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Reset started flag #656

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merged 2 commits into from
Oct 29, 2024
Merged

Reset started flag #656

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1fda241
Reset started flag
Robert108 Oct 24, 2024
ee4ea0e
Fix mapping bug from ATOS id to Esmini ID
Robert108 Oct 28, 2024
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2 changes: 1 addition & 1 deletion atos/modules/EsminiAdapter/src/esminiadapter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -242,7 +242,7 @@ void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr
*/
void EsminiAdapter::onMonitorMessage(const Monitor::message_type::SharedPtr monr, uint32_t ATOSObjectId) {
if (auto idMapping = atosIdToEsminiId.find(ATOSObjectId); idMapping != atosIdToEsminiId.end()) {
reportObjectPosition(monr, idMapping->first); // Report object position to esmini
reportObjectPosition(monr, idMapping->second); // Report object position to esmini
SE_Step(); // Advance the "simulation world"-time
}
else {
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8 changes: 6 additions & 2 deletions atos/modules/OpenScenarioGateway/openscenariogateway.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ def __init__(self):

# ROS subscriptions/publishers
self.init_ = self.create_subscription(Empty, "init", self.init_callback, 10)
self.arm_ = self.create_subscription(Empty, "arm", self.arm_callback, 10)

self.story_board_element_sub_ = self.create_subscription(
atos_interfaces.msg.StoryBoardElementStateChange,
Expand Down Expand Up @@ -93,6 +94,11 @@ def init_callback(self, msg):
self.get_parameter(ACTIVE_OBJECT_NAME_PARAMETER).value
)

def arm_callback(self, msg):
# Reset the started flag
for id in self.active_objects:
self.active_objects[id].started = False

def story_board_element_state_change_callback(self, story_board_element):
if (
story_board_element.name in self.start_actions_to_obj_name.keys()
Expand Down Expand Up @@ -185,8 +191,6 @@ def update_active_scenario_objects(self, active_objects_name: List[str]):
obj.name, id
)
)
# Reset the started flag
obj.started = False

def get_all_objects_in_scenario(self, scenario_file) -> List[ScenarioObject]:
scenario = xosc.ParseOpenScenario(scenario_file)
Expand Down
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