Revision 2f025967
| ID | 2f0259679a0994dd9893ecace84dab0fa118eaeb |
Got scheduler to compile. onto wh robots
| scout/libscout/src/behaviors/Scheduler.cpp | ||
|---|---|---|
| 1 | 1 |
#include "Scheduler.h" |
| 2 |
#include "../helper_classes/Order.h" |
|
| 2 | 3 |
|
| 3 | 4 |
using namespace std; |
| 4 | 5 |
|
| 5 | 6 |
/** @Brief: Initialize data structures for the scheduler. */ |
| 6 |
Scheduler::Scheduler() |
|
| 7 |
Scheduler::Scheduler(std::string scoutname):Behavior(scoutname, "Scheduler")
|
|
| 7 | 8 |
{
|
| 8 |
WH_Robot rob1(/*params*/);
|
|
| 9 |
WH_Robot rob2(/*params*/);
|
|
| 10 |
WH_Robot rob3(/*params*/);
|
|
| 9 |
WH_Robot* rob1 = new WH_Robot("Robot1", this);
|
|
| 10 |
WH_Robot* rob2 = new WH_Robot("Robot2", this);
|
|
| 11 |
WH_Robot* rob3 = new WH_Robot("Robot3", this);
|
|
| 11 | 12 |
|
| 12 |
robots.insert(rob1); |
|
| 13 |
robots.insert(rob2); |
|
| 14 |
robots.insert(rob3); |
|
| 13 |
unassignedOrders = new PQWrapper(NUM_TASKS); |
|
| 14 |
|
|
| 15 |
robots.push_back(rob1); |
|
| 16 |
robots.push_back(rob2); |
|
| 17 |
robots.push_back(rob3); |
|
| 15 | 18 |
|
| 16 | 19 |
create_orders(); |
| 17 | 20 |
} |
| ... | ... | |
| 19 | 22 |
/** @Brief: Free allocatetd memory. */ |
| 20 | 23 |
Scheduler::~Scheduler() |
| 21 | 24 |
{
|
| 22 |
delete rob1;
|
|
| 23 |
delete rob2;
|
|
| 24 |
delete rob3;
|
|
| 25 |
delete robots.at(0);
|
|
| 26 |
delete robots.at(1);
|
|
| 27 |
delete robots.at(2);
|
|
| 25 | 28 |
|
| 26 |
delete robots; |
|
| 27 | 29 |
delete unassignedOrders; |
| 28 |
delete assigned Orders; |
|
| 29 |
delete waitingRobots; |
|
| 30 | 30 |
} |
| 31 | 31 |
|
| 32 | 32 |
/** @Brief: Add robot to the waiting queue. |
| ... | ... | |
| 36 | 36 |
* the robot of the waiting queue, and gives it a |
| 37 | 37 |
* task. |
| 38 | 38 |
*/ |
| 39 |
void Scheduler::get_task(WH_Robot r) |
|
| 39 |
void Scheduler::get_task(WH_Robot* r)
|
|
| 40 | 40 |
{
|
| 41 | 41 |
waitingRobots.push(r); |
| 42 | 42 |
} |
| ... | ... | |
| 44 | 44 |
/** @Brief: Statically add orders to the Priority Queue Wrapper.*/ |
| 45 | 45 |
void Scheduler::create_orders() |
| 46 | 46 |
{
|
| 47 |
Order a(1,0,0,101,0,0,0); |
|
| 48 |
Order b(2,0,0,11,0,0,0); |
|
| 49 |
Order c(3,0,0,91,0,0,0); |
|
| 50 |
Order d(4,0,0,21,0,0,0); |
|
| 51 |
Order e(5,0,0,41,0,0,0); |
|
| 47 |
Path p; |
|
| 48 |
p.len = 0; |
|
| 49 |
p.path = NULL; |
|
| 50 |
Time t = ros::Time::now(); |
|
| 51 |
Duration end(0); |
|
| 52 |
Order a(1,0,1,t,p,end); |
|
| 53 |
Order b(2,0,1,t,p,end); |
|
| 54 |
Order c(3,0,9,t,p,end); |
|
| 55 |
Order d(4,0,2,t,p,end); |
|
| 56 |
Order e(5,0,4,t,p,end); |
|
| 52 | 57 |
|
| 53 |
unassignedOrders.insert(a);
|
|
| 54 |
unassignedOrders.insert(b);
|
|
| 55 |
unassignedOrders.insert(c);
|
|
| 56 |
unassignedOrders.insert(d);
|
|
| 57 |
unassignedOrders.insert(e);
|
|
| 58 |
unassignedOrders->insert(a);
|
|
| 59 |
unassignedOrders->insert(b);
|
|
| 60 |
unassignedOrders->insert(c);
|
|
| 61 |
unassignedOrders->insert(d);
|
|
| 62 |
unassignedOrders->insert(e);
|
|
| 58 | 63 |
} |
| 59 | 64 |
|
| 60 | 65 |
/** @Brief: This is a confirmation that the task is complete. |
| 61 | 66 |
This function removes the order from assignedOrders. */ |
| 62 | 67 |
void Scheduler::task_complete(Order o) |
| 63 | 68 |
{
|
| 64 |
for (int i=0; i< assignedOrders.size(); i++)
|
|
| 69 |
for (int i=0; i<assignedOrders.size(); i++) |
|
| 65 | 70 |
{
|
| 66 | 71 |
if (assignedOrders[i].getid()==o.getid()) |
| 67 | 72 |
{
|
| ... | ... | |
| 75 | 80 |
void Scheduler::task_failed(Order o) |
| 76 | 81 |
{
|
| 77 | 82 |
task_complete(o); |
| 78 |
unassignedOrders.insert(o);
|
|
| 83 |
unassignedOrders->insert(o);
|
|
| 79 | 84 |
} |
| 80 | 85 |
|
| 81 | 86 |
/** @Brief: Do a waiting dance. */ |
| ... | ... | |
| 87 | 92 |
/** @Brief: The scheduling algorithm. Picks a task and pops from the PQWrapper. */ |
| 88 | 93 |
Order Scheduler::get_next_item() |
| 89 | 94 |
{
|
| 90 |
Time time = ros::TIME_MAX; |
|
| 95 |
Time t = ros::TIME_MAX; |
|
| 96 |
double time = t.toSec(); |
|
| 91 | 97 |
|
| 92 |
Order best; |
|
| 93 |
for(int i=0; i<unassigned_orders.arraySize(); i++)
|
|
| 98 |
Order* best;
|
|
| 99 |
for(int i=0; i<unassignedOrders->arraySize(); i++)
|
|
| 94 | 100 |
{
|
| 95 |
Order order = unassigned_orders.peek(i); |
|
| 101 |
Order order = unassignedOrders->peek(i); |
|
| 102 |
|
|
| 103 |
Time end_time = order.get_start_time() - order.get_est_time(); |
|
| 96 | 104 |
|
| 97 |
if(order.orderDeadline < time) //TODO: use another function
|
|
| 105 |
if(end_time.toSec() + MAX_WAIT_TIME < time) //TODO: use another function
|
|
| 98 | 106 |
{
|
| 99 |
best = order; |
|
| 100 |
time = order.orderDeadline;
|
|
| 107 |
best = ℴ
|
|
| 108 |
time = end_time.toSec() + MAX_WAIT_TIME;
|
|
| 101 | 109 |
} |
| 102 | 110 |
} |
| 103 |
|
|
| 111 |
return *best; |
|
| 104 | 112 |
} |
| 105 | 113 |
|
| 106 | 114 |
/** @Brief: Continuously checks for waiting robots. If no robots are waiting, |
| ... | ... | |
| 109 | 117 |
{
|
| 110 | 118 |
while (ok()) |
| 111 | 119 |
{
|
| 112 |
while(waitingRobots.empty() || unassignedOrders.arraySize()==0)
|
|
| 120 |
while(waitingRobots.empty() || unassignedOrders->arraySize()==0)
|
|
| 113 | 121 |
waiting_dance(); |
| 114 | 122 |
|
| 115 |
waitingRobots.front().set_task(get_next_item());
|
|
| 123 |
(waitingRobots.front())->set_task(get_next_item());
|
|
| 116 | 124 |
waitingRobots.pop(); |
| 117 | 125 |
} |
| 118 | 126 |
} |
Also available in: Unified diff