Revision 2009 trunk/code/projects/warehouse/WH_Robot.h

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WH_Robot.h
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#ifndef _WH_ROBOT_
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#define _WH_ROBOT_
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#define DEFAULT_TASK NULL;
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#define DEFAULT_TASK NULL
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#define TASK_COMPLETED 0
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#define TASK_FAILED -1
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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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/*Deleted Behaviors.h*/
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#include "navigationMap.h"/*Do we do something here?*/
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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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/* ~~Begin Variable Declarations~~ */
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int id;
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int reg_failed;
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Order* curr_task;
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navigationMap nav_map;
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Scheduler scheduler;
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navigationMap* nav_map;
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/* ^ Is this going to be changed? Do we need to conv this to c?*/
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/* ~~The End of all declarations : variable related~~*/
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Time get_wc_time(State dest);
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/*On colony 3 bots time is just an int (being ms || 1/16 of a sec)*/
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int get_worst_case_time(State start_state, State target_state);
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int exec_task();
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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 robot_callback(const std_msgs::String::ConstPtr& msg);
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/*WH_Robot(std::string scoutname); ->Coalesce into the main function*/
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/*~WH_Robot(); ->Deconstructors don't exist in C*/
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/*void run(); ->Coalesce into the main function*/
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void set_task(Order order);
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/* These subscribers must be dealt with through wireless checking
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ros::Publisher robot_to_sched;
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ros::Subscriber sched_to_robot;
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*/
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#endif

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