start_execution method added

src/missionobject.cc

@@ -34,54 +34,12 @@ void MissionObject::set_title(std::string str) {
   title = str;
 }
 
-bool MissionObject::delegation(bool display_flag, bool exectree_flag) {
-
-  //
-  // Display tree
-  //
+bool MissionObject::start_execution (bool display_flag) {
 
   std::string ns = ros::names::clean (ros::this_node::getNamespace());  
 
-  display_tree (ns, title + " - before delegation", root_id);
-
-  std::string fail_reason;
-  
-  std::string cid = delegation_process_until_proposal();
-  if (cid != "") {
-    ROS_INFO ("WE HAVE A PROPOSAL");
-  } else {
-    ROS_ERROR("missionobject::could not get a proposal");
-    return false;
-  }
-
-  if (!delegation_process_approved_part(cid, fail_reason)) {
-    ROS_ERROR("Failed in approved part: %s", fail_reason.c_str());
-    return false;
-  }
-
-  display_tree (ns, title + " - after delegation", root_id);
-
-  //
-  // Save the dot file
-  //
-#if 0
-  std::string dotstr = get_tst_string(ns, rootid,
-                                      lrs_srvs_tst::TSTGetTreeString::Request::FORMAT_DOT);
-  std::ofstream dotout("/tmp/terra_house_scan_example.dot");
-  dotout << dotstr << std::endl;
-#endif
-  
-
-  if (!exectree_flag) {
-    return true;
-  }
+  display_tree (ns, title + " - execution", root_id);
 
-  //
-  // Start execution
-  //
-  
-  ROS_INFO("DELEGATION FINISHED - STARTING EXECUTION PHASE");
-  
   if (!distribute_tree(ns, root_id)) {
     ROS_ERROR("Failed to distribute tree");
     return false;
@@ -146,6 +104,58 @@ bool MissionObject::delegation(bool display_flag, bool exectree_flag) {
 
   return true;
 }
+
+bool MissionObject::delegation(bool display_flag, bool exectree_flag) {
+
+  //
+  // Display tree
+  //
+
+  std::string ns = ros::names::clean (ros::this_node::getNamespace());  
+
+  display_tree (ns, title + " - before delegation", root_id);
+
+  std::string fail_reason;
+  
+  std::string cid = delegation_process_until_proposal();
+  if (cid != "") {
+    ROS_INFO ("WE HAVE A PROPOSAL");
+  } else {
+    ROS_ERROR("missionobject::could not get a proposal");
+    return false;
+  }
+
+  if (!delegation_process_approved_part(cid, fail_reason)) {
+    ROS_ERROR("Failed in approved part: %s", fail_reason.c_str());
+    return false;
+  }
+
+  display_tree (ns, title + " - after delegation", root_id);
+
+  //
+  // Save the dot file
+  //
+#if 0
+  std::string dotstr = get_tst_string(ns, rootid,
+                                      lrs_srvs_tst::TSTGetTreeString::Request::FORMAT_DOT);
+  std::ofstream dotout("/tmp/terra_house_scan_example.dot");
+  dotout << dotstr << std::endl;
+#endif
+  
+
+  if (!exectree_flag) {
+    return true;
+  }
+
+  //
+  // Start execution
+  //
+  
+  ROS_INFO("DELEGATION FINISHED - STARTING EXECUTION PHASE");
+
+  return start_execution (false);
+  
+}
   
 std::string MissionObject::delegation_process_until_proposal() {
 

src/missionobject.h

@@ -22,6 +22,7 @@ public:
   ~MissionObject();
 
   bool delegation(bool display_flag, bool exectree_flag);
+  bool start_execution (bool display_flag);
   
   std::string delegation_process_until_proposal();
   bool delegation_process_approved_part(std::string cid, std::string & fail_reason);