def execute(self,userdata):
#print "FoodPreparationSrv_PushOrder State Start"
"""
global FoodPreparationSrv_GlobalEvtFlag
ResultCode = 'retry'
if FoodPreparationSrv_GlobalEvtFlag == True:
FoodPreparationSrv_GlobalEvtFlag = False
FoodPreparationSrv = 'failure'
return ResultCode
"""
global RobotDeliverySrv_cmdset
#user event
robot_name = userdata.robot_name
robot_delivery_order = Order()
cmdset = RobotDeliverySrv_cmdset
robot_delivery_order.user_id = cmdset.getValue('UserID')
robot_delivery_order.table_id = cmdset.getValue('TableID')
robot_delivery_order.robot_id = cmdset.getValue('RobotID')
robot_delivery_order.status = cmdset.getValue('Status')
robot_pub_topic = "delivery_order_"+robot_name+"_pub"
robot_pub_list[robot_pub_topic].publish(robot_delivery_order)
return 'success'
def execute(self,userdata):
#print "FoodPreparationSrv_PushOrder State Start"
"""
global FoodPreparationSrv_GlobalEvtFlag
ResultCode = 'retry'
if FoodPreparationSrv_GlobalEvtFlag == True:
FoodPreparationSrv_GlobalEvtFlag = False
FoodPreparationSrv = 'failure'
return ResultCode
"""
global FoodPreparationSrv_cmdset
#user event
food_preparation_order = Order()
cmdset = FoodPreparationSrv_cmdset
print cmdset.getValue('UserID')
cmdset.setString('Status','Preparation')
food_preparation_order.user_id = cmdset.getValue('UserID')
food_preparation_order.table_id = cmdset.getValue('TableID')
food_preparation_order.robot_id = cmdset.getValue('RobotID')
food_preparation_order.status = cmdset.getValue('Status')
global kitchen_mgr_pub
print food_preparation_order.user_id
kitchen_mgr_pub.publish(food_preparation_order)
userId = food_preparation_order.user_id
global FoodPreparationSrv_waitingPreparationFlag
FoodPreparationSrv_waitingPreparationFlag = True
while FoodPreparationSrv_waitingPreparationFlag :
time.sleep(1)
pass
FoodPreparationSrv_UserID = 0
cmdset.setCmdName('RobotDeliveryOrderEvent')
cmdset.setSenderID('FoodPreparationSrv')
cmdset.setReceiverID('RobotDeliverySrv')
EventProc(cmdset)
return 'success'
def execute(self, userdata):
#print "FoodPreparationSrv_PushOrder State Start"
"""
global FoodPreparationSrv_GlobalEvtFlag
ResultCode = 'retry'
if FoodPreparationSrv_GlobalEvtFlag == True:
FoodPreparationSrv_GlobalEvtFlag = False
FoodPreparationSrv = 'failure'
return ResultCode
"""
global RobotDeliverySrv_cmdset
#user event
robot_name = userdata.robot_name
robot_delivery_order = Order()
cmdset = RobotDeliverySrv_cmdset
robot_delivery_order.user_id = cmdset.getValue('UserID')
robot_delivery_order.table_id = cmdset.getValue('TableID')
robot_delivery_order.robot_id = cmdset.getValue('RobotID')
robot_delivery_order.status = cmdset.getValue('Status')
robot_pub_topic = "delivery_order_" + robot_name + "_pub"
robot_pub_list[robot_pub_topic].publish(robot_delivery_order)
return 'success'
def execute(self, userdata):
#print "FoodPreparationSrv_PushOrder State Start"
"""
global FoodPreparationSrv_GlobalEvtFlag
ResultCode = 'retry'
if FoodPreparationSrv_GlobalEvtFlag == True:
FoodPreparationSrv_GlobalEvtFlag = False
FoodPreparationSrv = 'failure'
return ResultCode
"""
global FoodPreparationSrv_cmdset
#user event
food_preparation_order = Order()
cmdset = FoodPreparationSrv_cmdset
print cmdset.getValue('UserID')
cmdset.setString('Status', 'Preparation')
food_preparation_order.user_id = cmdset.getValue('UserID')
food_preparation_order.table_id = cmdset.getValue('TableID')
food_preparation_order.robot_id = cmdset.getValue('RobotID')
food_preparation_order.status = cmdset.getValue('Status')
global kitchen_mgr_pub
print food_preparation_order.user_id
kitchen_mgr_pub.publish(food_preparation_order)
userId = food_preparation_order.user_id
global FoodPreparationSrv_waitingPreparationFlag
FoodPreparationSrv_waitingPreparationFlag = True
while FoodPreparationSrv_waitingPreparationFlag:
time.sleep(1)
pass
FoodPreparationSrv_UserID = 0
cmdset.setCmdName('RobotDeliveryOrderEvent')
cmdset.setSenderID('FoodPreparationSrv')
cmdset.setReceiverID('RobotDeliverySrv')
EventProc(cmdset)
return 'success'
