00001 #ifndef MAIN_PLANSYS_H 00002 #define MAIN_PLANSYS_H 00003 00004 #include "debug.h" 00005 #include "observation_structs.h" 00006 #include <vector> 00007 #include <signal.h> 00008 00009 void catch_sighup(int sig_num); 00010 00011 const int GAME_TIME = 88; 00012 const int GAME_TIME_MESSAGE = 200; 00013 00014 00015 00016 const int TABLE_SIZE_X = 3000; 00017 const int TABLE_SIZE_Y = 2100; 00018 00019 const int ACTIVE = 1; 00020 const int INACTIVE = -1; 00021 const int INTERRUPTED = -2; 00022 00023 const int FALSE = 0; 00024 const int TRUE = 1; 00025 00026 const double MAX_SPEED_MPS = 10.0; 00027 00028 00029 typedef struct time_message { 00030 int gameTime; 00031 int timeLeft; 00032 00033 }; 00034 00041 typedef struct controll_struct { 00042 bool setMaxSpeed; 00043 double maxSpeed_mps; 00044 bool clearWaypoints; 00045 bool clearTheActiveStrategy; 00046 bool interrupt; 00047 int activeStrategyInterrupted; 00048 00049 std::vector<int> command; 00053 std::vector<ai_waypoint> _ai_waypoint; 00057 std::vector<ai_waypoint> _ai_waypoint_rel_robot; 00058 }; 00059 00060 typedef struct interrupt_controll_struct { 00061 bool stopRobot; 00062 bool clearActiveStrategy; 00063 std::vector<ai_waypoint> _interrupt_ai_waypoint; 00064 00065 }; 00066 00067 00068 00069 #endif