BatterySort.h

00001 #ifndef BATTERY_SORT_H
00002 #define BATTERY_SORT_H
00003 
00018 #include <math.h>
00019 
00020 #include "Observer.h"
00021 #include "PlansysObservation.h"
00022 #include "mainplansys.h"
00023 #include "waypoint.h"
00024 #include "posix_message_config.h"
00025 #include "observations.h"
00026 #include "init.h"
00027 
00028 
00029 class BatterySort: public Observer {
00030   public:
00031     BatterySort( PlansysObservation * , int theTeamColor );
00032     ~BatterySort();
00033     void Update( Subject *, int typeOfObservation);
00034     int GetPriority();
00035     int AgentGlobalPriority();
00036     int GetAction( controll_struct *ai_controll_struct );
00037     int SetAgentActive( int active );
00038     int StrategyInterrupted();
00039     int GetInterruptAction(interrupt_controll_struct *interrupt_controll);
00040   private:
00045     int agentPriority;
00046     int inAction;
00047     int activeStrategy;
00048     int batteryRelease;
00049     int batteryReleased;
00050     int waitForBatteryReleased;
00051     int lastWaypointReached;
00052     PlansysObservation *_subject; // referece to subject
00053     ai_waypoint ai_waypoint_3d;
00054     ai_waypoint battery_bin_ai_waypoint;
00055     proxy_message my_proxy_message;
00056     cv_observation my_cv_observation;
00057     controll_struct local_controll_struct;
00058 };
00059 
00060 #endif

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