Colony » Colony Scout » Colony Scout OS

#include "WH_Robot.h"

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

WH_Robot::WH_Robot()

{

    nav_map = navigationMap("nyan");

    curr_task = NULL;

    schedule = Scheduler();

}

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

WH_Robot::WH_Robot(std::string scoutname)

{

    nav_map = navigationMap(scoutname);

    // this probably won't work :x

    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;

}