// student simulation
void* student(){
enter_bar();
int tid = thread_getId();
int i;
for(i = 0; i < tid % 5; i++){
printf(1,"Student %d is for i: %d\n",tid,i+1);
struct Action* drink_action = malloc(sizeof(struct Action));
memset(drink_action,0,sizeof(struct Action));
drink_action->action_type = DRINK_ORDER;
drink_action->cup = 0;
drink_action->tid = tid;
place_action(drink_action);//Order a Drink
struct Cup * cup = get_drink(); //get the drink from the BB
//need to write to file intsead of screen TODO
printf(1,"Student %d is having his %d drink, with cup %d\n",tid,i+1,cup->id);
sleep(1);
struct Action* return_action = malloc(sizeof(struct Action));
memset(return_action,0,sizeof(struct Action));
return_action->action_type = RETURN_CUP;
return_action->cup=cup;
return_action->tid = tid;
place_action(return_action);
}
//need to write to file intsead of screen TODO
printf(1,"Student %d is drunk, and trying to go home\n",thread_getId());
leave_bar();
thread_exit(0);
return 0;
}
void get_drink() {
ROS_INFO("Running drink task");
//run the drink task
actionlib::SimpleActionClient<serve_drink::ServeDrinkAction> client("serve_drink_action", true); // true -> don't need ros::spin()
client.waitForServer();
serve_drink::ServeDrinkGoal goal;
client.sendGoal(goal, &drinkActionDoneCb,&drinkActionActiveCb,&drinkActionFeedbackCb);
//wait until success or failure
client.waitForResult();
//see if drink task failed and we need to do teleop
if (drink_needs_teleop) {
should_restart_drink=false;
ros::Rate rate(5);
//spin until you receive a resume drink message/servicecall, then restart get_drink
while (!should_restart_drink) {
ros::spinOnce();
rate.sleep();
}
drink_needs_teleop=false;
get_drink();
}
//if success, finish
drink_needs_teleop=false;
should_restart_drink=false;
ROS_INFO("Drink task finished");
}
void executeTask(hackathon_scheduler::Event task) {
taskName=task.taskName;
startTime=task.startTime;
if (strstr(task.taskType.c_str(),"medicine")) {
get_medicine();
}
else if (strstr(task.taskType.c_str(),"lunch")) {
get_lunch(task.parameters);
}
else if (strstr(task.taskType.c_str(),"drink")) {
get_drink();
}
else if (strstr(task.taskType.c_str(),"dummytask")) {
int c;
if (!sscanf(task.parameters.c_str(),"%d",&c)) c=5;
dummy_action(c);
}
}
void* student_work(){
int k=thread_getId() % 5;
enter_bar();
int i;
for(i=0; i<k; i++){
// create action
printf(1, "creating order...\n");
struct Action* action=malloc(sizeof(struct Action));
action->type=1;
action->cup=0;
action->tid=thread_getId();
place_action(action);
printf(1, "placed order\n");
struct Cup* cup=get_drink();
printf(fileOut, "Student %d is having his %d drink, with cup %d\n",
thread_getId(), i, cup->id);
sleep(1);
action=malloc(sizeof(struct Action));
action->type=2;
action->cup=cup;
action->tid=thread_getId();
printf(1, "returning cup...\n");
place_action(action);
}
printf(fileOut, "Student %d is drunk, and trying to go home", thread_getId());
leave_bar();
printf(1, "left bar... left=%d\n", left_counter);
thread_exit(&i);
return 0;
}