Revision 1905324e
Trying to make the warehouse robot drive around
| scout/libscout/src/behaviors/Scheduler.cpp | ||
|---|---|---|
| 26 | 26 |
*/ |
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void Scheduler::get_task(int robot) |
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{
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ROS_INFO("SCHEDULER: robots vector size is: %d", robots.size());
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Robot my_robot = robots[robot-1]; |
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ROS_INFO("SCHEDULER: My robot is %s", my_robot.name.c_str());
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if(my_robot.sched_status != WAITING_ROBOT) |
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{
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waitingRobots.push(my_robot); |
| 35 | 33 |
my_robot.sched_status = WAITING_ROBOT; |
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ROS_INFO("SCHEDULER: Added to scheduler %d", my_robot.sched_status);
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|
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} |
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} |
| 39 | 36 |
|
| ... | ... | |
| 48 | 45 |
Duration five(5); |
| 49 | 46 |
Duration three(3); |
| 50 | 47 |
Duration ten(10); |
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Order a(1,0,1,t+ten,p,end);
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Order b(2,0,1,t+five,p,end);
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Order c(3,0,9,t+three,p,end);
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Order d(4,0,2,t,p,end);
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Order e(5,0,4,t,p,end);
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Order a(1,0,2,t+ten,p,end);
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Order b(2,0,4,t+five,p,end);
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Order c(3,0,5,t+three,p,end);
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Order d(4,0,6,t,p,end);
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Order e(5,0,7,t,p,end);
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| 56 | 53 |
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unassignedOrders->insert(a); |
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unassignedOrders->insert(b); |
| ... | ... | |
| 168 | 165 |
new_robot.sched_status = NEW_ROBOT; |
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robots.push_back(new_robot); |
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ROS_INFO("Registration a robot %s %d", new_robot.name.c_str(), robots.size());
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std_msgs::String msg; |
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std::stringstream ss; |
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ss<<"REG_SUCCESS "<<id; |
| ... | ... | |
| 196 | 192 |
ROS_INFO("I am a scheduler!. Now waiting for robots");
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| 197 | 193 |
while(robots.size() < 1 && ok()) |
| 198 | 194 |
{
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ROS_INFO("Robots size: %d", robots.size());
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| 200 | 195 |
spinOnce(); |
| 201 | 196 |
} |
| 202 | 197 |
ROS_INFO("SCHEDULER: main loop");
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