Beispiel #1
0
 def give_avoid_status(self, robot_request):
     task = Task()
     if self.robotManager.should_robot_avoid(robot_request.workerID):
         if DEBUG:
             print("sending avoid task to robot with ID:")
             print(robot_request.workerID)
         task.make_avoid_task(Pose(), robot_request.workerID)
         return task.to_service_format()
     else:
         if DEBUG:
             print("sending safe task to robot with ID:")
             print(robot_request.workerID)
         task.make_safe_task(robot_request.workerID)
         return task.to_service_format()
Beispiel #2
0
 def give_cleaning_task(self, robot_request):
     if len(self.cleaningManager.cleaningTasks) > 0:
         print("giving cleaning task")
         task = self.cleaningManager.cleaningTasks.pop()
         self.cleaningManager.completed_tasks.append(task)
         print("task is " + str(task.zone.id))
         print("tasks remaining: " +
               str(len(self.cleaningManager.cleaningTasks)))
         task.workerID = robot_request.workerID
         return task.to_service_format()
     else:
         print("no cleaning Task")
         task = Task()
         task.make_safe_task(robot_request.workerID)
         return task.to_service_format()