Colony » Colony Scout » Colony Scout OS

#ifndef _SCHEDULER_

#define _SCHEDULER_

#include "../helper_classes/PQWrapper.h"

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

#include "../Behavior.h"

#define NUM_TASKS 5

#define WAITING_ROBOT 1

#define NEW_ROBOT 2

#define ORDERED_ROBOT 3

typedef struct{

  std::string name;

  ros::Publisher topic;

  int sched_status;

} Robot;

class Scheduler : Behavior {

  std::vector<Robot> robots;

        std::queue<Robot> waitingRobots;

  PQWrapper* unassignedOrders;

        std::vector<Order> assignedOrders;

        void create_orders();

        void waiting_dance();

  void msg_callback(const std_msgs::String::ConstPtr& msg);

public:

  Scheduler(std::string scoutname, Sensors* sensors);

        ~Scheduler();

        void get_task(int robot);

        void task_complete(Order o);

        void task_failed(Order o);

        Order get_next_item();

        void run();

  ros::Subscriber robot_to_sched;

};

#endif