cluedo_random_room.cpp

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#include "ros/ros.h"
#include "robocluedo_msgs/RandomRoom.h"
 
#include <vector>
#include <string>
#include <random>
#include <fstream>
 
#define PATH_PARAMETER_SERVER_WHERE "cluedo_path_where"
#define SERVICE_RANDOM_ROOM "/random_room"
#define OUTLOG std::cout << "[cluedo_random_room] "
#define LOGSQUARE( str ) "[" << str << "] "
 
 
 
std::vector<std::string> rooms;
 
std::uniform_int_distribution<std::mt19937::result_type> randgen;
 
std::mt19937 rng;
 
 
 
 
bool ImportNamesOfRooms( const std::string& path )
{
    // open the file
    OUTLOG << "reading from fiile " << LOGSQUARE( path ) << std::endl;
    std::ifstream filestream( path );
    if( !filestream.is_open( ) )
    {
        OUTLOG << "ERROR: no existing file!" << std::endl;
        return false;
    }
    
    // read the file
    rooms = std::vector<std::string>( );
    std::string temp = "";
    int line = 1;
    while( getline( filestream, temp ) )
    {
        OUTLOG << "line" << LOGSQUARE( line ) << "READ " << LOGSQUARE( temp ) << std::endl;
        ++line;
        rooms.push_back( temp );
    }
    
    // close the file
    OUTLOG << "closing file ..." << std::endl;
    filestream.close( );
    
    return true;
}
 
 
 
 
std::string Choose( )
{
    int generated_random_number = randgen( rng );
    ROS_INFO( "generated: %d", generated_random_number );
    
    return rooms[ generated_random_number ];
}
 
 
 
 
bool ChooseRoomRandom( robocluedo_msgs::RandomRoom::Request& empty, robocluedo_msgs::RandomRoom::Response& room )
{
    room.room = Choose( );
    return true;
}
 
 
 
 
int main( int argc, char* argv[] )
{
    ros::init( argc, argv, "cluedo_random_room" );
    ros::NodeHandle nh;
    
    // init the list of rooms
    if( !ros::param::has( PATH_PARAMETER_SERVER_WHERE ) )
    {
        // ERRORE il param non esiste nel server
        return 0;
    }
    std::string path;
    ros::param::get( PATH_PARAMETER_SERVER_WHERE, path );
    if( !ImportNamesOfRooms( path ) )
    {
        // ERRORE il path non esiste
        return 0;
    }
    int nRooms = rooms.size( );
    
    // setup the random number generator
    std::random_device dev;
    // seed?
    rng = std::mt19937(dev());
    randgen = std::uniform_int_distribution<std::mt19937::result_type>( 0, nRooms-1 );
    
    // expose the service
    OUTLOG << "Advertising service " << LOGSQUARE( SERVICE_RANDOM_ROOM ) << "..." << std::endl;
    ros::ServiceServer srv = nh.advertiseService( SERVICE_RANDOM_ROOM, ChooseRoomRandom );
    OUTLOG << "Advertising service " << LOGSQUARE( SERVICE_RANDOM_ROOM ) << "... OK" << std::endl;
    
    // spin and wait
    OUTLOG << "ready!" << std::endl;
    ros::spin();
    
    return 0;
}