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Merge branch 'master' into melodic-install
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@Mindstan
Mindstan committed Apr 27, 2019
2 parents cc838f4 + 8742abf commit 0056cfc
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Showing 34 changed files with 252 additions and 457 deletions.
2 changes: 1 addition & 1 deletion ros_ws/src/ai/scheduler/src/ai/ai.py
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Expand Up @@ -31,4 +31,4 @@ def execute(self, strategy):
rospy.loginfo("[AI] In-Game actions finished!")
break
strategy.sendReward(strategy.communicator)
strategy.PrettyPrint()
strategy.PrettyPrint()
1 change: 0 additions & 1 deletion ros_ws/src/ai/scheduler/src/ai/tasks/order.py
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Expand Up @@ -64,7 +64,6 @@ def callback(self, res, time_taken):
rospy.logwarn("Order was resumed but failed again, blocking it.")
new_status = TaskStatus.BLOCKED # do not let a paused action go back to paused (potential infinite loop)

print "setting new status " + str(new_status)
self.setStatus(new_status)

if new_status == TaskStatus.SUCCESS:
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2 changes: 1 addition & 1 deletion ros_ws/src/ai/scheduler/src/ai/tasks/strategy.py
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Expand Up @@ -22,7 +22,7 @@ def getNext(self): # Returns the next free task (TaskList, Action or Order).
return self.TASKS.getNext()

def sendReward(self, communicator):
communicator.SendRequest("ai/scheduler/score", {"score": self.TASKS.getActiveReward()})
communicator.SendRequest("/ai/scheduler/score", {"score": self.TASKS.getActiveReward()})

def getStatus(self, text_version=False):
return self.TASKS.getStatus(text_version)
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30 changes: 15 additions & 15 deletions ros_ws/src/ai/scheduler/src/scheduler_communication.py
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Expand Up @@ -29,27 +29,27 @@ class RequestTypes(object):
@staticmethod
def init():
RequestTypes.SERVERS = {
"ai/scheduler/score": (RequestTypes.PUB_MSG, scheduler.msg.AIScore),
"ai/game_manager/set_status": (RequestTypes.SERVICE, game_manager.srv.SetStatus),
"ai/game_manager/set_timer": (RequestTypes.SERVICE, game_manager.srv.SetTimer),
"ai/game_manager/delay": (RequestTypes.SERVICE, game_manager.srv.Delay),
"/ai/scheduler/score": (RequestTypes.PUB_MSG, scheduler.msg.AIScore),
"/ai/game_manager/set_status": (RequestTypes.SERVICE, game_manager.srv.SetStatus),
"/ai/game_manager/set_timer": (RequestTypes.SERVICE, game_manager.srv.SetTimer),
"/ai/game_manager/delay": (RequestTypes.SERVICE, game_manager.srv.Delay),

#"static_map/set": (RequestTypes.SERVICE, static_map.srv.MapSet),
"static_map/transfer": (RequestTypes.SERVICE, static_map.srv.MapTransfer),
"/static_map/transfer": (RequestTypes.SERVICE, static_map.srv.MapTransfer),

"navigation/navigator/goto_action": (RequestTypes.ACTION, navigator.msg.DoGotoAction, navigator.msg.DoGotoGoal),
"navigation/navigator/gotowaypoint_action": (RequestTypes.ACTION, navigator.msg.DoGotoWaypointAction, navigator.msg.DoGotoWaypointGoal),
"/navigation/navigator/goto_action": (RequestTypes.ACTION, navigator.msg.DoGotoAction, navigator.msg.DoGotoGoal),
"/navigation/navigator/gotowaypoint_action": (RequestTypes.ACTION, navigator.msg.DoGotoWaypointAction, navigator.msg.DoGotoWaypointGoal),

"actuators/ard_tower/load": (RequestTypes.PUB_MSG, ard_tower.msg.TowerLoad),
"actuators/ard_tower/unload": (RequestTypes.PUB_MSG, ard_tower.msg.TowerUnload),
"/actuators/ard_tower/load": (RequestTypes.PUB_MSG, ard_tower.msg.TowerLoad),
"/actuators/ard_tower/unload": (RequestTypes.PUB_MSG, ard_tower.msg.TowerUnload),

"drivers/ard_asserv/set_pos": (RequestTypes.SERVICE, ard_asserv.srv.SetPos),
"drivers/ard_asserv/pwm": (RequestTypes.SERVICE, ard_asserv.srv.Pwm),
"drivers/ard_asserv/goto_action": (RequestTypes.ACTION, ard_asserv.msg.DoGotoAction, ard_asserv.msg.DoGotoGoal),
"drivers/ax12": (RequestTypes.ACTION, driver_ax12.msg.Ax12CommandAction, driver_ax12.msg.Ax12CommandGoal),
"/drivers/ard_asserv/set_pos": (RequestTypes.SERVICE, ard_asserv.srv.SetPos),
"/drivers/ard_asserv/pwm": (RequestTypes.SERVICE, ard_asserv.srv.Pwm),
"/drivers/ard_asserv/goto_action": (RequestTypes.ACTION, ard_asserv.msg.DoGotoAction, ard_asserv.msg.DoGotoGoal),
"/drivers/ax12": (RequestTypes.ACTION, driver_ax12.msg.Ax12CommandAction, driver_ax12.msg.Ax12CommandGoal),

"feedback/ard_hmi/ros_event": (RequestTypes.PUB_MSG, ard_hmi.msg.ROSEvent),
"feedback/ard_hmi/hmi_event": (RequestTypes.SUB_MSG, ard_hmi.msg.HMIEvent)}
"/feedback/ard_hmi/ros_event": (RequestTypes.PUB_MSG, ard_hmi.msg.ROSEvent),
"/feedback/ard_hmi/hmi_event": (RequestTypes.SUB_MSG, ard_hmi.msg.HMIEvent)}

@staticmethod
def getRequestType(dest):
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30 changes: 15 additions & 15 deletions ros_ws/src/definitions/def/ai/system_orders.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<orders>
<!-- AI Specific -->
<order ref="delay" duration="1">
<message dest="ai/game_manager/delay">
<message dest="/ai/game_manager/delay">
<param name="duration" type="float" optional="true">0</param>
</message>
<response>
Expand All @@ -10,20 +10,20 @@
</order>

<order ref="ask_for_jack" duration="1">
<message dest="feedback/ard_hmi/ros_event">
<message dest="/feedback/ard_hmi/ros_event">
<param name="event" type="int" preset="true">0</param>
</message>
</order>

<order ref="wait_for_jack" duration="1" name="Wait for that motherf*cking Jack">
<message dest="feedback/ard_hmi/hmi_event" timeout="3600"/>
<order ref="wait_for_jack" duration="1" name="Wait for Jack">
<message dest="/feedback/ard_hmi/hmi_event" timeout="3600"/>
<response>
<param name="event" type="int" condition="==">1</param> <!-- TODO only Jack fired event-->
</response>
</order>

<order ref="timer_start">
<message dest="ai/game_manager/set_timer">
<message dest="/ai/game_manager/set_timer">
<param name="action" type="int" preset="true">0</param> <!-- start command -->
<param name="duration" type="float">100</param>
</message>
Expand All @@ -33,7 +33,7 @@
</order>

<order ref="set_game_status_ingame" duration="0">
<message dest="ai/game_manager/set_status">
<message dest="/ai/game_manager/set_status">
<param name="new_game_status" type="int" preset="true">1</param>
</message>
<response>
Expand All @@ -43,7 +43,7 @@

<!-- Map -->
<order ref="map_transfer" duration="0" name="Map object or entity transfer">
<message dest="static_map/transfer">
<message dest="/static_map/transfer">
<param name="old_path" type="string" preset="true">/objects/cube_1</param>
<param name="new_path" type="string" preset="true">/objects/cube_2</param>
</message>
Expand All @@ -53,7 +53,7 @@
</order>

<order ref="map_set" duration="0" name="Map element set">
<message dest="static_map/set">
<message dest="/static_map/set">
<param name="mode" type="int" optional="true">1</param> <!-- default to REPLACE mode -->
<param name="request_path" type="string"/>
</message>
Expand All @@ -65,7 +65,7 @@

<!-- Navigation -->
<order ref="set_robot_pos">
<message dest="drivers/ard_asserv/set_pos">
<message dest="/drivers/ard_asserv/set_pos">
<param name="position_waypoint" type="string" optional="true"/>
<param name="position" type="pose2d" optional="true"/>
</message>
Expand All @@ -75,7 +75,7 @@
</order>

<order ref="navigator_goto_pos">
<message dest="navigation/navigator/goto_action">
<message dest="/navigation/navigator/goto_action">
<param name="target_pos" type="pose2d"/>
<param name="direction" type="int" optional="true">1</param>
</message>
Expand All @@ -85,7 +85,7 @@
</order>

<order ref="navigator_goto_waypoint">
<message dest="navigation/navigator/gotowaypoint_action">
<message dest="/navigation/navigator/gotowaypoint_action">
<param name="mode" type="int">1</param> <!-- 0 = GOTO, 1 = GOTOA -->
<param name="waypoint_name" type="string"/>
<param name="disable_collisions" type="bool" optional="true">0</param>
Expand All @@ -100,7 +100,7 @@
</order>

<order ref="asserv_goto_waypoint">
<message dest="drivers/ard_asserv/goto_action">
<message dest="/drivers/ard_asserv/goto_action">
<param name="mode" type="int">1</param>
<param name="position_waypoint" type="string"/>
<param name="direction" type="int">1</param>
Expand All @@ -111,7 +111,7 @@
</order>

<order ref="asserv_pwm">
<message dest="drivers/ard_asserv/pwm">
<message dest="/drivers/ard_asserv/pwm">
<param name="left" type="int"/>
<param name="right" type="int"/>
<param name="duration" type="int"/>
Expand All @@ -124,7 +124,7 @@

<!-- Actuators -->
<order ref="actuator_set" duration="1.5">
<message dest="movement/actuators/dispatch">
<message dest="/movement/actuators/dispatch">
<param name="name" type="string"/>
<param name="preset" type="string" optional="true"/> <!-- Set either a preset or param-->
<param name="param" type="int" optional="true"/>
Expand All @@ -135,7 +135,7 @@
</order>

<order ref="actuator_ax12_set_pos" duration="1.5">
<message dest="drivers/ax12" timeout="8">
<message dest="/drivers/ax12" timeout="8">
<param name="motor_id" type="int"/>
<param name="position" type="int"/> <!-- Set either a preset or param-->
<param name="speed" type="int" optional="true">0</param>
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67 changes: 0 additions & 67 deletions ros_ws/src/definitions/def/map/alt/classes.xml
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41 changes: 0 additions & 41 deletions ros_ws/src/definitions/def/map/alt/config.xml
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