Revision 2002
added the warehouse behavior section that will be used on the colony 3's. Currently only contains the c++ files that we are going to port over
trunk/code/projects/warehouse/Scheduler.cpp | ||
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#include "Scheduler.h" |
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using namespace std; |
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/** @Brief: Initialize data structures for the scheduler. */ |
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Scheduler::Scheduler() |
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{ |
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WH_Robot rob1(/*params*/); |
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WH_Robot rob2(/*params*/); |
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WH_Robot rob3(/*params*/); |
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robots.insert(rob1); |
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robots.insert(rob2); |
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robots.insert(rob3); |
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create_orders(); |
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} |
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/** @Brief: Free allocatetd memory. */ |
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Scheduler::~Scheduler() |
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{ |
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delete rob1; |
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delete rob2; |
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delete rob3; |
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delete robots; |
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delete unassignedOrders; |
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delete assigned Orders; |
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delete waitingRobots; |
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} |
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/** @Brief: Add robot to the waiting queue. |
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* A robot calls this function with itself |
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* and gets pushed on a list of waiting robots. |
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* When a task is availaible the scheduler, removes |
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* the robot of the waiting queue, and gives it a |
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* task. |
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*/ |
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void Scheduler::get_task(WH_Robot r) |
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{ |
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waitingRobots.push(r); |
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} |
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/** @Brief: Statically add orders to the Priority Queue Wrapper.*/ |
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void Scheduler::create_orders() |
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{ |
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Order a(1,0,0,101,0,0,0); |
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Order b(2,0,0,11,0,0,0); |
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Order c(3,0,0,91,0,0,0); |
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Order d(4,0,0,21,0,0,0); |
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Order e(5,0,0,41,0,0,0); |
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unassignedOrders.insert(a); |
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unassignedOrders.insert(b); |
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unassignedOrders.insert(c); |
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unassignedOrders.insert(d); |
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unassignedOrders.insert(e); |
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} |
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/** @Brief: This is a confirmation that the task is complete. |
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This function removes the order from assignedOrders. */ |
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void Scheduler::task_complete(Order o) |
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{ |
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for (int i=0; i< assignedOrders.size(); i++) |
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{ |
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if (assignedOrders[i].getid()==o.getid()) |
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{ |
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assignedOrders.erase(assignedOrders.begin()+i); |
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} |
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} |
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} |
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/** @Brief: This is a confirmation that the task failed. |
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This function places the order back on the PQWrapper. */ |
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void Scheduler::task_failed(Order o) |
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{ |
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task_complete(o); |
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unassignedOrders.insert(o); |
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} |
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/** @Brief: Do a waiting dance. */ |
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void Scheduler::waiting_dance() |
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{ |
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} |
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/** @Brief: The scheduling algorithm. Picks a task and pops from the PQWrapper. */ |
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Order Scheduler::get_next_item() |
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{ |
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Time time = ros::TIME_MAX; |
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Order best; |
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for(int i=0; i<unassigned_orders.arraySize(); i++) |
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{ |
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Order order = unassigned_orders.peek(i); |
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if(order.orderDeadline < time) //TODO: use another function |
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{ |
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best = order; |
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time = order.orderDeadline; |
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} |
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} |
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} |
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/** @Brief: Continuously checks for waiting robots. If no robots are waiting, |
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this function calls the waiting_dance() function. */ |
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void Scheduler::run() |
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{ |
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while (ok()) |
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{ |
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while(waitingRobots.empty() || unassignedOrders.arraySize()==0) |
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waiting_dance(); |
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waitingRobots.front().set_task(get_next_item()); |
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waitingRobots.pop(); |
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} |
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} |
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trunk/code/projects/warehouse/Scheduler.h | ||
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#ifndef _SCHEDULER_ |
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#define _SCHEDULER_ |
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#include "../helper_classes/PQWrapper.h" |
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#include "../helper_classes/Order.h" |
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#include "WH_Robot.h" |
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#include "../Behavior.h" |
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class Scheduler : Behavior { |
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std::vector<WH_Robot> robots; |
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PQWrapper unassignedOrders; |
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std::vector<Order> assignedOrders; |
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std::queue<WH_Robot> waitingRobots; |
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void create_orders(); |
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void waiting_dance(); |
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public: |
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Scheduler(std::string scoutname):Behavior(scoutname, "Scheduler"){}; |
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~Scheduler(); |
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void get_task(WH_Robot robot); |
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void task_complete(Order o); |
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void task_failed(Order o); |
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Order get_next_item(); |
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void run(); |
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}; |
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#endif |
trunk/code/projects/warehouse/WH_Robot.cpp | ||
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#include "WH_Robot.h" |
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/** @Brief: warehouse robot constructor **/ |
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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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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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{ |
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//TODO: integrate Lalitha's code |
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return 0.0; |
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} |
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int WH_Robot::exec_task() |
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{ |
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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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return TASK_COMPLETED; |
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} |
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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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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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} |
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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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} |
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curr_task = DEFAULT_TASK; |
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} |
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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(), |
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order.get_start_time(), order.get_path(), order.get_est_time()); |
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return; |
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} |
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trunk/code/projects/warehouse/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 TASK_COMPLETED 0 |
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#define TASK_FAILED -1 |
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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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#include "../helper_classes/Order.h" |
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#include <assert.h> |
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#include <stdlib.h> |
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class WH_Robot : Behavior{ |
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Order* curr_task; |
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navigationMap nav_map; |
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Scheduler scheduler; |
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Time get_wc_time(State dest); |
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int exec_task(); |
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public: |
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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 set_task(Order order); |
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}; |
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#endif |
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