From 24f5990ae68ae683d34004f8bff863dbf36f907b Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Mon, 23 Apr 2018 16:25:48 +0200
Subject: [PATCH] Started to update namespace conventions to new standards
---
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 4 +-
pps_ws/src/d_fall_pps/include/PPSClient.h | 4 +-
.../src/d_fall_pps/include/ParameterService.h | 2 +-
pps_ws/src/d_fall_pps/launch/Agent.launch | 81 +++++++++++++++++++
pps_ws/src/d_fall_pps/launch/Config.sh | 3 +-
pps_ws/src/d_fall_pps/launch/Student.launch | 34 --------
.../d_fall_pps/src/DemoControllerService.cpp | 13 +--
pps_ws/src/d_fall_pps/src/PPSClient.cpp | 8 +-
.../src/d_fall_pps/src/ParameterService.cpp | 2 +-
9 files changed, 101 insertions(+), 50 deletions(-)
create mode 100755 pps_ws/src/d_fall_pps/launch/Agent.launch
delete mode 100755 pps_ws/src/d_fall_pps/launch/Student.launch
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 78ad4d1f..5a0b12c8 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -108,9 +108,9 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
requestLoadControllerYaml_from_my_GUI_Subscriber = nodeHandle.subscribe("/my_GUI/requestLoadControllerYaml", 1, &MainWindow::requestLoadControllerYaml_from_my_GUI_Callback, this);
// First get student ID
- if(!nh_PPSClient.getParam("studentID", m_student_id))
+ if(!nh_PPSClient.getParam("agentID", m_student_id))
{
- ROS_ERROR("Failed to get studentID");
+ ROS_ERROR("Failed to get agentID");
}
// Then, Central manager
diff --git a/pps_ws/src/d_fall_pps/include/PPSClient.h b/pps_ws/src/d_fall_pps/include/PPSClient.h
index e1d84a0f..af825cf4 100644
--- a/pps_ws/src/d_fall_pps/include/PPSClient.h
+++ b/pps_ws/src/d_fall_pps/include/PPSClient.h
@@ -136,8 +136,8 @@ using namespace d_fall_pps;
// V A A R R III A A BBBB LLLLL EEEEE SSSS
// ----------------------------------------------------------------------------------
-// "studentID", gives namespace and identifier in CentralManagerService
-int studentID;
+// "agentID", gives namespace and identifier in CentralManagerService
+int agentID;
// The safe controller specified in the ClientConfig.yaml, is considered stable
ros::ServiceClient safeController;
diff --git a/pps_ws/src/d_fall_pps/include/ParameterService.h b/pps_ws/src/d_fall_pps/include/ParameterService.h
index 136f5c04..e17c7e5e 100644
--- a/pps_ws/src/d_fall_pps/include/ParameterService.h
+++ b/pps_ws/src/d_fall_pps/include/ParameterService.h
@@ -100,7 +100,7 @@ int my_type = 0;
// The ID of this agent, i.e., the ID of this computer in the case that this computer is
// and agent
-int my_agentID = 0;
+std::string my_agentID = "000";
// Publisher that notifies the relevant nodes when the YAML paramters have been loaded
// from file into ram/cache, and hence are ready to be fetched
diff --git a/pps_ws/src/d_fall_pps/launch/Agent.launch b/pps_ws/src/d_fall_pps/launch/Agent.launch
new file mode 100755
index 00000000..76a2068c
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/launch/Agent.launch
@@ -0,0 +1,81 @@
+<launch>
+
+ <!-- INPUT ARGUMENT OF THE AGENT's ID -->
+ <arg name="agentid" default="$(optenv DFALL_DEFAULT_ID)" />
+
+ <!-- Example of how to use the value in agentid -->
+ <!-- <param name="param" value="$(arg agentid)"/> -->
+
+ <group ns="agent$(arg agentid)">
+
+ <!-- CRAZY RADIO -->
+ <node
+ pkg = "d_fall_pps"
+ name = "CrazyRadio"
+ output = "screen"
+ type = "CrazyRadio.py"
+ >
+ <rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
+ </node>
+
+ <!-- PPS CLIENT -->
+ <node
+ pkg = "d_fall_pps"
+ name = "PPSClient"
+ output = "screen"
+ type = "PPSClient"
+ >
+ <rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
+ <param name="agentID" value="$(arg agentid)" />
+ </node>
+
+ <!-- SAFE CONTROLLER -->
+ <node
+ pkg = "d_fall_pps"
+ name = "SafeControllerService"
+ output = "screen"
+ type = "SafeControllerService"
+ >
+ </node>
+
+ <!-- DEMO CONTROLLER -->
+ <node
+ pkg = "d_fall_pps"
+ name = "DemoControllerService"
+ output = "screen"
+ type = "DemoControllerService"
+ >
+ </node>
+
+ <!-- PARAMETER SERVICE -->
+ <node
+ pkg = "d_fall_pps"
+ name = "ParameterService"
+ output = "screen"
+ type = "ParameterService"
+ >
+ <param name="type" type="str" value="agent" />
+ <param name="agentID" type="str" value="$(arg agentid)" />
+ <rosparam
+ command = "load"
+ file = "$(find d_fall_pps)/param/SafeController.yaml"
+ ns = "SafeController"
+ />
+ <rosparam
+ command = "load"
+ file = "$(find d_fall_pps)/param/DemoController.yaml"
+ ns = "DemoController"
+ />
+ </node>
+
+ <!-- AGENT GUI (aka. the "student GUI") -->
+ <node
+ pkg = "d_fall_pps"
+ name = "student_GUI"
+ output = "screen"
+ type = "student_GUI">
+ </node>
+
+ </group>
+
+</launch>
diff --git a/pps_ws/src/d_fall_pps/launch/Config.sh b/pps_ws/src/d_fall_pps/launch/Config.sh
index ef8a0e84..dd140357 100755
--- a/pps_ws/src/d_fall_pps/launch/Config.sh
+++ b/pps_ws/src/d_fall_pps/launch/Config.sh
@@ -1,4 +1,5 @@
export ROS_MASTER_URI=http://teacher:11311
export ROS_IP=$(hostname -I | awk '{print $1;}')
-export ROS_NAMESPACE=$(cat /etc/StudentID)
+export DFALL_DEFAULT_ID=$(cat /etc/dfall_default_id)
+export ROS_NAMESPACE='dfall'
diff --git a/pps_ws/src/d_fall_pps/launch/Student.launch b/pps_ws/src/d_fall_pps/launch/Student.launch
deleted file mode 100755
index 925b7489..00000000
--- a/pps_ws/src/d_fall_pps/launch/Student.launch
+++ /dev/null
@@ -1,34 +0,0 @@
-<launch>
-
- <!-- CRAZY RADIO -->
- <node pkg="d_fall_pps" name="CrazyRadio" output="screen" type="CrazyRadio.py">
- <rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
- </node>
-
- <!-- PPS CLIENT -->
- <node pkg="d_fall_pps" name="PPSClient" output="screen" type="PPSClient">
- <rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
- <param name="studentID" value="$(optenv ROS_NAMESPACE)" />
- </node>
-
- <!-- SAFE CONTROLLER -->
- <node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="SafeControllerService">
- </node>
-
- <!-- DEMO CONTROLLER -->
- <node pkg="d_fall_pps" name="DemoControllerService" output="screen" type="DemoControllerService">
- </node>
-
- <!-- PARAMETER SERVICE -->
- <node pkg="d_fall_pps" name="ParameterService" output="screen" type="ParameterService">
- <param name="type" type="str" value="agent" />
- <param name="agentID" value="$(optenv ROS_NAMESPACE)" />
- <rosparam command="load" file="$(find d_fall_pps)/param/SafeController.yaml" ns="SafeController" />
- <rosparam command="load" file="$(find d_fall_pps)/param/DemoController.yaml" ns="DemoController" />
- </node>
-
- <!-- AGENT GUI (aka. the "student GUI") -->
- <node pkg="d_fall_pps" name="student_GUI" output="screen" type="student_GUI">
- </node>
-
-</launch>
diff --git a/pps_ws/src/d_fall_pps/src/DemoControllerService.cpp b/pps_ws/src/d_fall_pps/src/DemoControllerService.cpp
index 4c196ea5..fe84d4f1 100644
--- a/pps_ws/src/d_fall_pps/src/DemoControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/DemoControllerService.cpp
@@ -1789,6 +1789,10 @@ int main(int argc, char* argv[]) {
// the "~" indcates that "self" is the node handle assigned to this variable.
ros::NodeHandle nodeHandle("~");
+ // Get the namespace of this "DemoControllerService" node
+ std::string m_namespace = ros::this_node::getNamespace();
+ ROS_INFO_STREAM("For DemoController, ros::this_node::getNamespace() = " << m_namespace);
+
// Get the agent ID as the "ROS_NAMESPACE" this computer.
// NOTES:
// > If you look at the "Student.launch" file in the "launch" folder, you will see
@@ -1797,15 +1801,14 @@ int main(int argc, char* argv[]) {
// This line of code adds a parameter named "studentID" to the "PPSClient"
// > Thus, to get access to this "studentID" paremeter, we first need to get a handle
// to the "PPSClient" node within which this controller service is nested.
- // Get the namespace of this "DemoControllerService" node
- std::string m_namespace = ros::this_node::getNamespace();
+
// Get the handle to the "PPSClient" node
ros::NodeHandle PPSClient_nodeHandle(m_namespace + "/PPSClient");
// Get the value of the "studentID" parameter into the instance variable "my_agentID"
- if(!PPSClient_nodeHandle.getParam("studentID", my_agentID))
+ if(!PPSClient_nodeHandle.getParam("agentID", my_agentID))
{
// Throw an error if the student ID parameter could not be obtained
- ROS_ERROR("Failed to get studentID from PPSClient");
+ ROS_ERROR("Failed to get agentID from PPSClient");
}
@@ -1856,7 +1859,7 @@ int main(int argc, char* argv[]) {
// PRINT OUT SOME INFORMATION
// Let the user know what namespaces are being used for linking to the parameter service
- ROS_INFO_STREAM("The namespace string for accessing the Paramter Services are:");
+ ROS_INFO_STREAM("For DemoController: the namespace strings for accessing the Paramter Services are:");
ROS_INFO_STREAM("namespace_to_own_agent_parameter_service = " << namespace_to_own_agent_parameter_service);
ROS_INFO_STREAM("namespace_to_coordinator_parameter_service = " << namespace_to_coordinator_parameter_service);
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 95a3e186..b37c498c 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -359,8 +359,8 @@ void viconCallback(const ViconData& viconData) {
void loadCrazyflieContext() {
CMQuery contextCall;
- contextCall.request.studentID = studentID;
- ROS_INFO_STREAM("StudentID:" << studentID);
+ contextCall.request.studentID = agentID;
+ ROS_INFO_STREAM("AgentID:" << agentID);
CrazyflieContext new_context;
@@ -574,8 +574,8 @@ void fetchYamlParametersForSafeController(ros::NodeHandle& nodeHandle)
// > Load the paramters from the Client Config YAML file
void fetchClientConfigParameters(ros::NodeHandle& nodeHandle)
{
- if(!nodeHandle.getParam("studentID", studentID)) {
- ROS_ERROR("Failed to get studentID");
+ if(!nodeHandle.getParam("agentID", agentID)) {
+ ROS_ERROR("Failed to get agentID");
}
if(!nodeHandle.getParam("strictSafety", strictSafety)) {
ROS_ERROR("Failed to get strictSafety param");
diff --git a/pps_ws/src/d_fall_pps/src/ParameterService.cpp b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
index 0919d765..47d06a9e 100755
--- a/pps_ws/src/d_fall_pps/src/ParameterService.cpp
+++ b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
@@ -245,7 +245,7 @@ int main(int argc, char* argv[])
case TYPE_AGENT:
{
//m_ros_namespace = ros::this_node::getNamespace();
- m_ros_namespace = "/" + std::to_string(my_agentID) + '/' + "ParameterService";
+ m_ros_namespace = "/agent" + my_agentID + '/' + "ParameterService";
ROS_INFO_STREAM("This Paramter Sercice will load .yaml file parameters into the 'base' namespace: " << m_ros_namespace);
break;
}
--
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