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()
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()