From 281f7c74988d3f2f2a96e23e093cb0e75c7459a8 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Wed, 15 Jan 2020 23:45:44 +0100
Subject: [PATCH] Work on costs.
---
src/delutil.cc | 17 +++++++++--------
src/delutil.h | 2 +-
2 files changed, 10 insertions(+), 9 deletions(-)
diff --git a/src/delutil.cc b/src/delutil.cc
index 1995be8..66da16b 100644
--- a/src/delutil.cc
+++ b/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;
diff --git a/src/delutil.h b/src/delutil.h
index d4e930e..50dc37f 100644
--- a/src/delutil.h
+++ b/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,
--
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