Alysson2024Node.h

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/*
 * Copyright (c) 2020, Alysson Ribeiro da Silva
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 * 
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 * 
 * 3. All advertising materials mentioning features or use of this software must
 *    display the following acknowledgement:
 *    This product includes software developed by Alysson Ribeiro da Silva.
 * 
 * 4. Neither the name of the copyright holder nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 * 
 * 5. The source and the binary form, and any modifications made to them
 *    may not be used for the purpose of training or improving machine learning
 *    algorithms, including but not limited to artificial intelligence, natural
 *    language processing, or data mining. This condition applies to any derivatives,
 *    modifications, or updates based on the Software code. Any usage of the source
 *    or the binary form in an AI-training dataset is considered a breach of
 *    this License.
 * 
 * THIS SOFTWARE IS PROVIDED BY COPYRIGHT HOLDER "AS IS" AND ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
 * EVENT SHALL COPYRIGHT HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
/*
 * Ros and system
 */
#include <vector>
#include <random>
#include "ros/ros.h"
 
/*
 * Messages
 */
#include "nav_msgs/OccupancyGrid.h"
#include "std_msgs/String.h"
#include "std_msgs/Int8MultiArray.h"
#include "multirobotsimulations/CustomPose.h"
#include "multirobotsimulations/Frontiers.h"
#include "multirobotsimulations/rendezvous.h"
#include "visualization_msgs/Marker.h"
 
/*
 * Helpers
 */
#include "RendezvousPlan.h"
#include "Common.h"
 
typedef enum {
    state_select_frontier = 2, 
    state_exploring = 3, 
    state_idle = 11, 
    state_exploration_finished = 12, 
    state_back_to_base = 25, 
    state_back_to_base_finished = 26, 
    state_compute_centroids = 27, 
    state_waiting_centroids = 28, 
    state_set_back_to_base = 30, 
    state_planning = 31, 
    /*
     * Extended state space
     */ 
    state_set_rendezvous_location = 55, 
    state_navigating_to_rendezvous = 56, 
    state_at_rendezvous = 57, 
    state_updating_plan = 58, 
    state_waiting_consensus = 59, 
    state_waiting_centroids_for_plan = 60, 
    state_select_new_rendezvous = 61 
} ExplorerState;
 
class Alysson2024Node {
    public:
        Alysson2024Node();
 
        ~Alysson2024Node();
 
    private:
        void EstimatePoseCallback(multirobotsimulations::CustomPose::ConstPtr msg);
 
        void ClustersCallback(multirobotsimulations::Frontiers::ConstPtr msg);
 
        void SubGoalFinishCallback(std_msgs::String::ConstPtr msg);
 
        void CSpaceCallback(nav_msgs::OccupancyGrid::ConstPtr msg);
 
        void SetExploringCallback(std_msgs::String::ConstPtr msg);
 
        void SetBasestationCallback(std_msgs::String::ConstPtr msg);
 
        void SetIdleCallback(std_msgs::String::ConstPtr msg);
 
        void ChangeState(const ExplorerState& newState);
 
        int SelectFrontier(multirobotsimulations::Frontiers& centroids, tf::Vector3& selectFrontierWorld);
 
        void CreateMarker(visualization_msgs::Marker& input, const char* ns, const int& id, const int& seq);
 
        void SetGoal(const tf::Vector3& goal);       
 
        void Update();
 
        /*
         * Control variables
         */
        int aQueueSize; 
        int aRate; 
        int aRobots; 
        int aId; 
        bool aHasPose; 
        bool aHasOcc; 
        bool aDirty; 
        bool aFirst; 
        double aDeltaTime; 
        Vec2i aOccPos; 
        ros::Time aLastTime; 
        tf::Vector3 aWorldPos; 
        tf::Vector3 aGoalFrontier; 
        tf::Vector3 aGoalBasestation; 
        std::string aNamespace; 
        ExplorerState aCurrentState; 
        /*
         * Routines
         */
        std::vector<ros::Timer> aTimers; 
        /*
         * Subscribers
         */
        std::vector<ros::Subscriber> aSubscribers; 
        /*
         * Advertisers
         */   
        ros::Publisher aGoalPublisher; 
        ros::Publisher aFrontierComputePublisher; 
        /*
         * Messages
         */
        multirobotsimulations::Frontiers aFrontierCentroidsMsg; 
        nav_msgs::OccupancyGrid aCSpaceMsg; 
        /*
         * Extension from Randomized-Social-Welfare policy
         */
 
        bool CheckNear();
 
        bool CanCommunicate(const int& id);
 
        bool FinishedMission();
 
        int RandomizedFrontierSelection(multirobotsimulations::Frontiers& centroids, tf::Vector3& selectFrontierWorld);
 
        int SelectSubteamNewRendezvous(multirobotsimulations::Frontiers& centroids, tf::Vector3& selectFrontierWorld);
 
        void CommCallback(std_msgs::Int8MultiArray::ConstPtr msg);
 
        // extension control
        bool aHasComm; 
        bool aReceivedNewRendezvousLocation; 
        double aWaitingThreshold; 
        double aTimeWaiting; 
        std::shared_ptr<RendezvousPlan> aPlan; 
        // extension messages
        std_msgs::Int8MultiArray aCommMsg; 
        multirobotsimulations::rendezvous aRendezvousMsg; 
        multirobotsimulations::CustomPose aRendezvousNewPoseMsg; 
        // extension helpers
        tf::Vector3 aRendezvousFootprint; 
        tf::Vector3 aFirstRendezvous; 
        tf::Vector3 aGoalRendezvous; 
        tf::Vector3 aNewRendezvousLocation; 
        std::unique_ptr<std::mt19937> aRandomNumberGenerator; 
        std::random_device aRandomNumberDevice; 
        // extension advertisers
        ros::Publisher aPlanRealizationPublisher; 
        ros::Publisher aPlanLocationPublisher; 
};