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root / trunk / code / projects / warehouse / WH_Robot.cpp @ 2002

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#include "WH_Robot.h"
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/** @Brief: warehouse robot constructor **/
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WH_Robot::WH_Robot(std::string scoutname):Behavior(scoutname, "Scheduler")
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{
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    nav_map = navigationMap(scoutname);
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    curr_task = DEFAULT_TASK;
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    scheduler = Scheduler(scoutname);
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}
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Time WH_Robot::get_wc_time(State dest)
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{
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    //TODO: integrate Lalitha's code
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    return 0.0;
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}
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int WH_Robot::exec_task()
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{
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    assert(curr_task != DEFAULT_TASK);
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    //TODO: do task
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    srand(0xDEADBEEF);
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    int error = rand() % 12;
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    if(error < 9) //Fail with 1/4 probability
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    {
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      return TASK_COMPLETED;
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    }
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    else
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    {
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      return TASK_FAILED;
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    }
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}
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void WH_Robot::run (){
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    Scheduler.get_task(*this);
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    while(curr_task == DEFAULT_TASK)
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      continue;
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    int error = exec_task();
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    if(error == TASK_COMPLETE)
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    {
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        schedule.task_complete(*curr_task);
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    }
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    else //error == TASK_FAILED
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    {
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        schedule.task_failed(*curr_task);
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    }
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    curr_task = DEFAULT_TASK;
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}
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void WH_Robot::set_task(Order order)
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{
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    curr_task = new Order(order.getid(), order.get_source(), order.get_dest(), 
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        order.get_start_time(), order.get_path(), order.get_est_time()); 
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    return;
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}
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