scoutos / scout / libscout / src / behaviors / Scheduler.h @ ae21730e
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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 "../Behavior.h" |
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#define NUM_TASKS 5 |
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#define WAITING_ROBOT 1 |
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#define NEW_ROBOT 2 |
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#define ORDERED_ROBOT 3 |
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typedef struct{ |
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std::string name; |
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ros::Publisher topic; |
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int sched_status;
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} Robot; |
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class Scheduler : Behavior { |
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std::vector<Robot> robots; |
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std::queue<Robot> waitingRobots; |
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PQWrapper* unassignedOrders; |
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std::vector<Order> assignedOrders; |
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void create_orders();
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void waiting_dance();
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void msg_callback(const std_msgs::String::ConstPtr& msg); |
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public:
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Scheduler(std::string scoutname); |
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~Scheduler(); |
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void get_task(int 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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ros::Subscriber robot_to_sched; |
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}; |
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#endif
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