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#ifndef _WH_ROBOT_

#define _WH_ROBOT_

#define DEFAULT_TASK NULL

#define TASK_COMPLETED 0

#define TASK_FAILED -1

#include "../behaviors/line_follow.h"

#include "../Behavior.h"

#include "../behaviors/navigationMap.h"

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

#include <assert.h>

#include <stdlib.h>

class WH_Robot : line_follow{

        std::string name;

        int id;

        int reg_failed;

        Order* curr_task;

        navigationMap* nav_map;

        Duration get_worst_case_time(State start_state, State target_state);

        int exec_task();

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

        void go_home(int x);

        void leave_home();

    public:

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

        ~WH_Robot();

        void run();

        void set_task(Order order);

        void follow_path(Path path_to_follow);

        ros::Publisher robot_to_sched;

        ros::Subscriber sched_to_robot;

};

#endif