intento de juntar state machine para 2 personas y state machine para 1...

intento de juntar state machine para 2 personas y state machine para 1 persona, mejor usar-las por separado. La de una persona ira en el docker.

cfg/IriStateMachineCompanion.cfg

@@ -40,6 +40,7 @@ gen = ParameterGenerator()
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
 #gen.add("velocity_scale_factor",  double_t,  0,                               "Maximum velocity scale factor",  0.5,      0.0,  1.0)
 # threshold_max_dist_between_robot_and_person_
+#gen.add("terrinet_project_conf"  ,   bool_t,  0, "if true we omit the state-of-fake-person mode of the group accompaniment.", False)
 gen.add("frame_map",                str_t,     0, "frame to transform poses to", "map")
 gen.add("frame_robot_footprint",    str_t,     0, "frame to transform poses to", "tiago/base_link") 
 gen.add("robot",    str_t,     0, "frame to transform poses to", "tiago") 

include/iri_state_machine_companion_alg_node.h

@@ -104,6 +104,10 @@ class IriStateMachineCompanionAlgNode : public algorithm_base::IriBaseAlgorithm<
 
     bool out_std_mesages_;
     bool bool_test_case_head1_;
+
+    //differenciate states of group accompaniment and terrined project of 1 person accompaniment
+    //bool terrinet_project_;
+
     // [service attributes]
 
     // [client attributes]

src/iri_state_machine_companion_alg_node.cpp

@@ -94,7 +94,8 @@ void IriStateMachineCompanionAlgNode::mainNodeThread(void)
 	this->tibi_akp_status_UInt64_msg_.data =0; // case no status.
 
 	out_std_mesages_=config_.out_std_mesages_conf;
-
+	    
+    	//terrinet_project_=config_.terrinet_project_conf; //differenciate states of group accompaniment and terrined project of 1 person accompaniment
 
 
 	use_x_=config_.use_X_bool_conf;
@@ -289,20 +290,22 @@ void IriStateMachineCompanionAlgNode::mainNodeThread(void)
 	}
 	
 	// TODO status fake person ==2 and status return other goal ==3
-
-	if(actual_numCompanionPeople==1){
-		this->tibi_akp_status_UInt64_msg_.data =2;	// status no people.
-		if(out_std_mesages_){
-			ROS_INFO(" IN  Fake person status (2) ");
+	//if(!terrinet_project_){
+		if(actual_numCompanionPeople==1){
+			this->tibi_akp_status_UInt64_msg_.data =2;	// status no people.
+			if(out_std_mesages_){
+				ROS_INFO(" IN  Fake person status (2) ");
+			}
 		}
-	}
+	//}
 	// INI: implementar status return other goal ==3
 
 
   //this->tibi_akp_status_UInt64_msg_.data = my_var;
 
 	if(out_std_mesages_){
-  		ROS_INFO("STATUS state machine!!! tibi_akp_status_=%d",this->tibi_akp_status_UInt64_msg_.data );
+  		//ROS_INFO("STATUS state machine!!! tibi_akp_status_=%d",this->tibi_akp_status_UInt64_msg_.data );
+	std::cout<< "STATUS state machine!!! tibi_akp_status_=" << this->tibi_akp_status_UInt64_msg_.data << std::endl;
 	}
   // [fill srv structure and make request to the server]