Revision 9b4328d7
| ID | 9b4328d7dc719f032ff4f4f3aceddea007668964 |
Merged WH_Robots with other files
| scout/libscout/src/behaviors/WH_Robot.cpp | ||
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#include "WH_Robot.h" |
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/** @brief default warehouse robot constructor **/ |
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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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} |
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/** @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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{
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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); |
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} |
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Time WH_Robot::get_wc_time(State dest) |
| ... | ... | |
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return 0.0; |
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} |
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Order WH_Robot::wh_get_task()
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int WH_Robot::exec_task()
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{
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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 |
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{
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//TODO: raise error |
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return TASK_FAILED; |
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return TASK_COMPLETED; |
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} |
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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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} |
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} |
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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) |
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{
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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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{
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schedule.task_failed(curr_task); |
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schedule.task_failed(*curr_task);
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} |
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curr_task = NULL;
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curr_task = DEFAULT_TASK;
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} |
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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; |
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} |
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