[Personalrobots-commit] SF.net SVN: personalrobots:[11505] pkg/trunk

[<tpr...@us...>]

Revision: 11505
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=11505&view=rev
Author:   tpratkanis
Date:     2009-02-21 01:50:27 +0000 (Sat, 21 Feb 2009)

Log Message:
-----------
Remove done and valid booleans from highlevel controller state messages.

Modified Paths:
--------------
    pkg/trunk/highlevel/highlevel_controllers/include/highlevel_controllers/highlevel_controller.hh
    pkg/trunk/highlevel/highlevel_controllers/msg/RechargeState.msg
    pkg/trunk/highlevel/highlevel_controllers/src/move_arm2.cpp
    pkg/trunk/pr2_msgs/msg/MoveArmState.msg
    pkg/trunk/pr2_msgs/msg/MoveEndEffectorState.msg
    pkg/trunk/prcore/robot_msgs/msg/Planner2DState.msg

Modified: pkg/trunk/highlevel/highlevel_controllers/include/highlevel_controllers/highlevel_controller.hh
===================================================================
--- pkg/trunk/highlevel/highlevel_controllers/include/highlevel_controllers/highlevel_controller.hh	2009-02-21 01:42:39 UTC (rev 11504)
+++ pkg/trunk/highlevel/highlevel_controllers/include/highlevel_controllers/highlevel_controller.hh	2009-02-21 01:50:27 UTC (rev 11505)
@@ -70,7 +70,8 @@
    */
   HighlevelController(const std::string& nodeName, const std::string& _stateTopic,  const std::string& _goalTopic): 
     initialized(false), terminated(false), stateTopic(_stateTopic), 
-    goalTopic(_goalTopic), controllerCycleTime_(0.1), plannerCycleTime_(0.0), plannerThread_(NULL), timeout(0, 0) {
+    goalTopic(_goalTopic), controllerCycleTime_(0.1), plannerCycleTime_(0.0), plannerThread_(NULL), 
+    timeout(0, 0), done_(false), valid_(false) {
 
     // Obtain the control frequency for this node
     double controller_frequency(10);
@@ -204,7 +205,7 @@
    * @brief Access for valid status of the controller
    */
   bool isValid() {
-    return this->stateMsg.valid;
+    return valid_;
   }
   /**
    * @brief Access aborted state of the planner.
@@ -229,7 +230,7 @@
 
     this->state = ACTIVE;
     this->stateMsg.status = this->stateMsg.ACTIVE;
-    this->stateMsg.done = 0;
+    done_ = 0;
 
     handleActivation();
   }
@@ -244,7 +245,7 @@
     if (this->stateMsg.status == this->stateMsg.ACTIVE) {
       this->stateMsg.status = this->stateMsg.INACTIVE;
     }
-    this->stateMsg.valid = 0;
+    valid_ = 0;
 
     handleDeactivation();
   }
@@ -352,6 +353,28 @@
   G goalMsg; /*!< Message populated by callback */
   S stateMsg; /*!< Message published. Will be populated in the control loop */
 
+  /**
+   * @brief Setter for state msg done flag
+   */
+  void setDone(bool isDone){
+    done_ = isDone;
+  }
+
+  /**
+   * @brief Get the done flag
+   */
+  bool getDone() {
+    return done_;
+  }
+
+  /**
+   * @brief Setter for state msg valid flag
+   */
+  void setValid(bool isValid){
+    valid_ = isValid;
+  }
+
+
 private:
 
   void goalCallback(){
@@ -452,20 +475,7 @@
     unlock();
   }
 
-  /**
-   * @brief Setter for state msg done flag
-   */
-  void setDone(bool isDone){
-    this->stateMsg.done = isDone;
-  }
 
-  /**
-   * @brief Setter for state msg valid flag
-   */
-  void setValid(bool isValid){
-    this->stateMsg.valid = isValid;
-  }
-
   bool initialized; /*!< Marks if the node has been initialized, and is ready for use. */
   bool terminated; /*!< Marks if the node has been terminated. */
   const std::string stateTopic; /*!< The topic on which state updates are published */
@@ -477,6 +487,8 @@
   boost::thread* plannerThread_; /*!< Thread running the planner loop */
   highlevel_controllers::Ping shutdownMsg_; /*!< For receiving shutdown from executive */
   ros::Duration timeout; /*< The time limit for planning failure. */
+  bool done_; /*< True if the action is done */
+  bool valid_; /*< True if it is valid */
 };
 
 #endif

Modified: pkg/trunk/highlevel/highlevel_controllers/msg/RechargeState.msg
===================================================================
--- pkg/trunk/highlevel/highlevel_controllers/msg/RechargeState.msg	2009-02-21 01:42:39 UTC (rev 11504)
+++ pkg/trunk/highlevel/highlevel_controllers/msg/RechargeState.msg	2009-02-21 01:50:27 UTC (rev 11505)
@@ -15,13 +15,6 @@
 #Comment for debug
 string comment
 
-
-# Did the controller find a valid path?
-byte valid
-
-# Have we arrived at the goal?
-byte done
-
 # Actual recharge level
 float32 recharge_level
 

Modified: pkg/trunk/highlevel/highlevel_controllers/src/move_arm2.cpp
===================================================================
--- pkg/trunk/highlevel/highlevel_controllers/src/move_arm2.cpp	2009-02-21 01:42:39 UTC (rev 11504)
+++ pkg/trunk/highlevel/highlevel_controllers/src/move_arm2.cpp	2009-02-21 01:50:27 UTC (rev 11505)
@@ -201,7 +201,6 @@
 {
   lock();
   stateMsg.goal = goalMsg.configuration;
-  stateMsg.valid = false;
   unlock();
 }
 
@@ -303,7 +302,7 @@
   if (!ret)
     ROS_ERROR("Service call on plan_kinematic_path_state failed");
   else
-    stateMsg.done = res.value.done;
+    setDone(res.value.done);
 
   ROS_INFO("Plan created.");
 
@@ -334,19 +333,19 @@
 
 bool MoveArm::goalReached()
 {
-  return stateMsg.done;
+  return getDone();
 }
 
 bool MoveArm::dispatchCommands()
 {
   puts("in dispatchCommands");
   lock();
-  if (stateMsg.done || !isValid())
+  if (getDone() || !isValid())
     stopArm();
   else if (trajectory_changed_)
     sendArmCommand(current_trajectory_, kinematic_model_);
   unlock();
-  return stateMsg.valid; //Do not change.
+  return isValid(); //Do not change.
 }
 
 void MoveArm::printKinematicPath(robot_msgs::KinematicPath &path)

Modified: pkg/trunk/pr2_msgs/msg/MoveArmState.msg
===================================================================
--- pkg/trunk/pr2_msgs/msg/MoveArmState.msg	2009-02-21 01:42:39 UTC (rev 11504)
+++ pkg/trunk/pr2_msgs/msg/MoveArmState.msg	2009-02-21 01:50:27 UTC (rev 11505)
@@ -16,10 +16,6 @@
 #Comment for debug
 string comment
 
-#Did we reach the goal?
-byte done
-#Did the planner/controller find a valid way to achieve the goal
-byte valid
 #Current arm configuration
 robot_msgs/JointState[] configuration
 #Goal arm configuration

Modified: pkg/trunk/pr2_msgs/msg/MoveEndEffectorState.msg
===================================================================
--- pkg/trunk/pr2_msgs/msg/MoveEndEffectorState.msg	2009-02-21 01:42:39 UTC (rev 11504)
+++ pkg/trunk/pr2_msgs/msg/MoveEndEffectorState.msg	2009-02-21 01:50:27 UTC (rev 11505)
@@ -15,10 +15,6 @@
 #Comment for debug
 string comment
 
-#Did the planner/controller find a valid way to achieve the goal
-byte valid
-#Did we actually successfully arrive at the goal?
-byte done
 #Current arm configuration
 robot_msgs/JointState[] configuration
 #Goal arm configuration

Modified: pkg/trunk/prcore/robot_msgs/msg/Planner2DState.msg
===================================================================
--- pkg/trunk/prcore/robot_msgs/msg/Planner2DState.msg	2009-02-21 01:42:39 UTC (rev 11504)
+++ pkg/trunk/prcore/robot_msgs/msg/Planner2DState.msg	2009-02-21 01:50:27 UTC (rev 11505)
@@ -16,10 +16,6 @@
 #Comment for debug
 string comment
 
-# Did the planner find a valid path?
-byte valid
-# Have we arrived at the goal?
-byte done
 # Current location (m,m,rad)
 deprecated_msgs/Pose2DFloat32 pos
 # Goal location (m,m,rad)


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