Revision 2009
Rewrote some of the WH_Robot.h code to make it c-compatible. Most of the c++ was commented out instead of deleted.
| 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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