Revision 2003
Added the helper classes for the warehouse code that we are also going to have to port over. Things are looking grim boys
trunk/code/projects/warehouse/WH_Robot.h | ||
---|---|---|
5 | 5 |
#define TASK_COMPLETED 0 |
6 | 6 |
#define TASK_FAILED -1 |
7 | 7 |
|
8 |
#include "../Behavior.h" |
|
9 | 8 |
#include "navigationMap.h" |
10 | 9 |
#include "Scheduler.h" |
11 |
#include "../helper_classes/Order.h"
|
|
10 |
#include "/helper_classes/Order.h" |
|
12 | 11 |
#include <assert.h> |
13 | 12 |
#include <stdlib.h> |
14 | 13 |
|
15 |
class WH_Robot : Behavior{ |
|
16 | 14 |
|
17 |
Order* curr_task;
|
|
18 |
navigationMap nav_map;
|
|
19 |
Scheduler scheduler;
|
|
15 |
Order* curr_task; |
|
16 |
navigationMap nav_map; |
|
17 |
Scheduler scheduler; |
|
20 | 18 |
|
21 |
Time get_wc_time(State dest);
|
|
22 |
int exec_task();
|
|
19 |
Time get_wc_time(State dest); |
|
20 |
int exec_task(); |
|
23 | 21 |
|
24 |
public: |
|
25 |
WH_Robot(std::string scoutname); |
|
26 |
~WH_Robot(); |
|
27 |
void run(); |
|
22 |
WH_Robot(std::string scoutname); |
|
23 |
~WH_Robot(); |
|
24 |
void run(); |
|
28 | 25 |
|
29 |
void set_task(Order order);
|
|
26 |
void set_task(Order order); |
|
30 | 27 |
|
31 |
}; |
|
32 |
|
|
33 | 28 |
#endif |
trunk/code/projects/warehouse/helper_classes/Order.h | ||
---|---|---|
1 |
#include "Order.h" |
|
2 |
|
|
3 |
using namespace std; |
|
4 |
|
|
5 |
/** @Brief: Regular order constructor */ |
|
6 |
Order::Order(int order_id, Address order_source, Address order_dest, |
|
7 |
Time order_start_time, Path order_path, Time order_est_time) |
|
8 |
{ |
|
9 |
id = order_id; |
|
10 |
source = order_source; |
|
11 |
dest = order_dest; |
|
12 |
start_time = order_start_time; |
|
13 |
path = order_path; |
|
14 |
est_time = order_est_time; |
|
15 |
} |
|
16 |
|
|
17 |
/** @Brief: Get order ID */ |
|
18 |
int Order::getid() const |
|
19 |
{ |
|
20 |
return id; |
|
21 |
} |
|
22 |
|
|
23 |
Address Order::get_source() const |
|
24 |
{ |
|
25 |
return source; |
|
26 |
} |
|
27 |
|
|
28 |
Address Order::get_dest() const |
|
29 |
{ |
|
30 |
return dest; |
|
31 |
} |
|
32 |
|
|
33 |
Time Order::get_start_time() const |
|
34 |
{ |
|
35 |
return start_time; |
|
36 |
} |
|
37 |
|
|
38 |
Path Order::get_path() const |
|
39 |
{ |
|
40 |
return path; |
|
41 |
} |
|
42 |
|
|
43 |
Time Order::get_est_time() const |
|
44 |
{ |
|
45 |
return est_time; |
|
46 |
} |
|
47 |
|
|
48 |
bool Order::operator==(Order& o1, Order& o2) |
|
49 |
{ |
|
50 |
return o1.id == o2.id; |
|
51 |
} |
|
52 |
|
|
53 |
void Order::set_path(Path order_path) |
|
54 |
{ |
|
55 |
path = order_path; |
|
56 |
return; |
|
57 |
} |
|
58 |
/** @Brief: Order comparison function for PQWrapper |
|
59 |
* NOTE: In order to have a min priority queue, using c++'s pq |
|
60 |
* implementation, the compare function must return true if |
|
61 |
* o1 is greater than o2. |
|
62 |
*/ |
|
63 |
bool CompareOrder::operator()(Order& o1, Order& o2) |
|
64 |
{ |
|
65 |
int pq_value1 = o1.get_start_time + MAX_WAIT_TIME - o1.get_est_time(); |
|
66 |
int pq_value2 = o2.get_start_time + MAX_WAIT_TIME - o2.get_est_time(); |
|
67 |
return pq_value1 > pq_value2; |
|
68 |
} |
|
69 |
|
trunk/code/projects/warehouse/helper_classes/PQWrapper.cpp | ||
---|---|---|
1 |
#include "PQWrapper.h" |
|
2 |
|
|
3 |
using namespace std; |
|
4 |
|
|
5 |
/** @Brief: Initialize PQWrapper data structures. */ |
|
6 |
PQWrapper::PQWrapper(unsigned int numElems) |
|
7 |
{ |
|
8 |
minElems = new Order[numElems]; |
|
9 |
arrCapacity = numElems; |
|
10 |
arrContents = 0; |
|
11 |
} |
|
12 |
|
|
13 |
/** @Brief: Free allocatetd memory. */ |
|
14 |
PQWrapper::~PQWrapper() |
|
15 |
{ |
|
16 |
while (!pq.empty()) pq.pop(); |
|
17 |
} |
|
18 |
|
|
19 |
/** @Brief: Insert an order into the PQWrapper. */ |
|
20 |
void PQWrapper::insert(Order o) |
|
21 |
{ |
|
22 |
|
|
23 |
int position=0; |
|
24 |
bool foundPosition = false; |
|
25 |
while (!foundPosition && position < arrContents) |
|
26 |
{ |
|
27 |
if (o.getpriority() < minElems[position].getpriority()) |
|
28 |
{ |
|
29 |
foundPosition=true; |
|
30 |
} |
|
31 |
else |
|
32 |
{ |
|
33 |
position++; |
|
34 |
} |
|
35 |
} |
|
36 |
if (foundPosition) |
|
37 |
{ |
|
38 |
if (arrContents<arrCapacity) |
|
39 |
{ |
|
40 |
for (int i = arrContents; i >=position+1; i--) |
|
41 |
{ |
|
42 |
minElems[i] = minElems[i-1]; |
|
43 |
} |
|
44 |
minElems[position] = o; |
|
45 |
arrContents++; |
|
46 |
} |
|
47 |
else |
|
48 |
{ |
|
49 |
pq.push(minElems[arrCapacity-1]); |
|
50 |
for (int i = arrContents-1; i >= position+1; i--) |
|
51 |
{ |
|
52 |
minElems[i] = minElems[i-1]; |
|
53 |
} |
|
54 |
minElems[position] = o; |
|
55 |
} |
|
56 |
} |
|
57 |
else |
|
58 |
{ |
|
59 |
if (arrContents<arrCapacity) |
|
60 |
{ |
|
61 |
minElems[arrContents] = o; |
|
62 |
arrContents++; |
|
63 |
} else { |
|
64 |
pq.push(o); |
|
65 |
} |
|
66 |
} |
|
67 |
} |
|
68 |
|
|
69 |
/** @Brief: Remove and return an Order from the array if 0 <= index < arrContents. */ |
|
70 |
Order PQWrapper::remove(unsigned int index) |
|
71 |
{ |
|
72 |
if (index >= arrContents) return minElems[-1];//TODO: can I return null? |
|
73 |
Order toDelete = minElems[index]; |
|
74 |
for (int i = index; i < arrContents - 1; i++) |
|
75 |
{ |
|
76 |
minElems[i] = minElems[i+1]; |
|
77 |
} |
|
78 |
if (!pq.empty()) |
|
79 |
{ |
|
80 |
minElems[arrContents-1] = pq.top(); |
|
81 |
pq.pop(); |
|
82 |
} |
|
83 |
else |
|
84 |
{ |
|
85 |
arrContents--; |
|
86 |
} |
|
87 |
return toDelete; |
|
88 |
} |
|
89 |
|
|
90 |
/** @Brief: Return an Order from the array if 0 <= index < arrContents */ |
|
91 |
Order PQWrapper::peek(unsigned int index) const |
|
92 |
{ |
|
93 |
if (index >= arrContents) |
|
94 |
{ |
|
95 |
return minElems[-1];//TODO: can I return null? |
|
96 |
} |
|
97 |
else |
|
98 |
{ |
|
99 |
return minElems[index]; |
|
100 |
} |
|
101 |
} |
|
102 |
|
|
103 |
/** @Brief: Return the size of the minElems array */ |
|
104 |
unsigned int PQWrapper::arraySize() const |
|
105 |
{ |
|
106 |
return arrContents; |
|
107 |
} |
|
108 |
|
|
109 |
|
|
110 |
/* |
|
111 |
//For testing purposes only |
|
112 |
int main() { |
|
113 |
Order a(1,0,0,101,0,0,0); |
|
114 |
Order b(2,0,0,11,0,0,0); |
|
115 |
Order c(3,0,0,91,0,0,0); |
|
116 |
Order d(4,0,0,21,0,0,0); |
|
117 |
Order e(5,0,0,41,0,0,0); |
|
118 |
Order f(6,0,0,81,0,0,0); |
|
119 |
Order g(7,0,0,31,0,0,0); |
|
120 |
Order h(8,0,0,71,0,0,0); |
|
121 |
Order i(9,0,0,51,0,0,0); |
|
122 |
Order j(10,0,0,61,0,0,0); |
|
123 |
|
|
124 |
PQWrapper pqw(5); |
|
125 |
|
|
126 |
pqw.insert(a); |
|
127 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
128 |
cout << endl; |
|
129 |
|
|
130 |
|
|
131 |
pqw.insert(b); |
|
132 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
133 |
cout << endl; |
|
134 |
|
|
135 |
pqw.insert(c); |
|
136 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
137 |
cout << endl; |
|
138 |
|
|
139 |
pqw.insert(d); |
|
140 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
141 |
cout << endl; |
|
142 |
|
|
143 |
pqw.insert(e); |
|
144 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
145 |
cout << endl; |
|
146 |
|
|
147 |
pqw.insert(f); |
|
148 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
149 |
cout << endl; |
|
150 |
|
|
151 |
pqw.insert(g); |
|
152 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
153 |
cout << endl; |
|
154 |
|
|
155 |
pqw.insert(h); |
|
156 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
157 |
cout << endl; |
|
158 |
|
|
159 |
pqw.insert(i); |
|
160 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
161 |
cout << endl; |
|
162 |
|
|
163 |
pqw.insert(j); |
|
164 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
165 |
cout << endl; |
|
166 |
|
|
167 |
for (int i=0;i<10;i++) |
|
168 |
{ |
|
169 |
pqw.remove(0); |
|
170 |
for (int i=0;i<pqw.arraySize();i++) cout << pqw.peek(i).getid() << " "; |
|
171 |
cout << endl; |
|
172 |
} |
|
173 |
|
|
174 |
return 0; |
|
175 |
} |
|
176 |
*/ |
trunk/code/projects/warehouse/helper_classes/PQWrapper.h | ||
---|---|---|
1 |
#ifndef _PQ_WRAPPER_ |
|
2 |
#define _PQ_WRAPPER_ |
|
3 |
|
|
4 |
#include <cstdlib> |
|
5 |
#include <queue> |
|
6 |
#include <iostream> |
|
7 |
#include "Order.h" |
|
8 |
|
|
9 |
class PQWrapper |
|
10 |
{ |
|
11 |
public: |
|
12 |
PQWrapper(unsigned int numElems); |
|
13 |
~PQWrapper(); |
|
14 |
|
|
15 |
void insert(Order o); |
|
16 |
Order remove(unsigned int index); |
|
17 |
Order peek(unsigned int index) const; |
|
18 |
unsigned int arraySize() const; |
|
19 |
|
|
20 |
private: |
|
21 |
Order* minElems; |
|
22 |
unsigned int arrCapacity, arrContents; |
|
23 |
std::priority_queue<Order,std::vector<Order>, CompareOrder> pq; |
|
24 |
}; |
|
25 |
#endif |
trunk/code/projects/warehouse/helper_classes/Order.cpp | ||
---|---|---|
1 |
#include "Order.h" |
|
2 |
|
|
3 |
using namespace std; |
|
4 |
|
|
5 |
/** @Brief: Regular order constructor */ |
|
6 |
Order::Order(int order_id, Address order_source, Address order_dest, |
|
7 |
Time order_start_time, Path order_path, Time order_est_time) |
|
8 |
{ |
|
9 |
id = order_id; |
|
10 |
source = order_source; |
|
11 |
dest = order_dest; |
|
12 |
start_time = order_start_time; |
|
13 |
path = order_path; |
|
14 |
est_time = order_est_time; |
|
15 |
} |
|
16 |
|
|
17 |
/** @Brief: Get order ID */ |
|
18 |
int Order::getid() const |
|
19 |
{ |
|
20 |
return id; |
|
21 |
} |
|
22 |
|
|
23 |
Address Order::get_source() const |
|
24 |
{ |
|
25 |
return source; |
|
26 |
} |
|
27 |
|
|
28 |
Address Order::get_dest() const |
|
29 |
{ |
|
30 |
return dest; |
|
31 |
} |
|
32 |
|
|
33 |
Time Order::get_start_time() const |
|
34 |
{ |
|
35 |
return start_time; |
|
36 |
} |
|
37 |
|
|
38 |
Path Order::get_path() const |
|
39 |
{ |
|
40 |
return path; |
|
41 |
} |
|
42 |
|
|
43 |
Time Order::get_est_time() const |
|
44 |
{ |
|
45 |
return est_time; |
|
46 |
} |
|
47 |
|
|
48 |
bool Order::operator==(Order& o1, Order& o2) |
|
49 |
{ |
|
50 |
return o1.id == o2.id; |
|
51 |
} |
|
52 |
|
|
53 |
void Order::set_path(Path order_path) |
|
54 |
{ |
|
55 |
path = order_path; |
|
56 |
return; |
|
57 |
} |
|
58 |
/** @Brief: Order comparison function for PQWrapper |
|
59 |
* NOTE: In order to have a min priority queue, using c++'s pq |
|
60 |
* implementation, the compare function must return true if |
|
61 |
* o1 is greater than o2. |
|
62 |
*/ |
|
63 |
bool CompareOrder::operator()(Order& o1, Order& o2) |
|
64 |
{ |
|
65 |
int pq_value1 = o1.get_start_time + MAX_WAIT_TIME - o1.get_est_time(); |
|
66 |
int pq_value2 = o2.get_start_time + MAX_WAIT_TIME - o2.get_est_time(); |
|
67 |
return pq_value1 > pq_value2; |
|
68 |
} |
|
69 |
|
Also available in: Unified diff