Revision 76cefba1
Merged scheduler implementations and modified order structrure class
| scout/libscout/src/behaviors/Scheduler.cpp | ||
|---|---|---|
| 29 | 29 |
delete waitingRobots; |
| 30 | 30 |
} |
| 31 | 31 |
|
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/** @Brief: Add robot to the waiting queue. */ |
|
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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 |
|
| 36 |
* the robot of the waiting queue, and gives it a |
|
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* task. |
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*/ |
|
| 33 | 39 |
void Scheduler::get_task(WH_Robot r) |
| 34 | 40 |
{
|
| 35 | 41 |
waitingRobots.push(r); |
| ... | ... | |
| 39 | 45 |
void Scheduler::create_orders() |
| 40 | 46 |
{
|
| 41 | 47 |
Order a(1,0,0,101,0,0,0); |
| 42 |
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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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); |
|
| 46 | 52 |
|
| 47 | 53 |
unassignedOrders.insert(a); |
| 48 | 54 |
unassignedOrders.insert(b); |
| ... | ... | |
| 81 | 87 |
/** @Brief: The scheduling algorithm. Picks a task and pops from the PQWrapper. */ |
| 82 | 88 |
Order Scheduler::get_next_item() |
| 83 | 89 |
{
|
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Time time = ros::TIME_MAX; |
|
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|
|
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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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|
|
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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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} |
|
| 84 | 103 |
|
| 85 | 104 |
} |
| 86 | 105 |
|
| ... | ... | |
| 90 | 109 |
{
|
| 91 | 110 |
while (ok()) |
| 92 | 111 |
{
|
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while(waitingRobots.empty() || unassignedOrders.arraySize()==0) waiting_dance(); |
|
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while(waitingRobots.empty() || unassignedOrders.arraySize()==0) |
|
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waiting_dance(); |
|
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|
|
| 94 | 115 |
waitingRobots.front().set_task(get_next_item()); |
| 95 | 116 |
waitingRobots.pop(); |
| 96 | 117 |
} |
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