scoutos / scout / libscout / src / behaviors / Scheduler.h @ 7ac5e9bc
History | View | Annotate | Download (746 Bytes)
1 |
#ifndef _SCHEDULER_
|
---|---|
2 |
#define _SCHEDULER_
|
3 |
|
4 |
#include "../helper_classes/PQWrapper.h" |
5 |
#include "../helper_classes/Order.h" |
6 |
#include "../Behavior.h" |
7 |
|
8 |
#define NUM_TASKS 5 |
9 |
|
10 |
typedef struct{ |
11 |
std::string name; |
12 |
ros::Publisher topic; |
13 |
} Robot; |
14 |
|
15 |
class Scheduler : Behavior { |
16 |
std::vector<Robot> robots; |
17 |
PQWrapper* unassignedOrders; |
18 |
std::vector<Order> assignedOrders; |
19 |
std::queue<Robot> waitingRobots; |
20 |
|
21 |
void create_orders();
|
22 |
|
23 |
void waiting_dance();
|
24 |
|
25 |
void msg_callback(const std_msgs::String::ConstPtr& msg); |
26 |
|
27 |
public:
|
28 |
Scheduler(std::string scoutname); |
29 |
~Scheduler(); |
30 |
|
31 |
void get_task(int robot); |
32 |
|
33 |
void task_complete(Order o);
|
34 |
void task_failed(Order o);
|
35 |
|
36 |
|
37 |
Order get_next_item(); |
38 |
|
39 |
void run();
|
40 |
|
41 |
ros::Subscriber robot_to_sched; |
42 |
|
43 |
}; |
44 |
#endif
|