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Commit 32233e82 authored by Paul Beuchat's avatar Paul Beuchat
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Added Student and MPC yaml to Parameter Service

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pps_ws/src/d_fall_pps/include/nodes/ParameterService.h
+ 17
− 8
View file @ 32233e82
......@@ -75,14 +75,23 @@
#define LOAD_YAML_MPC_CONTROLLER_COORDINATOR 14
// For which controller parameters to fetch from from file
#define FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT 1
#define FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT 2
#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 3
#define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR 4
// For send commends to the controller node informing which
// parameters to fetch
// > NOTE: these are identical to the #defines above, but
// used because thez have the same name as used in
// the controller files
// #define FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT 1
// #define FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT 2
// #define FETCH_YAML_STUDENT_CONTROLLER_FROM_OWN_AGENT 3
// #define FETCH_YAML_MPC_CONTROLLER_FROM_OWN_AGENT 4
// #define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 11
// #define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR 12
// #define FETCH_YAML_STUDENT_CONTROLLER_FROM_COORDINATOR 13
// #define FETCH_YAML_MPC_CONTROLLER_FROM_COORDINATOR 14
// The types, i.e., agent or coordinator
#define TYPE_INVALID -1
#define TYPE_COORDINATOR 1
#define TYPE_AGENT 2
......
pps_ws/src/d_fall_pps/src/nodes/ParameterService.cpp
+ 55
− 29
View file @ 32233e82
......@@ -95,25 +95,49 @@ void requestLoadControllerYamlCallback(const std_msgs::Int32& msg)
std::string d_fall_pps_path = ros::package::getPath("d_fall_pps");
// Switch between loading for the different controllers
if ( (controller_to_load_yaml==LOAD_YAML_SAFE_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR) )
// ----------------------------------------
// FOR THE SAFE CONTROLLER
if (
((controller_to_load_yaml==LOAD_YAML_SAFE_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR))
||
((controller_to_load_yaml==LOAD_YAML_SAFE_CONTROLLER_AGENT) && (my_type==TYPE_AGENT))
)
{
// Re-load the parameters of the safe controller:
cmd = "rosparam load " + d_fall_pps_path + "/param/SafeController.yaml " + m_base_namespace + "/SafeController";
}
else if ( (controller_to_load_yaml==LOAD_YAML_SAFE_CONTROLLER_AGENT) && (my_type==TYPE_AGENT) )
// ----------------------------------------
// FOR THE DEMO CONTROLLER
else if (
((controller_to_load_yaml==LOAD_YAML_DEMO_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR))
||
((controller_to_load_yaml==LOAD_YAML_DEMO_CONTROLLER_AGENT) && (my_type==TYPE_AGENT))
)
{
// Re-load the parameters of the safe controller:
cmd = "rosparam load " + d_fall_pps_path + "/param/SafeController.yaml " + m_base_namespace + "/SafeController";
// Re-load the parameters of the demo controller:
cmd = "rosparam load " + d_fall_pps_path + "/param/DemoController.yaml " + m_base_namespace + "/DemoController";
}
else if ( (controller_to_load_yaml==LOAD_YAML_DEMO_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR) )
// ----------------------------------------
// FOR THE STUDENT CONTROLLER
else if (
((controller_to_load_yaml==LOAD_YAML_STUDENT_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR))
||
((controller_to_load_yaml==LOAD_YAML_STUDENT_CONTROLLER_AGENT) && (my_type==TYPE_AGENT))
)
{
// Re-load the parameters of the demo controller:
cmd = "rosparam load " + d_fall_pps_path + "/param/DemoController.yaml " + m_base_namespace + "/DemoController";
cmd = "rosparam load " + d_fall_pps_path + "/param/StudentController.yaml " + m_base_namespace + "/StudentController";
}
else if ( (controller_to_load_yaml==LOAD_YAML_DEMO_CONTROLLER_AGENT) && (my_type==TYPE_AGENT) )
// ----------------------------------------
// FOR THE MPC CONTROLLER
else if (
((controller_to_load_yaml==LOAD_YAML_MPC_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR))
||
((controller_to_load_yaml==LOAD_YAML_MPC_CONTROLLER_AGENT) && (my_type==TYPE_AGENT))
)
{
// Re-load the parameters of the demo controller:
cmd = "rosparam load " + d_fall_pps_path + "/param/DemoController.yaml " + m_base_namespace + "/DemoController";
cmd = "rosparam load " + d_fall_pps_path + "/param/MpcController.yaml " + m_base_namespace + "/MpcController";
}
else
{
......@@ -147,27 +171,29 @@ void requestLoadControllerYamlCallback(const std_msgs::Int32& msg)
// Instantiate a local variable for the fetch message
std_msgs::Int32 fetch_msg;
// Fill in the data of the fetch message
switch(controller_to_load_yaml)
{
case (LOAD_YAML_SAFE_CONTROLLER_COORDINATOR):
fetch_msg.data = FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR;
break;
case (LOAD_YAML_DEMO_CONTROLLER_COORDINATOR):
fetch_msg.data = FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR;
break;
case (LOAD_YAML_SAFE_CONTROLLER_AGENT):
fetch_msg.data = FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT;
break;
case (LOAD_YAML_DEMO_CONTROLLER_AGENT):
fetch_msg.data = FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT;
break;
default:
// Let the user know that the command was not recognised
ROS_INFO("Unknown 'controller to load yaml' command, thus a 'ready to fetch' message will NOT be published.");
// Set the boolean that prevents the fetch message from being sent
isReadyForFetch = false;
break;
}
fetch_msg.data = controller_to_load_yaml;
// Fill in the data of the fetch message
// switch(controller_to_load_yaml)
// {
// case (LOAD_YAML_SAFE_CONTROLLER_COORDINATOR):
// fetch_msg.data = FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR;
// break;
// case (LOAD_YAML_DEMO_CONTROLLER_COORDINATOR):
// fetch_msg.data = FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR;
// break;
// case (LOAD_YAML_SAFE_CONTROLLER_AGENT):
// fetch_msg.data = FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT;
// break;
// case (LOAD_YAML_DEMO_CONTROLLER_AGENT):
// fetch_msg.data = FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT;
// break;
// default:
// // Let the user know that the command was not recognised
// ROS_INFO("Unknown 'controller to load yaml' command, thus a 'ready to fetch' message will NOT be published.");
// // Set the boolean that prevents the fetch message from being sent
// isReadyForFetch = false;
// break;
// }
// Send a message that the YAML parameter have been loaded and hence are
// ready to be fetched (i.e., using getparam())
if (isReadyForFetch)
......
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