BottleBoxSort.h

00001 #ifndef BOTTLE_BOX_SORT_H
00002 #define BOTTLE_BOX_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 BottleBoxSort: public Observer {
00030   public:
00031     BottleBoxSort( PlansysObservation * , int theTeamColor );
00032     ~BottleBoxSort();
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   
00041   private:
00046     int agentPriority;
00047     int inAction;
00048     int activeStrategy;
00049     int bottleBoxRelease;
00050     int bottleBoxReleased;
00051     int waitForBottleBoxReleased;
00052     int lastWaypointReached;
00053     bool changeTheObservationType;
00054     bool lastWaypointSendt;
00055     bool turnAgainstBottlesAndBoxes;
00056     short lastWaypointId;
00057     bool pickUpWaypointReached;
00058     short pickUpWaypointId;
00059     bool pickUpMessageSendt;
00060     int typeOfPickUp;
00061     bool pickUpMessageRecieved;
00062     
00063     PlansysObservation *_subject; // referece to subject
00064 //    robot_state_3dof_posix robot_state_3d;
00065     ai_waypoint ai_waypoint_3d;
00066     ai_waypoint red_bottle_bin_ai_waypoint;
00067     ai_waypoint red_box_bin_ai_waypoint;
00068     ai_waypoint blue_bottle_bin_ai_waypoint;
00069     ai_waypoint blue_box_bin_ai_waypoint;
00070     ai_waypoint current_bin_ai_waypoint;
00071     ai_waypoint pick_up_waypoint;
00072     ai_waypoint local_ai_waypoint;
00073     proxy_message my_proxy_message;
00074     cv_observation my_cv_observation;
00075     cv_observation color_cv_observation;
00076     controll_struct local_controll_struct;
00077 
00078 
00079 };
00080 
00081 #endif

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