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.
| Order.h | ||
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#include "Order.h" |
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#ifndef _ORDER_ |
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#define _ORDER_ |
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using namespace std; |
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#include "../Behavior.h" |
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#include "../behaviors/navigationMap.h" |
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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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#define MAX_WAIT_TIME 120 //2 minutes in seconds |
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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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typedef unsigned int Address; |
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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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class Order {
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int id; |
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Address source, dest; |
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Time start_time; |
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Path path; |
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Duration est_time; |
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public: |
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Order(int order_id, Address order_source, Address order_dest, |
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Time order_start_time, Path order_path, Duration order_est_time); |
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Order() {};
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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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int getid() const; |
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Address get_source() const; |
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Address get_dest() const; |
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Time get_start_time() const; |
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Path get_path() const; |
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Duration get_est_time() const; |
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void set_path(Path order_path); |
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int get_priority() const; |
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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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bool operator==(Order& order); |
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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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class CompareOrder {
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public:
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bool operator()(Order& o1, Order& o2);
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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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#endif |
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