Colony

#ifndef _WH_ROBOT_

#define _WH_ROBOT_

#define DEFAULT_TASK NULL

#define TASK_COMPLETED 0

#define TASK_FAILED -1

/*Deleted Behaviors.h*/

#include "navigationMap.h"/*Do we do something here?*/

#include "helper_classes/Order.h"

#include <assert.h>

#include <stdlib.h>

/* ~~Begin Variable Declarations~~ */

int id;

int reg_failed;

Order* curr_task;

navigationMap* nav_map;

/* ^ Is this going to be changed? Do we need to conv this to c?*/

/* ~~The End of all declarations : variable related~~*/

/*On colony 3 bots time is just an int (being ms || 1/16 of a sec)*/

int get_worst_case_time(State start_state, State target_state);

int exec_task();

void robot_callback(const std_msgs::String::ConstPtr& msg);

/*WH_Robot(std::string scoutname); ->Coalesce into the main function*/

/*~WH_Robot(); ->Deconstructors don't exist in C*/

/*void run(); ->Coalesce into the main function*/

void set_task(Order order);

/* These subscribers must be dealt with through wireless checking

ros::Publisher robot_to_sched;

ros::Subscriber sched_to_robot;

*/

#endif