cluedo_oracle.cpp File Reference

The referee of the game. More...

#include "ros/ros.h"
#include "std_msgs/Empty.h"
#include "robocluedo_msgs/Hint.h"
#include "robocluedo_msgs/CheckSolution.h"
#include <vector>
#include <string>
#include <random>
#include <fstream>
#include <algorithm>

Include dependency graph for cluedo_oracle.cpp:

Go to the source code of this file.

Macros
#define	PUBLISHER_HINT   "/hint"
#define	SUBSCRIBER_HINT_SIGNAL   "/hint_signal"
#define	SERVICE_CHECK_SOLUTION   "/check_solution"
#define	PATH_PARAMETER_SERVER_WHERE   "cluedo_path_where"
#define	PATH_PARAMETER_SERVER_WHO   "cluedo_path_who"
#define	PATH_PARAMETER_SERVER_WHAT   "cluedo_path_what"
#define	MAX_NUM_HINTS   2
	default maximum number of hint IDs More...
#define	MAX_SIZE_HINT   10
	maximum number of hints inside each ID More...
#define	OUTLABEL   "[cluedo_oracle] "
#define	OUTLOG(msg)   ROS_INFO_STREAM( OUTLABEL << msg )
#define	OUTERR(msg)   OUTLOG( "ERROR: " << msg )
#define	LOGSQUARE(str)   "[" << str << "] "

Functions
bool	importDataFrom (std::string path, std::vector< std::string > &list)
	import entities from file More...
std::string	chooseHintFrom (std::vector< std::string > &list)
	choose randomly a hint from a list More...
void	hintCallback (const std_msgs::EmptyConstPtr &emptySignal)
	subscriber to SUBSCRIBER_HINT_SIGNAL and publisher of PUBLISHER_HINT More...
bool	checkSolutionCallback (robocluedo_msgs::CheckSolution::Request &hyp, robocluedo_msgs::CheckSolution::Response &misterySolved)
	implementation of service SERVICE_CHECK_SOLUTION More...
void	generateMystery (std::vector< std::string > list_who, std::vector< std::string > list_where, std::vector< std::string > list_what, int tot_hints)
	generate the solution of the case and the hints More...
int	main (int argc, char *argv[])
	ROS node main - cluedo_oracle. More...

Variables
std::vector< std::string >	hints_who
	vector of hints - who More...
std::vector< std::string >	hints_where
	vector of hints - where More...
std::vector< std::string >	hints_what
	vector of hints - what More...
robocluedo_msgs::Hint	solution_who
	SOLUTION - who killed Dr Black. More...
robocluedo_msgs::Hint	solution_where
	SOLUTION - where Dr Black was killed. More...
robocluedo_msgs::Hint	solution_what
	SOLUTION - what's the murder weapon. More...
std::vector< robocluedo_msgs::Hint >	mysterylist
	shuffled list of hypotheses More...

Detailed Description

The referee of the game.

ROS Node Name

• cluedo_oracle

Authors

Francesco Ganci (S4143910)

Version

v1.0

Description:

This node implements a referee for the game: it prepares the hints and the mystery, then sends the hints to the robot and checks the hypotheses from the robot.

UML component
(See RoboCLuedo – COMP – UML Components Diagram the overal architecture, for further informations)

Publishers:

• PUBLISHER_HINT : Hint.msg
  the channel which the hint is issued through
  
  

Subscribers:

• SUBSCRIBER_HINT_SIGNAL : std_msgs::Empty
  ask the oracle for a hint
  
  

Services:

• SERVICE_CHECK_SOLUTION : CheckSolution.srv
  check if a complete hypothesis is the solution of the case or not
  
  

Parameters:

• [GET] PATH_PARAMETER_SERVER_WHERE : string
  path of the file containing all the PLACEs
  
  
• [GET] PATH_PARAMETER_SERVER_WHO : string
  path of the file containing all the PERSONs
  
  
• [GET] PATH_PARAMETER_SERVER_WHAT : string
  path of the file containing all the WEAPONs
  
  
• [GET, optional] /cluedo_max_hypotheses : string
  the maximum number of hypothesis IDs
  
  

Todo:

expose the value MAX_SIZE_HINT o the parameter server as done with MAX_NUM_HINTS.

Definition in file cluedo_oracle.cpp.