Revision 9b4328d7
| ID | 9b4328d7dc719f032ff4f4f3aceddea007668964 |
Merged WH_Robots with other files
| scout/libscout/src/behaviors/Scheduler.h | ||
|---|---|---|
| 17 | 17 |
void waiting_dance(); |
| 18 | 18 |
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| 19 | 19 |
public: |
| 20 |
Scheduler();
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Scheduler(std::string scoutname):Behavior(scoutname, "Scheduler"){};
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| 21 | 21 |
~Scheduler(); |
| 22 | 22 |
|
| 23 | 23 |
void get_task(WH_Robot robot); |
| ... | ... | |
| 29 | 29 |
Order get_next_item(); |
| 30 | 30 |
|
| 31 | 31 |
void run(); |
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//assumes a set_task(Order o) function in WH_Robot |
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| 35 | 32 |
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}; |
| 37 | 34 |
#endif |
| scout/libscout/src/behaviors/WH_Robot.cpp | ||
|---|---|---|
| 1 | 1 |
#include "WH_Robot.h" |
| 2 | 2 |
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| 3 |
/** @brief default warehouse robot constructor **/ |
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| 4 |
WH_Robot::WH_Robot() |
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{
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nav_map = navigationMap("nyan");
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curr_task = NULL; |
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schedule = Scheduler(); |
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} |
|
| 10 | 3 |
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| 11 | 4 |
/** @Brief: warehouse robot constructor **/ |
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WH_Robot::WH_Robot(std::string scoutname) |
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WH_Robot::WH_Robot(std::string scoutname):Behavior(scoutname, "Scheduler")
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| 13 | 6 |
{
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| 14 | 7 |
nav_map = navigationMap(scoutname); |
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// this probably won't work :x |
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curr_task = NULL; |
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schedule = Scheduler(); |
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curr_task = DEFAULT_TASK; |
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scheduler = Scheduler(scoutname); |
|
| 18 | 10 |
} |
| 19 | 11 |
|
| 20 | 12 |
Time WH_Robot::get_wc_time(State dest) |
| ... | ... | |
| 23 | 15 |
return 0.0; |
| 24 | 16 |
} |
| 25 | 17 |
|
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Order WH_Robot::wh_get_task()
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int WH_Robot::exec_task()
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| 27 | 19 |
{
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schedule.get_task(this); |
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while (curr_task == NULL) //waits for get_task process to return a task |
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continue; |
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return curr_task; |
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} |
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int WH_Robot::exec_task(){
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if (curr_task == NULL) |
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assert(curr_task != DEFAULT_TASK); |
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//TODO: do task |
|
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srand(0xDEADBEEF); |
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int error = rand() % 12; |
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if(error < 9) //Fail with 1/4 probability |
|
| 36 | 25 |
{
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//TODO: raise error |
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return TASK_FAILED; |
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return TASK_COMPLETED; |
|
| 39 | 27 |
} |
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else{
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//TODO: do task
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return TASK_COMPLETED;
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else |
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{
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return TASK_FAILED;
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| 43 | 31 |
} |
| 44 | 32 |
} |
| 45 | 33 |
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| 46 | 34 |
void WH_Robot::run (){
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wh_get_task(); |
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bool error = (exec_task() == TASK_FAILED); |
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if(!error) |
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Scheduler.get_task(*this); |
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while(curr_task == DEFAULT_TASK) |
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continue; |
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int error = exec_task(); |
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if(error == TASK_COMPLETE) |
|
| 50 | 40 |
{
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schedule.task_complete(curr_task); |
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schedule.task_complete(*curr_task);
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} |
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else |
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else //error == TASK_FAILED
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| 54 | 44 |
{
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schedule.task_failed(curr_task); |
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schedule.task_failed(*curr_task);
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| 56 | 46 |
} |
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curr_task = NULL;
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curr_task = DEFAULT_TASK;
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| 58 | 48 |
} |
| 59 | 49 |
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int main(){
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return 0; |
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void WH_Robot::set_task(Order order) |
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{
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curr_task = new Order(order.getid(), order.get_source(), order.get_dest(), order.get_deadline(), order.get_start_time(), order.get_path(), order.get_est_time()); |
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return; |
|
| 63 | 54 |
} |
| 55 |
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| scout/libscout/src/behaviors/WH_Robot.h | ||
|---|---|---|
| 1 | 1 |
#ifndef _WH_ROBOT_ |
| 2 | 2 |
#define _WH_ROBOT_ |
| 3 | 3 |
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#include <cstdlib> |
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#include <string> |
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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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| 6 | 7 |
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//#include "../Behavior.h" //TODO: make wh_robots into Behaviors
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//#include "navigationMap.h"
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#include "Scheduler.h" //TODO: uncomment once these are in the repo
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#include "../Behavior.h"
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#include "navigationMap.h" |
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#include "Scheduler.h" |
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| 10 | 11 |
#include "../helper_classes/Order.h" |
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#include <assert.h> |
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#include <stdlib.h> |
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| 11 | 14 |
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#define TASK_COMPLETED 0 |
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#define TASK_FAILED -1 |
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class WH_Robot : Behavior{
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| 14 | 16 |
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typedef double Time;
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// a single number representing a node's number
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typedef int State;
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Order* curr_task;
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navigationMap nav_map;
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Scheduler scheduler;
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| 18 | 20 |
|
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class WH_Robot{
|
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| 21 |
Time get_wc_time(State dest); |
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int exec_task(); |
|
| 20 | 23 |
|
| 21 | 24 |
public: |
| 22 |
WH_Robot(); |
|
| 23 | 25 |
WH_Robot(std::string scoutname); |
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~WH_Robot(); |
|
| 24 | 27 |
void run(); |
| 25 |
|
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private: |
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Time get_wc_time(State dest); |
|
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Order wh_get_task(); |
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int exec_task(); |
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Order curr_task; |
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//navigationMap nav_map; |
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Scheduler schedule; |
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void set_task(Order order); |
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| 34 | 31 |
}; |
| 35 | 32 |
|
| 36 | 33 |
#endif |
| scout/libscout/src/helper_classes/Order.cpp | ||
|---|---|---|
| 19 | 19 |
return id; |
| 20 | 20 |
} |
| 21 | 21 |
|
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Address get_source() const |
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Address Order::get_source() const
|
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| 23 | 23 |
{
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| 24 | 24 |
return source; |
| 25 | 25 |
} |
| 26 | 26 |
|
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Address get_dest() const |
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Address Order::get_dest() const
|
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| 28 | 28 |
{
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| 29 | 29 |
return dest; |
| 30 | 30 |
} |
| 31 | 31 |
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Time get_start_time() const |
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Time Order::get_start_time() const
|
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| 33 | 33 |
{
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return start_time; |
| 35 | 35 |
} |
| 36 | 36 |
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Path get_path() const |
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Path Order::get_path() const
|
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| 38 | 38 |
{
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| 39 | 39 |
return path; |
| 40 | 40 |
} |
| 41 | 41 |
|
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void set_path(Path order_path) |
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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) |
|
| 43 | 48 |
{
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| 44 | 49 |
path = order_path; |
| 45 | 50 |
return; |
| scout/libscout/src/helper_classes/Order.h | ||
|---|---|---|
| 22 | 22 |
Time get_start_time() const; |
| 23 | 23 |
Path get_path() const; |
| 24 | 24 |
void set_path(Path order_path); |
| 25 |
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bool operator==(Order& o1, Order& o2); |
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}; |
| 27 | 29 |
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