Work on costs.

src/delutil.cc

@@ -2,7 +2,7 @@
 
 #include "lrs_srvs_del/PrioritizeUnits.h"
 #include "lrs_srvs_del/PrioritizeUnitsResult.h"
-#include "lrs_srvs_del/GetBid.h"
+#include "lrs_msgs_common/GetBid.h"
 #include "lrs_srvs_del/FIPADelegate.h"
 #include "lrs_srvs_del/FIPACnpStatus.h"
 #include "lrs_srvs_del/FIPASetAcceptProposal.h"
@@ -56,21 +56,22 @@ bool unit_prioritize_result (int request_id, int & n_bids, std::vector<std::stri
 }
 
 
-int get_bid (std::string ns, std::string json) {
-  ROS_INFO ("get_bid: %s - %s", ns.c_str(), json.c_str());
+int get_bid (std::string ns, std::string unit, std::string json) {
+  ROS_INFO ("get_bid: %s - %s - %s", ns.c_str(), unit.c_str(), json.c_str());
 
   int res = -1;
 
   ros::NodeHandle n;
   ostringstream os;
-  os << ns << "/bidder/"  << "get_bid";
+  os << ns << "/"  << "get_bid";
 
-  ros::ServiceClient client = n.serviceClient<lrs_srvs_del::GetBid>(os.str());
+  ros::ServiceClient client = n.serviceClient<lrs_msgs_common::GetBid>(os.str());
 
-  lrs_srvs_del::GetBid srv;
-  srv.request.json = json;
+  lrs_msgs_common::GetBid srv;
+  srv.request.ns = unit;
+  srv.request.json_tst = json;
   if (client.call(srv)) {
-    res = srv.response.cost;
+    res = srv.response.bid;
   } else {
     ROS_ERROR("delutil.cc get_bid: Failed to call get_bid: %s", os.str().c_str());
     res = -1;

src/delutil.h

@@ -13,7 +13,7 @@ int unit_prioritize (std::vector<std::string> units, std::string ns, int id);
 
 bool unit_prioritize_result (int request_id, int & n_bids, std::vector<std::string> & units);
 
-int get_bid (std::string ns, std::string tstns, int id);
+int get_bid (std::string ns, std::string unit, std::string json);
 
 std::string delegate(std::string ns, std::string tstns, int tstid, lrs_msgs_del::DelArgs delargs);
 std::string delegate(std::string ns, std::string tstns, int tstid, lrs_msgs_del::DelArgs delargs,