Colony » Colony Scout » Colony Scout OS

#include "WH_Robot.h"

#include "Scheduler.h" 

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

WH_Robot::WH_Robot(std::string scoutname, void* sched):Behavior(scoutname, "WH_Robot")

{

    nav_map = navigationMap(scoutname);

    curr_task = DEFAULT_TASK;

    scheduler = sched;

}

Duration WH_Robot::get_wc_time(State start_state, State target_state)

{

  return nav_map.get_worst_case_time(start_state, target_state);

}

int WH_Robot::exec_task()

{

    assert(curr_task != DEFAULT_TASK);

    //TODO: do task

    srand(0xDEADBEEF);

    int error = rand() % 12;

    if(error < 9) //Fail with 1/4 probability

    {

      return TASK_COMPLETED;

    }

    else

    {

      return TASK_FAILED;

    }

}

void WH_Robot::run (){

    ((Scheduler*)scheduler).get_task(this);

    while(curr_task == DEFAULT_TASK)

      continue;

    int error = exec_task();

    if(error == TASK_COMPLETE)

    {

        ((Scheduler*)scheduler).task_complete(*curr_task);

    }

    else //error == TASK_FAILED

    {

        ((Scheduler*)scheduler).task_failed(*curr_task);

    }

    curr_task = DEFAULT_TASK;

}

void WH_Robot::set_task(Order order)

{

    curr_task = new Order(order.getid(), order.get_source(), order.get_dest(), 

        order.get_start_time(), order.get_path(), order.get_est_time()); 

    return;

}