Merge pull request #20 from robocup-logistics/thofmann/remove-gate-fr…

…om-ds-prepare-msg

Remove gate from DS prepare msg

src/games/rcll/production.clp

@@ -101,12 +101,16 @@
 	      (if (pb-has-field ?p "instruction_ds")
 	       then
 	        (bind ?prepmsg (pb-field-value ?p "instruction_ds"))
-		(bind ?gate (pb-field-value ?prepmsg "gate"))
-		(bind ?order (pb-field-value ?prepmsg "order_id"))
-		(printout t "Prepared " ?mname " (gate: " ?gate ", order: " ?order ")" crlf)
-	        (modify ?m (state PREPARED) (ds-gate ?gate) (ds-order ?order)
+		(bind ?order-id (pb-field-value ?prepmsg "order_id"))
+		(if (any-factp ((?order order)) (eq ?order:id ?order-id))
+		 then
+			(printout t "Prepared " ?mname " (order: " ?order-id ")" crlf)
+			(modify ?m (state PREPARED) (ds-order ?order-id)
                            (mps-state AVAILABLE) (wait-for-product-since ?gt))
-                           ;(wait-for-product-since ?gt))
+		else
+			(modify ?m (state BROKEN) (prev-state ?m:state)
+			  (broken-reason (str-cat "Prepare received for " ?mname " with invalid order ID")))
+		)
                else
 		(modify ?m (state BROKEN) (prev-state ?m:state)
 			(broken-reason (str-cat "Prepare received for " ?mname " without data")))
@@ -295,16 +299,16 @@
 )
 
 (defrule prod-proc-state-processing-ds-start
-  "BS must be instructed to dispense base for processing"
+  "Instruct DS to start processing"
   (declare (salience ?*PRIORITY_HIGHER*))
   (gamestate (state RUNNING) (phase PRODUCTION) (game-time ?gt))
-  ?m <- (machine (name ?n) (mtype DS) (state PREPARED) (proc-state ~PREPARED)
-		 (ds-gate ?gate))
+  (order (id ?order) (delivery-gate ?gate))
+  ?m <- (machine (name ?n) (mtype DS) (state PREPARED) (proc-state ~PREPARED))
   =>
   (printout t "Machine " ?n " of type DS switching to PREPARED state" crlf)
   (modify ?m (proc-state PREPARED) (desired-lights GREEN-BLINK)
              (prep-blink-start ?gt))
-  (printout t "Machine " ?n " processing to gate " ?gate crlf)
+  (printout t "Machine " ?n " processing to gate " ?gate " for order " ?order crlf)
   (mps-ds-process (str-cat ?n) ?gate)
 )
 

src/msgs/MachineInstructions.proto

@@ -61,7 +61,8 @@ message PrepareInstructionBS {
 }
 
 message PrepareInstructionDS {
-  required uint32 gate = 1;
+  reserved "gate";
+  reserved 1;
   required uint32 order_id = 2;
 }
 

src/shell/machine.cpp

@@ -321,7 +321,7 @@ LLSFRefBoxShellMachine::refresh()
     if (minfo_ && minfo_->has_instruction_ds()) {
       attron(' '|COLOR_PAIR(COLOR_BLACK_ON_BACK));
       addstr(0, 26, (boost::str(boost::format("%u")
-				% minfo_->instruction_ds().gate())).c_str());
+				% minfo_->instruction_ds().order_id())).c_str());
     } else {
       attron(' '|COLOR_PAIR(COLOR_BLACK_ON_BACK));
       addstr(0, 26, "  ");

src/tools/rcll-prepare-machine.cpp

@@ -57,7 +57,6 @@ std::string machine_name_;
 std::string machine_type_;
 llsf_msgs::MachineSide bs_side_;
 llsf_msgs::BaseColor   bs_color_;
-int ds_gate_;
 int ds_order_id_;
 llsf_msgs::SSOp ss_op_;
 int ss_slot_x_;
@@ -171,7 +170,6 @@ handle_message(boost::asio::ip::udp::endpoint &sender,
 	       llsf_msgs::BaseColor_Name(bs_color_).c_str());
       } else if (machine_type_ == "DS") {
 	llsf_msgs::PrepareInstructionDS *prep_ds = prep.mutable_instruction_ds();
-	prep_ds->set_gate(ds_gate_);
 	prep_ds->set_order_id(ds_order_id_);
       } else if (machine_type_ == "SS") {
 	llsf_msgs::PrepareInstructionSS *prep_ss = prep.mutable_instruction_ss();
@@ -202,7 +200,7 @@ usage(const char *progname)
 	 "\n"
 	 "instructions are specific for the machine type:\n"
 	 "BS:  (INPUT|OUTPUT) (BASE_RED|BASE_BLACK|BASE_SILVER)\n"
-	 "DS:  <order_id> <gate number>\n"
+	 "DS:  <order_id>\n"
 	 "SS:  (RETRIEVE|STORE) <slot-x> <slot-y> <slot-z>\n"
 	 "RS:  (RING_BLUE|RING_GREEN|RING_ORANGE|RING_YELLOW)\n"
 	 "CS:  (RETRIEVE_CAP|MOUNT_CAP)\n",
@@ -237,13 +235,12 @@ main(int argc, char **argv)
       printf("Invalid base color\n"); exit(-2);
     }
   } else if (machine_type_ == "DS") {
-    if (argp.num_items() != 4) {
-      printf("Wrong number of arguments. Expected 4, got %zu\n", argp.num_items());
+    if (argp.num_items() != 3) {
+      printf("Wrong number of arguments. Expected 3, got %zu\n", argp.num_items());
       usage(argv[0]);
       exit(-1);
     }
     ds_order_id_ = argp.parse_item_int(2);
-    ds_gate_  = argp.parse_item_int(3);
   } else if (machine_type_ == "SS") {
     if (argp.num_items() < 6) {
       printf("SS machine requires operation and x, y, z arguments %zu\n", argp.num_items());