def give_zones_handler(robo_id):
"""
Service for giving cleaning zones to smallvot amd distrivuting IDs to new smallvots
:param robo_id: ID of the small rovot requesting a clean Task
:return: fields for a clean Task
"""
latestTask = Task(3)
latestTask.workerID = robo_id.workerID
start = Pose()
start.position.x = 30
# ['isActive', 'isComplete', 'workerID', 'type', 'zone', 'startingPoint']
return [True, False, latestTask.workerID, "clean", 123, start]
def parse_task(self, taskResponse):
"""
Takes a service response and combines all the fields into a Task
:param taskResponse: response received from a service
:return: a Task
"""
zone = Zone(taskResponse.zoneCorners, taskResponse.zoneID)
task = Task(zone, taskResponse.type)
task.isActive = taskResponse.isActive
task.isComplete = taskResponse.isComplete
task.workerID = taskResponse.workerID
task.start_point = taskResponse.startingPoint
return task