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Update mower behavior skip path option added #60

Merged
merged 12 commits into from
Oct 27, 2023
Merged

Update mower behavior skip path option added #60

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ec9557e
Update MowingBehavior.cpp
midevil Jul 26, 2023
81328c4
Update MowingBehavior.h
midevil Jul 26, 2023
4074477
Update MowingBehavior.cpp
midevil Jul 27, 2023
6539203
Update MowingBehavior.cpp
midevil Jul 27, 2023
9d48f22
Update MowingBehavior.cpp
midevil Jul 27, 2023
6474feb
Update MowingBehavior.cpp
midevil Jul 28, 2023
71cee91
Merge branch 'ClemensElflein:main' into main
midevil Aug 26, 2023
839d501
updated return code to false
midevil Sep 5, 2023
f273b91
Merge pull request #1 from ClemensElflein/main
midevil Oct 1, 2023
b38630d
Merge branch 'ClemensElflein:main' into main
midevil Oct 23, 2023
dcfdb3d
pr66
midevil Oct 23, 2023
f6ddd79
pr66
midevil Oct 23, 2023
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19 changes: 18 additions & 1 deletion src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@ Behavior *MowingBehavior::execute() {

void MowingBehavior::enter() {
skip_area = false;
skip_path = false;
paused = aborted = false;

for(auto& a : actions) {
Expand Down Expand Up @@ -252,7 +253,7 @@ bool MowingBehavior::execute_mowing_plan() {
update_actions();
mowerEnabled = true;
}


auto &path = currentMowingPaths.front();
ROS_INFO_STREAM("MowingBehavior: Path segment length: " << path.path.poses.size() << " poses.");
Expand Down Expand Up @@ -363,6 +364,13 @@ bool MowingBehavior::execute_mowing_plan() {
skip_area = false;
return true;
}
if(skip_path)
{
currentMowingPaths.erase(currentMowingPaths.begin());
skip_path=false;
return true;
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}

if (aborted) {
ROS_INFO_STREAM("MowingBehavior: (MOW) ABORT was requested - stopping path execution.");
mbfClientExePath->cancelAllGoals();
Expand Down Expand Up @@ -489,11 +497,17 @@ MowingBehavior::MowingBehavior() {
skip_area_action.enabled = false;
skip_area_action.action_name = "Skip Area";

xbot_msgs::ActionInfo skip_path_action;
skip_path_action.action_id = "skip_path";
skip_path_action.enabled = false;
skip_path_action.action_name = "Skip Path";

actions.clear();
actions.push_back(pause_action);
actions.push_back(continue_action);
actions.push_back(abort_mowing_action);
actions.push_back(skip_area_action);
actions.push_back(skip_path_action);
}

void MowingBehavior::handle_action(std::string action) {
Expand All @@ -515,6 +529,9 @@ void MowingBehavior::handle_action(std::string action) {
} else if(action == "mower_logic:mowing/skip_area") {
ROS_INFO_STREAM("got skip_area command");
skip_area = true;
} else if(action == "mower_logic:mowing/skip_path") {
ROS_INFO_STREAM("got skip_path command");
skip_path = true;
}
update_actions();
}
1 change: 1 addition & 0 deletions src/mower_logic/src/mower_logic/behaviors/MowingBehavior.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ class MowingBehavior : public Behavior {
std::vector<xbot_msgs::ActionInfo> actions;

bool skip_area;
bool skip_path;
bool create_mowing_plan(int area_index);

bool execute_mowing_plan();
Expand Down