Revision 2003

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trunk/code/projects/warehouse/WH_Robot.h
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#define TASK_COMPLETED 0
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#define TASK_FAILED -1
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#include "../Behavior.h"
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#include "navigationMap.h"
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#include "Scheduler.h" 
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#include "../helper_classes/Order.h"
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#include "/helper_classes/Order.h"
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#include <assert.h>
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#include <stdlib.h>
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class WH_Robot : Behavior{
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        Order* curr_task;
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        navigationMap nav_map;
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        Scheduler scheduler;
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Order* curr_task;
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navigationMap nav_map;
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Scheduler scheduler;
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        Time get_wc_time(State dest);
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        int exec_task();
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Time get_wc_time(State dest);
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int exec_task();
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    public:
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        WH_Robot(std::string scoutname);
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        ~WH_Robot();
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        void run();
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WH_Robot(std::string scoutname);
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~WH_Robot();
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void run();
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        void set_task(Order order);
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void set_task(Order order);
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};
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#endif
trunk/code/projects/warehouse/helper_classes/PQWrapper.h
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#ifndef _PQ_WRAPPER_
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#define _PQ_WRAPPER_
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#include <cstdlib>
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#include <queue>
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#include <iostream>
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#include "Order.h"
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class PQWrapper
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{
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    public:
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        PQWrapper(unsigned int numElems);
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        ~PQWrapper();
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        void insert(Order o);
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        Order remove(unsigned int index);
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        Order peek(unsigned int index) const;
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        unsigned int arraySize() const;
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    private:
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        Order* minElems;
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        unsigned int arrCapacity, arrContents;
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        std::priority_queue<Order,std::vector<Order>, CompareOrder> pq;
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};
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#endif
trunk/code/projects/warehouse/helper_classes/Order.cpp
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#include "Order.h"
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using namespace std;
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/** @Brief: Regular order constructor */
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Order::Order(int order_id, Address order_source, Address order_dest, 
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    Time order_start_time, Path order_path, Time order_est_time) 
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{ 
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    id = order_id;
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    source = order_source;
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    dest = order_dest;
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    start_time = order_start_time;
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    path = order_path;
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    est_time = order_est_time;
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}
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/** @Brief: Get order ID */
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int Order::getid() const 
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{
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    return id;
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}  
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Address Order::get_source() const
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{
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    return source;
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}
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Address Order::get_dest() const
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{
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    return dest;
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}
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Time Order::get_start_time() const
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{
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    return start_time;
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}
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Path Order::get_path() const
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{
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    return path;
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}
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Time Order::get_est_time() const
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{
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    return est_time;
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}
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bool Order::operator==(Order& o1, Order& o2)
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{
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  return o1.id == o2.id;
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}
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void Order::set_path(Path order_path)
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{
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    path = order_path;
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    return;
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}
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/** @Brief: Order comparison function for PQWrapper 
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 *  NOTE: In order to have a min priority queue, using c++'s pq
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 *  implementation, the compare function must return true if
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 *  o1 is greater than o2.
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 */
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bool CompareOrder::operator()(Order& o1, Order& o2) 
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{
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  int pq_value1 = o1.get_start_time + MAX_WAIT_TIME - o1.get_est_time();
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  int pq_value2 = o2.get_start_time + MAX_WAIT_TIME - o2.get_est_time();
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  return pq_value1 > pq_value2;
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}
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trunk/code/projects/warehouse/helper_classes/Order.h
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#include "Order.h"
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using namespace std;
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/** @Brief: Regular order constructor */
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Order::Order(int order_id, Address order_source, Address order_dest, 
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    Time order_start_time, Path order_path, Time order_est_time) 
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{ 
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    id = order_id;
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    source = order_source;
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    dest = order_dest;
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    start_time = order_start_time;
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    path = order_path;
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    est_time = order_est_time;
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}
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/** @Brief: Get order ID */
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int Order::getid() const 
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{
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    return id;
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}  
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Address Order::get_source() const
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{
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    return source;
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}
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Address Order::get_dest() const
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{
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    return dest;
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}
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Time Order::get_start_time() const
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{
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    return start_time;
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}
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Path Order::get_path() const
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{
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    return path;
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}
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Time Order::get_est_time() const
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{
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    return est_time;
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}
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bool Order::operator==(Order& o1, Order& o2)
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{
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  return o1.id == o2.id;
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}
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void Order::set_path(Path order_path)
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{
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    path = order_path;
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    return;
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}
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/** @Brief: Order comparison function for PQWrapper 
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 *  NOTE: In order to have a min priority queue, using c++'s pq
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 *  implementation, the compare function must return true if
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 *  o1 is greater than o2.
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 */
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bool CompareOrder::operator()(Order& o1, Order& o2) 
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{
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  int pq_value1 = o1.get_start_time + MAX_WAIT_TIME - o1.get_est_time();
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  int pq_value2 = o2.get_start_time + MAX_WAIT_TIME - o2.get_est_time();
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  return pq_value1 > pq_value2;
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}
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trunk/code/projects/warehouse/helper_classes/PQWrapper.cpp
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#include "PQWrapper.h"
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using namespace std;
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/** @Brief: Initialize PQWrapper data structures. */
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PQWrapper::PQWrapper(unsigned int numElems)
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{
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    minElems = new Order[numElems];
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    arrCapacity = numElems;
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    arrContents = 0;
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}
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/** @Brief: Free allocatetd memory. */
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PQWrapper::~PQWrapper()
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{
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    while (!pq.empty()) pq.pop();
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}
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/** @Brief: Insert an order into the PQWrapper. */
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void PQWrapper::insert(Order o)
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{
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    int position=0;
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    bool foundPosition = false;
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    while (!foundPosition && position < arrContents)
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    {
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        if (o.getpriority() < minElems[position].getpriority()) 
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        {
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            foundPosition=true;
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        } 
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        else 
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        {
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            position++;
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        }
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    }
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    if (foundPosition)
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    {
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        if (arrContents<arrCapacity)
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        {
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            for (int i = arrContents; i >=position+1; i--) 
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            {
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                minElems[i] = minElems[i-1];
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            }            
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            minElems[position] = o;
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            arrContents++;
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        } 
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        else 
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        {
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            pq.push(minElems[arrCapacity-1]);
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            for (int i = arrContents-1; i >= position+1; i--) 
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            {
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                minElems[i] = minElems[i-1];
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            }            
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            minElems[position] = o;
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        }
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    } 
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    else 
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    {     
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        if (arrContents<arrCapacity) 
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        {
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            minElems[arrContents] = o;
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            arrContents++;
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        } else {
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            pq.push(o);
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        }
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    }
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}
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/** @Brief: Remove and return an Order from the array if 0 <= index < arrContents. */
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Order PQWrapper::remove(unsigned int index)
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{
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    if (index >= arrContents) return minElems[-1];//TODO: can I return null?
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    Order toDelete = minElems[index];
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    for (int i = index; i < arrContents - 1; i++) 
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    {
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        minElems[i] = minElems[i+1];
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    }
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    if (!pq.empty()) 
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    {
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        minElems[arrContents-1] = pq.top();
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        pq.pop();
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    } 
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    else 
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    {
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        arrContents--;
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    }
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    return toDelete;
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}
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/** @Brief: Return an Order from the array if 0 <= index < arrContents */
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Order PQWrapper::peek(unsigned int index) const
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{
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    if (index >= arrContents)
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    {
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        return minElems[-1];//TODO: can I return null?
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    } 
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    else 
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    {
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        return minElems[index];
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    }
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}
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/** @Brief: Return the size of the minElems array */
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unsigned int PQWrapper::arraySize() const
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{
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    return arrContents;
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}
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/*
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//For testing purposes only
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int main() {
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    Order a(1,0,0,101,0,0,0);
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    Order b(2,0,0,11,0,0,0);
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    Order c(3,0,0,91,0,0,0);
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    Order d(4,0,0,21,0,0,0);
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    Order e(5,0,0,41,0,0,0);
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    Order f(6,0,0,81,0,0,0);
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    Order g(7,0,0,31,0,0,0);
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    Order h(8,0,0,71,0,0,0);
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    Order i(9,0,0,51,0,0,0);
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    Order j(10,0,0,61,0,0,0);
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    PQWrapper pqw(5);
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    pqw.insert(a);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    pqw.insert(b);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    pqw.insert(c);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    pqw.insert(d);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    pqw.insert(e);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    pqw.insert(f);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    pqw.insert(g);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    pqw.insert(h);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    pqw.insert(i);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    pqw.insert(j);
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    for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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    cout << endl; 
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    for (int i=0;i<10;i++) 
168
    {
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        pqw.remove(0);
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        for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " ";
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        cout << endl; 
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    }
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    return 0;
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}
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*/

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