FirstStrategy.h

00001 #ifndef FIRST_STRATEGY_H
00002 #define FIRST_STRATEGY_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 "init.h"
00026 
00027 class FirstStrategy: public Observer {
00028   public:
00033     FirstStrategy( PlansysObservation * , int theTeamColor );
00034     ~FirstStrategy();
00035     void Update( Subject *, int typeOfObservation);
00036     int GetPriority();
00037     int AgentGlobalPriority();
00038     int GetAction( controll_struct *ai_controll_struct );
00039     int SetAgentActive( int active );
00040     int StrategyInterrupted();
00041     int GetInterruptAction(interrupt_controll_struct *interrupt_controll);
00042   
00043   private:
00044     int agentPriority;
00045     int inAction;
00046     int activeStrategy;
00047     
00048     int lastWaypointReached;
00049     int batteryBinMessageRecieved;
00050 
00051     PlansysObservation *_subject; // referece to subject
00052 //    robot_state_3dof_posix robot_state_3d;
00053     ai_waypoint ai_waypoint_3d;
00054     ai_waypoint last_ai_waypoint;
00055     cv_observation my_cv_observation;
00056     cv_observation battery_bin_cv_observation;
00057     proxy_message my_proxy_message;
00058     time_message local_time_message;
00059     controll_struct local_controll_struct;
00060 };
00061 
00062 #endif
00063 

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