diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index eae858d8b4570e957b77b1471f683bff378e9c86..678b1ba3c222d194dbfd8be0087b6d28566b8929 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -815,9 +815,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
case FETCH_YAML_CUSTOM_CONTROLLER_COORDINATOR:
{
// Let the user know that this message was received
- ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded");
- // Let the user know from where the paramters are being fetched
- ROS_INFO("> Now fetching the parameter values from the this machine");
+ ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded.\r> Now fetching the parameter values from the this machine.");
// Create a node handle to the parameter service running on the coordinator machine
ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_coordinator_parameter_service);
// Call the function that fetches the parameters
@@ -828,9 +826,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
case FETCH_YAML_CUSTOM_CONTROLLER_AGENT:
{
// Let the user know that this message was received
- ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded");
- // Let the user know which paramters are being fetch
- ROS_INFO("> Now fetching the parameter values from the this machine");
+ ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded.\r> Now fetching the parameter values from the this machine");
// Create a node handle to the parameter service running on this agent's machine
ros::NodeHandle nodeHandle_to_own_agent_parameter_service = ros::NodeHandle(namespace_to_own_agent_parameter_service);
// Call the function that fetches the parameters
@@ -841,8 +837,8 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
default:
{
// Let the user know that the command was not relevant
- ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded");
- ROS_INFO("> However the parameters do not relate to this controller, hence nothing will be fetched.");
+ //ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded");
+ //ROS_INFO("> However the parameters do not relate to this controller, hence nothing will be fetched.");
break;
}
}
@@ -954,7 +950,7 @@ void processFetchedParameters()
// Check whether we found our own agent ID
if (!foundMyAgentID)
{
- ROS_INFO("DEBUGGING: not following because my ID was not found");
+ //ROS_INFO("DEBUGGING: not following because my ID was not found");
// Revert to the default of not following any agent
shouldFollowAnotherAgent = false;
agentID_to_follow = 0;
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 5d7bea66c77282014fca029306864d687ac94423..244dd7e199b9fbca9b0bbdf3d46baa749cc913b3 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -793,7 +793,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
{
// Let the user know that this message was received
// > and also from where the paramters are being fetched
- ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller.\n>Now fetching the parameter values from the this machine.");
+ ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller.\r>Now fetching the parameter values from the coordinator.");
// Create a node handle to the parameter service running on the coordinator machine
ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_coordinator_parameter_service);
// Call the function that fetches the parameters
@@ -804,9 +804,9 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
case FETCH_YAML_SAFE_CONTROLLER_AGENT:
{
// Let the user know that this message was received
- ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller");
+ ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller.\r> Now fetching the parameter values from the this machine");
// Let the user know which paramters are being fetch
- ROS_INFO("> Now fetching the parameter values from the this machine");
+ ROS_INFO("");
// Create a node handle to the parameter service running on this agent's machine
ros::NodeHandle nodeHandle_to_own_agent_parameter_service(namespace_to_own_agent_parameter_service);
// Call the function that fetches the parameters
@@ -817,8 +817,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
default:
{
// Let the user know that the command was not relevant
- ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded");
- ROS_INFO("> However the parameters do not relate to this service, hence nothing will be fetched.");
+ //ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded.\r> However the parameters do not relate to this service, hence nothing will be fetched.");
break;
}
}
diff --git a/pps_ws/src/d_fall_pps/src/ParameterService.cpp b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
index 6ba594eb2fdcc6eb49d362d58a95ae921af8b661..b5c75792a55c2eff82fed02ff3373f369a0f84c6 100755
--- a/pps_ws/src/d_fall_pps/src/ParameterService.cpp
+++ b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
@@ -176,59 +176,58 @@ void requestLoadControllerYamlCallback(const std_msgs::Int32& msg)
// Instantiate a local varaible to confirm that something was actually loaded from
// a YAML file
- bool isReadyForFetch = true;
+ bool isValidToAttemptLoad = true;
// Instantiate a local variable for the string that will be passed to the "system"
std::string cmd;
// Get the abolute path to "d_fall_pps"
std::string d_fall_pps_path = ros::package::getPath("d_fall_pps");
- ROS_INFO_STREAM(d_fall_pps_path);
// Switch between loading for the different controllers
if ( (controller_to_load_yaml==LOAD_YAML_SAFE_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR) )
{
// Re-load the parameters of the safe controller:
cmd = "rosparam load " + d_fall_pps_path + "/param/SafeController.yaml " + m_ros_namespace + "/SafeControllerService";
- system(cmd.c_str());
- ROS_INFO_STREAM(cmd);
}
else if ( (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_ros_namespace + "/SafeControllerService";
- system(cmd.c_str());
- ROS_INFO_STREAM(cmd);
}
else if ( (controller_to_load_yaml==LOAD_YAML_CUSTOM_CONTROLLER_COORDINATOR) && (my_type==TYPE_COORDINATOR) )
{
// Re-load the parameters of the custom controller:
cmd = "rosparam load " + d_fall_pps_path + "/param/CustomController.yaml " + m_ros_namespace + "/CustomControllerService";
- system(cmd.c_str());
- ROS_INFO_STREAM(cmd);
}
else if ( (controller_to_load_yaml==LOAD_YAML_CUSTOM_CONTROLLER_AGENT) && (my_type==TYPE_AGENT) )
{
// Re-load the parameters of the custom controller:
cmd = "rosparam load " + d_fall_pps_path + "/param/CustomController.yaml " + m_ros_namespace + "/CustomControllerService";
- system(cmd.c_str());
- ROS_INFO_STREAM(cmd);
}
else
{
// Let the user know that the command was not recognised
- ROS_INFO("Unknown 'controller to load yaml' command, thus nothing will be loaded");
+ ROS_INFO("> Unknown 'controller to load yaml' command, thus nothing will be loaded");
// Set the boolean that prevents the fetch message from being sent
- isReadyForFetch = false;
+ isValidToAttemptLoad = false;
}
- // Pause breifly to ensure that the yaml file is fully loaded
- ros::Duration(0.2).sleep();
- // Only bother with sending the "ready for fetch" message if something was actually
- // loaded from a YAML file
- if (isReadyForFetch)
+ // Only bother with ttempting to loaded the .yaml file, and subseuently send the "ready for fetch"
+ // message if something can actually be loaded from a YAML file
+ if (isValidToAttemptLoad)
{
+ // Let the user know what is about to happen
+ ROS_INFO_STREAM("> The following path will be used for locating the .yaml file:\r" << d_fall_pps_path << "\rThe comand line string sent to the 'system' is:\r" << cmd );
+
+ // Re-load the parameters by pass the command line string via a "system" call
+ // > i.e., this replicates pasting this string in a new terminal window and pressing enter
+ system(cmd.c_str());
+
+ // Pause breifly to ensure that the yaml file is fully loaded
+ ros::Duration(0.2).sleep();
+
// Instantiate a local variable for the fetch message
std_msgs::Int32 fetch_msg;
// Fill in the data of the fetch message
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index 89a6a96bf2ca92e0aa4a871aaf7d4037b3d2198d..afd8806055e64a86592a8de3650243808b37aad1 100755
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -386,9 +386,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
case FETCH_YAML_SAFE_CONTROLLER_COORDINATOR:
{
// Let the user know that this message was received
- ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded");
- // Let the user know from where the paramters are being fetched
- ROS_INFO("> Now fetching the parameter values from the this machine");
+ ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded.\r> Now fetching the parameter values from the coordinator.");
// Create a node handle to the parameter service running on the coordinator machine
ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_coordinator_parameter_service);
// Call the function that fetches the parameters
@@ -399,9 +397,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
case FETCH_YAML_SAFE_CONTROLLER_AGENT:
{
// Let the user know that this message was received
- ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded");
- // Let the user know which paramters are being fetch
- ROS_INFO("> Now fetching the parameter values from the this machine");
+ ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded.\r> Now fetching the parameter values from the this machine.");
// Create a node handle to the parameter service running on this agent's machine
ros::NodeHandle nodeHandle_to_own_agent_parameter_service = ros::NodeHandle(namespace_to_own_agent_parameter_service);
// Call the function that fetches the parameters
@@ -412,8 +408,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
default:
{
// Let the user know that the command was not relevant
- ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded");
- ROS_INFO("> However the parameters do not relate to this controller, hence nothing will be fetched.");
+ //ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded.\r> However the parameters do not relate to this controller, hence nothing will be fetched.");
break;
}
}