)

Creates a new order element if no order exists.

Parameters

msg	Newly arrived order.

create new order element

set sequence ID

send motion commands to AGV

send actions to action daemon

trigger Actions in case of first node containing actions

send node and edge states to state daemon

send order ID to state daemon

send order update ID to state daemon

Definition at line 564 of file order_daemon.cpp.

triggerNewActions()

void OrderDaemon::triggerNewActions

(

string

nodeOrEdge

)

Triggers actions of the following node or edge.

Parameters

nodeOrEdge

is the AGV currently on a node or an edge?

Definition at line 281 of file order_daemon.cpp.

updateExistingOrder()

void OrderDaemon::updateExistingOrder

(

const vda5050_msgs::Order::ConstPtr &

msg

)

Updates the existing order (i.e. release the horizon).

Parameters

msg	Newly arrived order.

clear horizon

append nodeStates/edgeStates

TODO: Frage: wirklich front(), wenn mehrere orders vorhanden?

send actions to action daemon

TODO: Overhead by creating a new order object!

send node and edge states to state daemon

send order update ID to state daemon

Definition at line 626 of file order_daemon.cpp.

UpdateOrders()

void OrderDaemon::UpdateOrders

(

)

Main loop of the daemon. The routine consists of the following steps:

• get order actions
• get instantAction topics
• calculate queue
• send queue to agv
• send order cancellations to order_daemon
• send action status to state_daemon

remove order from currentOrders

send response to action daemon

remove order ID from ordersToCancel

Definition at line 660 of file order_daemon.cpp.

validationCheck()

bool OrderDaemon::validationCheck

(

const vda5050_msgs::Order::ConstPtr &

msg

)

Checks if the incoming order is valid.

Parameters

msg	Incoming order message.

Returns

true if order is valid.

false if order is not valid.

TODO: How to validation check?

Maybe depending on AGV's capabilities (e.g. track planning etc.)

Check if number edges is number nodes-1

Definition at line 265 of file order_daemon.cpp.

Member Data Documentation

agvPosition

AGVPosition OrderDaemon::agvPosition

private

Currently active order.

Definition at line 235 of file order_daemon.h.

agvPositionSub

ros::Subscriber OrderDaemon::agvPositionSub

private

Position data from AGV.

Definition at line 246 of file order_daemon.h.

allActionsCancelledSub

ros::Subscriber OrderDaemon::allActionsCancelledSub

private

Response from action daemon if all actions of a order to cancel are successfully cancelled.

Definition at line 249 of file order_daemon.h.

currentOrders

vector<CurrentOrder> OrderDaemon::currentOrders

private

Current order.

Definition at line 232 of file order_daemon.h.

currSequenceId

int OrderDaemon::currSequenceId

protected

true, if the AGV currently moves on an edge.

Definition at line 289 of file order_daemon.h.

edgeStatesPub

ros::Publisher OrderDaemon::edgeStatesPub

private

Edge state transfer topic (to state daemon).

Definition at line 266 of file order_daemon.h.

isDriving

bool OrderDaemon::isDriving

protected

true if vehicle is driving.

Definition at line 286 of file order_daemon.h.

lastNodeIdPub

ros::Publisher OrderDaemon::lastNodeIdPub

private

Last node ID; changes when a node is left.

Definition at line 269 of file order_daemon.h.

lastNodeSequenceIdPub

ros::Publisher OrderDaemon::lastNodeSequenceIdPub

private

Last node sequence ID; changes when a node is left.

Definition at line 272 of file order_daemon.h.

nodeStatesPub

ros::Publisher OrderDaemon::nodeStatesPub

private

Node state transfer topic (to state daemon).

Definition at line 263 of file order_daemon.h.

orderActionPub

ros::Publisher OrderDaemon::orderActionPub

private

Ordinary order actions from order_daemon to action_daemon.

Definition at line 254 of file order_daemon.h.

orderCancelPub

ros::Publisher OrderDaemon::orderCancelPub

private

Response to cancel request.

Definition at line 257 of file order_daemon.h.

orderCancelSub

ros::Subscriber OrderDaemon::orderCancelSub

private

Declare all ROS subscriber and publisher topics for internal communication. Cancel request from action daemon.

Definition at line 243 of file order_daemon.h.

orderIdPub

ros::Publisher OrderDaemon::orderIdPub

private

Order ID; changes when a new order is started.

Definition at line 275 of file order_daemon.h.

ordersToCancel

vector<string> OrderDaemon::ordersToCancel

protected

Stores all order IDs to cancel.

Definition at line 283 of file order_daemon.h.

orderTriggerPub

ros::Publisher OrderDaemon::orderTriggerPub

private

Triggers actions when AGV arrives at edge or node.

Definition at line 260 of file order_daemon.h.

orderUpdateIdPub

ros::Publisher OrderDaemon::orderUpdateIdPub

private

Order ID; changes when a new order or order update is started.

Definition at line 278 of file order_daemon.h.

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

• order_daemon.h
• order_daemon.cpp