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New launch files and Narrate skill rename #8

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New launch files and Narrate skill rename #8

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85305c5
NarratePOI skill name changed
elandini84 Apr 30, 2024
3702667
New package for launch files, bt and tour
elandini84 Apr 30, 2024
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108 changes: 0 additions & 108 deletions laboratory-tour/launch/bt_launch_robot.py
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This file was deleted.

12 changes: 6 additions & 6 deletions ...r/src/skills/narrate_skill/CMakeLists.txt → ...c/skills/narrate_poi_skill/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.16)
project(narrate_skill)
project(narrate_poi_skill)
# set(CMAKE_CXX_STANDARD 20)
# set(CMAKE_CXX_STANDARD_REQUIRED ON)

Expand Down Expand Up @@ -29,10 +29,10 @@ target_include_directories(${PROJECT_NAME}
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_sources( ${PROJECT_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/src/main.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/NarrateSkill.cpp
${CMAKE_CURRENT_SOURCE_DIR}/include/NarrateSkill.h
#${CMAKE_CURRENT_SOURCE_DIR}/src/NarrateDataModel.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/main.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/NarratePoiSkill.cpp
${CMAKE_CURRENT_SOURCE_DIR}/include/NarratePoiSkill.h
#${CMAKE_CURRENT_SOURCE_DIR}/src/NarrateDataModel.cpp
#${CMAKE_CURRENT_SOURCE_DIR}/include/NarrateDataModel.h
)

Expand All @@ -50,6 +50,6 @@ if(BUILD_TESTING)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
qt6_add_statecharts(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/NarrateSkillSM.scxml)
qt6_add_statecharts(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/NarratePoiSkillSM.scxml)

ament_package()
12 changes: 6 additions & 6 deletions ...ills/narrate_skill/include/NarrateSkill.h → ...rrate_poi_skill/include/NarratePoiSkill.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
#include <mutex>
#include <thread>
#include <rclcpp/rclcpp.hpp>
#include "NarrateSkillSM.h"
#include "NarratePoiSkillSM.h"
#include <bt_interfaces/msg/action_response.hpp>
#include <narrate_interfaces/srv/narrate.hpp>
#include <narrate_interfaces/srv/is_done.hpp>
Expand All @@ -24,10 +24,10 @@ enum class Status{
failure
};

class NarrateSkill
class NarratePoiSkill
{
public:
NarrateSkill(std::string name );
NarratePoiSkill(std::string name );
bool start(int argc, char * argv[]);
static void spin(std::shared_ptr<rclcpp::Node> node);
void tick( [[maybe_unused]] const std::shared_ptr<bt_interfaces::srv::TickAction::Request> request,
Expand All @@ -40,12 +40,12 @@ class NarrateSkill
std::shared_ptr<rclcpp::Node> m_node;
std::mutex m_requestMutex;
std::string m_name;
NarrateSkillAction m_stateMachine;
NarratePoiSkillAction m_stateMachine;

std::atomic<Status> m_tickResult{Status::undefined};
rclcpp::Service<bt_interfaces::srv::TickAction>::SharedPtr m_tickService;
std::atomic<bool> m_haltResult{false};
rclcpp::Service<bt_interfaces::srv::HaltAction>::SharedPtr m_haltService;

};

2 changes: 1 addition & 1 deletion ...tour/src/skills/narrate_skill/package.xml → .../src/skills/narrate_poi_skill/package.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>narrate_skill</name>
<name>narrate_poi_skill</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="[email protected]">Stefano Bernagozzi</maintainer>
Expand Down
64 changes: 32 additions & 32 deletions ...skills/narrate_skill/src/NarrateSkill.cpp → ...narrate_poi_skill/src/NarratePoiSkill.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
* *
******************************************************************************/

#include "NarrateSkill.h"
#include "NarratePoiSkill.h"
#include <future>
#include <QTimer>
#include <QDebug>
Expand All @@ -23,7 +23,7 @@ T convert(const std::string& str) {
return std::stod(str);
} else if constexpr (std::is_same_v<T, float>) {
return std::stof(str);
}
}
else if constexpr (std::is_same_v<T, std::string>) {
return str;
}
Expand All @@ -33,36 +33,36 @@ T convert(const std::string& str) {
}
}

NarrateSkill::NarrateSkill(std::string name ) :
NarratePoiSkill::NarratePoiSkill(std::string name ) :
m_name(std::move(name))
{
}

void NarrateSkill::spin(std::shared_ptr<rclcpp::Node> node)
void NarratePoiSkill::spin(std::shared_ptr<rclcpp::Node> node)
{
rclcpp::spin(node);
rclcpp::shutdown();
}

bool NarrateSkill::start(int argc, char*argv[])
bool NarratePoiSkill::start(int argc, char*argv[])
{
if(!rclcpp::ok())
{
rclcpp::init(/*argc*/ argc, /*argv*/ argv);
}

m_node = rclcpp::Node::make_shared(m_name + "Skill");
RCLCPP_DEBUG_STREAM(m_node->get_logger(), "NarrateSkill::start");
std::cout << "NarrateSkill::start";
RCLCPP_DEBUG_STREAM(m_node->get_logger(), "NarratePoiSkill::start");
std::cout << "NarratePoiSkill::start";

m_tickService = m_node->create_service<bt_interfaces::srv::TickAction>(m_name + "Skill/tick",
std::bind(&NarrateSkill::tick,
std::bind(&NarratePoiSkill::tick,
this,
std::placeholders::_1,
std::placeholders::_2));

m_haltService = m_node->create_service<bt_interfaces::srv::HaltAction>(m_name + "Skill/halt",
std::bind(&NarrateSkill::halt,
std::bind(&NarratePoiSkill::halt,
this,
std::placeholders::_1,
std::placeholders::_2));
Expand All @@ -77,14 +77,14 @@ bool NarrateSkill::start(int argc, char*argv[])
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service 'Narrate'. Exiting.");
wait_succeded = false;
m_stateMachine.submitEvent("NarrateComponent.Narrate.Return");
}
}
}
if (wait_succeded) {
// send the request
// send the request
auto result = clientNarrate->async_send_request(request);
auto futureResult = rclcpp::spin_until_future_complete(nodeNarrate, result);
auto response = result.get();
if (futureResult == rclcpp::FutureReturnCode::SUCCESS)
if (futureResult == rclcpp::FutureReturnCode::SUCCESS)
{
if( response->is_ok ==true) {
QVariantMap data;
Expand All @@ -102,7 +102,7 @@ bool NarrateSkill::start(int argc, char*argv[])
});

m_stateMachine.connectToEvent("TICK_RESPONSE", [this]([[maybe_unused]]const QScxmlEvent & event){
RCLCPP_INFO(m_node->get_logger(), "NarrateSkill::tickReturn %s", event.data().toMap()["result"].toString().toStdString().c_str());
RCLCPP_INFO(m_node->get_logger(), "NarratePoiSkill::tickReturn %s", event.data().toMap()["result"].toString().toStdString().c_str());
std::string result = event.data().toMap()["result"].toString().toStdString();
if (result == "SUCCESS" )
{
Expand All @@ -113,7 +113,7 @@ bool NarrateSkill::start(int argc, char*argv[])
m_tickResult.store(Status::running);
}
else if (result == "FAILURE" )
{
{
m_tickResult.store(Status::failure);
}
});
Expand All @@ -128,14 +128,14 @@ bool NarrateSkill::start(int argc, char*argv[])
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service 'IsDone'. Exiting.");
wait_succeded = false;
m_stateMachine.submitEvent("NarrateComponent.IsDone.Return");
}
}
}
if (wait_succeded) {
// send the request
// send the request
auto result = clientIsDone->async_send_request(request);
auto futureResult = rclcpp::spin_until_future_complete(nodeIsDone, result);
auto response = result.get();
if (futureResult == rclcpp::FutureReturnCode::SUCCESS)
if (futureResult == rclcpp::FutureReturnCode::SUCCESS)
{
if( response->is_ok ==true) {
QVariantMap data;
Expand All @@ -153,7 +153,7 @@ bool NarrateSkill::start(int argc, char*argv[])
});

m_stateMachine.connectToEvent("HALT_RESPONSE", [this]([[maybe_unused]]const QScxmlEvent & event){
RCLCPP_INFO(m_node->get_logger(), "NarrateSkill::haltresponse");
RCLCPP_INFO(m_node->get_logger(), "NarratePoiSkill::haltresponse");
m_haltResult.store(true);
});

Expand All @@ -163,21 +163,21 @@ bool NarrateSkill::start(int argc, char*argv[])
return true;
}

void NarrateSkill::tick( [[maybe_unused]] const std::shared_ptr<bt_interfaces::srv::TickAction::Request> request,
void NarratePoiSkill::tick( [[maybe_unused]] const std::shared_ptr<bt_interfaces::srv::TickAction::Request> request,
std::shared_ptr<bt_interfaces::srv::TickAction::Response> response)
{
std::lock_guard<std::mutex> lock(m_requestMutex);
RCLCPP_INFO(m_node->get_logger(), "NarrateSkill::tick");
RCLCPP_INFO(m_node->get_logger(), "NarratePoiSkill::tick");
auto message = bt_interfaces::msg::ActionResponse();
m_tickResult.store(Status::undefined); //here we can put a struct
m_stateMachine.submitEvent("CMD_TICK");
while(m_tickResult.load()== Status::undefined)

while(m_tickResult.load()== Status::undefined)
{
std::this_thread::sleep_for (std::chrono::milliseconds(100));
// qInfo() << "active names" << m_stateMachine.activeStateNames();
}
switch(m_tickResult.load())
switch(m_tickResult.load())
{
case Status::running:
response->status.status = message.SKILL_RUNNING;
Expand All @@ -187,27 +187,27 @@ void NarrateSkill::tick( [[maybe_unused]] const std::shared_ptr<bt_interfaces::s
break;
case Status::success:
response->status.status = message.SKILL_SUCCESS;
break;
break;
}
RCLCPP_INFO(m_node->get_logger(), "NarrateSkill::tickDone");
RCLCPP_INFO(m_node->get_logger(), "NarratePoiSkill::tickDone");

response->is_ok = true;
}

void NarrateSkill::halt( [[maybe_unused]] const std::shared_ptr<bt_interfaces::srv::HaltAction::Request> request,
void NarratePoiSkill::halt( [[maybe_unused]] const std::shared_ptr<bt_interfaces::srv::HaltAction::Request> request,
[[maybe_unused]] std::shared_ptr<bt_interfaces::srv::HaltAction::Response> response)
{
std::lock_guard<std::mutex> lock(m_requestMutex);
RCLCPP_INFO(m_node->get_logger(), "NarrateSkill::halt");
RCLCPP_INFO(m_node->get_logger(), "NarratePoiSkill::halt");
m_haltResult.store(false); //here we can put a struct
m_stateMachine.submitEvent("CMD_HALT");
while(!m_haltResult.load())

while(!m_haltResult.load())
{
std::this_thread::sleep_for (std::chrono::milliseconds(100));
// qInfo() << "active names" << m_stateMachine.activeStateNames();
}
RCLCPP_INFO(m_node->get_logger(), "NarrateSkill::haltDone");
RCLCPP_INFO(m_node->get_logger(), "NarratePoiSkill::haltDone");

response->is_ok = true;
}
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