auction_action.cpp File Reference

#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <geometry_msgs/Pose.h>
#include <cpswarm_msgs/TaskAllocationEvent.h>
#include <cpswarm_msgs/TaskAllocatedEvent.h>
#include <cpswarm_msgs/TaskAllocationAction.h>

Include dependency graph for auction_action.cpp:

Go to the source code of this file.

Typedefs
typedef actionlib::SimpleActionServer< cpswarm_msgs::TaskAllocationAction >	Server
	The server object that offers the task allocation auction as action server. More...

Functions
void	auction_callback (const cpswarm_msgs::TaskAllocationGoal::ConstPtr &goal, Server *as)
	Callback function to start a task allocation auction. More...
void	bid_callback (const cpswarm_msgs::TaskAllocationEvent::ConstPtr &msg)
	Callback function to receive auction bids. More...
int	main (int argc, char **argv)
	A ROS node that exchanges relative kinematics between CPSs in a swarm. More...

Variables
bool	auction_open
	Whether the auction is currently open for bidding. More...
double	highest_bid
	The highest current bid. More...
Publisher	publisher
	Publisher to announce the winner of the auction. More...
int	task_id
	ID of the task that is auctioned. More...
geometry_msgs::Pose	task_pose
	Location of the task that is auctioned. More...
double	timeout
	The auction duration. More...
string	winner
	The UUID of the CPS that is the current highest bidder. More...

Typedef Documentation

Server

typedef actionlib::SimpleActionServer<cpswarm_msgs::TaskAllocationAction> Server

The server object that offers the task allocation auction as action server.

Definition at line 14 of file auction_action.cpp.

Function Documentation

auction_callback()

void auction_callback	(	const cpswarm_msgs::TaskAllocationGoal::ConstPtr &	goal,
		Server *	as
	)

Callback function to start a task allocation auction.

Parameters

goal	The action goal.
as	Reference to the action server object.

Definition at line 73 of file auction_action.cpp.

bid_callback()

void bid_callback

(

const cpswarm_msgs::TaskAllocationEvent::ConstPtr &

msg

)

Callback function to receive auction bids.

Parameters

msg	The bid received.

Definition at line 55 of file auction_action.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

A ROS node that exchanges relative kinematics between CPSs in a swarm.

Parameters

argc	Number of command line arguments.
argv	Array of command line arguments.

Returns

Success.

Definition at line 137 of file auction_action.cpp.

Variable Documentation

auction_open

bool auction_open

Whether the auction is currently open for bidding.

Definition at line 34 of file auction_action.cpp.

highest_bid

double highest_bid

The highest current bid.

Definition at line 44 of file auction_action.cpp.

publisher

Publisher publisher

Publisher to announce the winner of the auction.

Definition at line 19 of file auction_action.cpp.

task_id

int task_id

ID of the task that is auctioned.

Definition at line 24 of file auction_action.cpp.

task_pose

geometry_msgs::Pose task_pose

Location of the task that is auctioned.

Definition at line 29 of file auction_action.cpp.

timeout

double timeout

The auction duration.

Definition at line 39 of file auction_action.cpp.

winner

string winner

The UUID of the CPS that is the current highest bidder.

Definition at line 49 of file auction_action.cpp.