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Commit 5278d863 authored by Christoph Schröter's avatar Christoph Schröter
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garage_actionlib.xml
+ 41
− 17
View file @ 5278d863
......@@ -25,11 +25,31 @@ int lokal;</declaration>
<location id="id3" x="204" y="85">
<name x="102" y="85">schliessend</name>
</location>
<location id="id4" x="263" y="-51">
</location>
<location id="id5" x="136" y="-85">
</location>
<init ref="id0"/>
<transition>
<source ref="id5"/>
<target ref="id3"/>
<label kind="select" x="85" y="-42">i : int[0,1000]</label>
<label kind="guard" x="42" y="-25">akt_position + i &lt;= 1000</label>
<label kind="synchronisation" x="110" y="-59">fertig!</label>
<label kind="assignment" x="85" y="-8">akt_position += i</label>
</transition>
<transition>
<source ref="id4"/>
<target ref="id1"/>
<label kind="select" x="221" y="-127">i : int[0,1000]</label>
<label kind="guard" x="204" y="-110">akt_position - i &gt;= 0</label>
<label kind="synchronisation" x="238" y="-144">fertig!</label>
<label kind="assignment" x="229" y="-93">akt_position -= i</label>
</transition>
<transition>
<source ref="id0"/>
<target ref="id3"/>
<label kind="synchronisation" x="-391" y="0">schliessen?</label>
<label kind="synchronisation" x="-365" y="0">schliessen?</label>
<nail x="-280" y="-76"/>
<nail x="-280" y="93"/>
</transition>
......@@ -42,15 +62,13 @@ int lokal;</declaration>
</transition>
<transition>
<source ref="id3"/>
<target ref="id1"/>
<label kind="synchronisation" x="280" y="-85">oeffnen?</label>
<nail x="280" y="-68"/>
<target ref="id4"/>
<label kind="synchronisation" x="246" y="-17">oeffnen?</label>
</transition>
<transition>
<source ref="id1"/>
<target ref="id3"/>
<label kind="synchronisation" x="34" y="-110">schliessen?</label>
<nail x="119" y="-68"/>
<target ref="id5"/>
<label kind="synchronisation" x="76" y="-153">schliessen?</label>
</transition>
<transition>
<source ref="id3"/>
......@@ -58,7 +76,7 @@ int lokal;</declaration>
<label kind="select" x="59" y="170">i : int[0,1000]</label>
<label kind="guard" x="59" y="187">akt_position - i &gt;= 0</label>
<label kind="synchronisation" x="59" y="153">position!</label>
<label kind="assignment" x="59" y="204">akt_position = akt_position - i</label>
<label kind="assignment" x="59" y="204">akt_position -= i</label>
<nail x="280" y="178"/>
<nail x="144" y="178"/>
</transition>
......@@ -68,7 +86,7 @@ int lokal;</declaration>
<label kind="select" x="305" y="-356">i : int[0,1000]</label>
<label kind="guard" x="305" y="-339">akt_position + i &lt;= 1000</label>
<label kind="synchronisation" x="305" y="-373">position!</label>
<label kind="assignment" x="305" y="-322">akt_position = akt_position +i</label>
<label kind="assignment" x="305" y="-322">akt_position += i</label>
<nail x="126" y="-335"/>
<nail x="126" y="-335"/>
<nail x="270" y="-335"/>
......@@ -76,7 +94,10 @@ int lokal;</declaration>
<transition>
<source ref="id3"/>
<target ref="id0"/>
<label kind="synchronisation" x="-143" y="0">fertig!</label>
<label kind="select" x="-127" y="-8">i : int[0,1000]</label>
<label kind="guard" x="-127" y="8">akt_position - i &gt;= 0</label>
<label kind="synchronisation" x="-93" y="-25">fertig!</label>
<label kind="assignment" x="-127" y="25">akt_position -= i</label>
</transition>
<transition>
<source ref="id2"/>
......@@ -86,7 +107,10 @@ int lokal;</declaration>
<transition>
<source ref="id1"/>
<target ref="id2"/>
<label kind="synchronisation" x="289" y="-195">fertig!</label>
<label kind="select" x="348" y="-187">i : int[0,1000]</label>
<label kind="guard" x="348" y="-170">akt_position + i &lt;= 1000</label>
<label kind="synchronisation" x="348" y="-204">fertig!</label>
<label kind="assignment" x="357" y="-153">akt_position += i</label>
</transition>
<transition>
<source ref="id0"/>
......@@ -97,12 +121,12 @@ int lokal;</declaration>
<template>
<name>Schluessel</name>
<declaration>clock zeit;</declaration>
<location id="id4" x="-1045" y="-722">
<location id="id6" x="-1045" y="-722">
</location>
<init ref="id4"/>
<init ref="id6"/>
<transition>
<source ref="id4"/>
<target ref="id4"/>
<source ref="id6"/>
<target ref="id6"/>
<label kind="guard" x="-1215" y="-765">zeit &gt; 10</label>
<label kind="synchronisation" x="-1207" y="-739">schliessen!</label>
<label kind="assignment" x="-1224" y="-714">zeit = 0</label>
......@@ -111,8 +135,8 @@ int lokal;</declaration>
<nail x="-1045" y="-578"/>
</transition>
<transition>
<source ref="id4"/>
<target ref="id4"/>
<source ref="id6"/>
<target ref="id6"/>
<label kind="guard" x="-935" y="-850">zeit &gt; 10</label>
<label kind="synchronisation" x="-977" y="-867">oeffnen!</label>
<label kind="assignment" x="-909" y="-824">zeit = 0</label>
......
src/garage_server.cpp
+ 1
− 0
View file @ 5278d863
......@@ -39,6 +39,7 @@ class Garage {
rate.sleep();
if (as.isPreemptRequested() || !ros::ok() || as.isNewGoalAvailable()) {
ROS_INFO("server preempted");
res.position = current_position;
as.setPreempted(res, "preempted");
return;
}
......
src/tron_adapter.cpp
+ 3
− 4
View file @ 5278d863
......@@ -397,8 +397,7 @@ void feedback_callback(const boost::shared_ptr<actionlib_example::TriggerActionF
}
void result_callback(const boost::shared_ptr<actionlib_example::TriggerActionResult> ptr){
for (Mapping& map : mappings) {
if (map.channel.name == "fertig" && map.channel.is_input == false
&& ptr->status.status == 3) // 3 means succeeded, could alternively be implemented in uppaal model
if (map.channel.name == "fertig" && map.channel.is_input == false)
report_now(map.channel, 1, &ptr->result.position);
}
}
......@@ -434,7 +433,7 @@ void configuration_phase(ros::NodeHandle& nh){
// add_var_to_channel(socketfd, "ausloesen", "lokal");
uint64_t microseconds = 1000000; // one second
// documentation states 2 signed integers are used for some reason
set_time_unit_and_timeout(microseconds, 100);
set_time_unit_and_timeout(microseconds, 300);
// wait till subscribers initialized
for (ros::Publisher& pub : input_publishers) {
......@@ -522,7 +521,7 @@ int main(int argc, char**argv){
ros::AsyncSpinner spinner(4);
spinner.start();
while (ros::ok()) {
//ros::spinOnce();
ros::spinOnce();
process_TRONs_msgs();
test_phase_freq.sleep();
}
......
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