Colony » Colony Scout

#include "WH_Robot.h"

/** @brief default warehouse robot constructor **/

WH_Robot::WH_Robot()

{

    curr_task = NULL;

}

/** @Brief: warehouse robot constructor **/

WH_Robot::WH_Robot(std::string scoutname)

{

    nav_map = navigationMap(scoutname);

    curr_task = NULL;

    schedule = Scheduler();

}

Time WH_Robot::get_wc_time(State dest)

{

    //TODO: integrate Lalitha's code

    return 0.0;

}

Order WH_Robot::wh_get_task()

{

    schedule.get_task(this);

    while (curr_task == NULL) //waits for get_task process to return a task

        continue;        

    return curr_task;    

}

int WH_Robot::exec_task(){

    if (curr_task == NULL)

    {

        //TODO: raise error

        return TASK_FAILED;

    }

    else{

        //TODO: do task

        return TASK_COMPLETED;

    }

}

void WH_Robot::run (){

    wh_get_task();

    bool error = (exec_task() == TASK_FAILED);

    if(!error)

    {

        schedule.task_complete(curr_task);

    }

    else

    {

        schedule.task_failed(curr_task);

    }

    curr_task = NULL;

}

int main(){

    return 0;

}

#ifndef _WH_ROBOT_

#define _WH_ROBOT_

#include <cstdlib>

#include <string>

//#include "../Behavior.h" //TODO: make wh_robots into Behaviors

//#include "navigationMap.h"

#include "Scheduler.h" //TODO: uncomment once these are in the repo

#include "../helper_classes/Order.h"

#define TASK_COMPLETED 0

#define TASK_FAILED -1

typedef double Time;

// a single number representing a node's number

typedef int State;

class WH_Robot{

    public:

        WH_Robot();

        WH_Robot(std::string scoutname);

        void run();

    private:

        Time get_wc_time(State dest);

        Order wh_get_task();

        int exec_task();

        Order curr_task;

        //navigationMap nav_map;

        Scheduler schedule;

};

#endif