generated from wessel/boilerplate
61 lines
3.0 KiB
Markdown
61 lines
3.0 KiB
Markdown
# RetakeGradeDeterminator (`assignments::one::retake_grade_determinator`)
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## Overview
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The `RetakeGradeDeterminator` node handles the processing of retake exams for students who have
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failed courses. It provides a ROS2 action server that accepts retake requests, manages exam result
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collection for retake scenarios, and coordinates with the grade calculator service to determine
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final retake grades.
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#### Implementation Details
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**Parameters**
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- **`grade_collection_amount`** (int, default: 5): Number of exam results required before triggering grade calculation for a retake student-course combination.
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**Constructor**
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```cpp
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RetakeGradeDeterminator(std::unique_ptr<DatabaseManager> db_manager = nullptr)
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```
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- Initializes ROS2 node with name `retake_grade_determinator`
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- Sets up `DatabaseManager` (optional injection for testing)
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- Creates publisher for student course management
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- Subscribes to exam results topic with retake-specific callback
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- Initializes service client for grade calculation
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- Creates ROS2 action server for retake requests with reentrant callback group
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**Core Functions**
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**`void exam_results_callback(const g2_2025_interfaces::msg::Exam::SharedPtr msg)`**
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- Only processes exam results when `retake_allowed_` flag is true
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- Triggers grade calculation request when threshold is met
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**`void grade_calculator_request(StudentCourse combo)`**
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- Waits for grade calculator service to be available
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- Sends async request with collected retake exam grades
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**`void grade_calculator_response(rclcpp::Client<g2_2025_interfaces::srv::Exams>::SharedFuture future, StudentCourse studentCourseCombo)`**
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- Clears collected exam data from internal map
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- Updates retake status in database for the student-course combination
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- Publishes final student message to ROS2 topic with timestamp
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- Stores final course result in database with retake flag set to true
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**Action Server Callbacks**
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**`rclcpp_action::GoalResponse goal_callback(const rclcpp_action::GoalUUID& uuid, std::shared_ptr<const g2_2025_interfaces::action::Retake::Goal> goal)`**
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- Accepts retake goal requests for specific student-course combinations
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- Logs received retake requests with student and course information
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- Returns `ACCEPT_AND_EXECUTE` for all valid requests
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**`rclcpp_action::CancelResponse cancel_callback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<g2_2025_interfaces::action::Retake>> goal_handle)`**
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- Handles retake action cancellation requests
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- Returns `ACCEPT` for all cancellation requests
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**`void spawn_callback_thread(const std::shared_ptr<rclcpp_action::ServerGoalHandle<g2_2025_interfaces::action::Retake>> goal_handle)`**
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- Creates detached thread for asynchronous retake action execution
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- Ensures non-blocking retake processing
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**`void async_execute_callback_thread(const std::shared_ptr<rclcpp_action::ServerGoalHandle<g2_2025_interfaces::action::Retake>> goal_handle)`**
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- Enables retake exam processing by setting `retake_allowed_` flag
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- Publishes student enrollment message to trigger exam generation
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- Creates and returns successful action result
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