b_timeoutorhelped_ir.java

利用JAVA编写的群体机器人局部通讯完成一定得队形控制

/*
 * b_TimeoutOrHelped_r.java
 */

package EDU.gatech.cc.is.clay;

import java.lang.*;
import EDU.gatech.cc.is.abstractrobot.*;
import EDU.gatech.cc.is.util.Vec2;


public class b_TimeoutOrHelped_ir extends NodeBoolean
	{
	/** 
	 * Turn debug printing on or off.
	 */
	public static final boolean DEBUG = Node.DEBUG;
	
	private MultiForageN150 abstract_robot;
	private long            waitTime;
	private long            startTime;
	private boolean         isTimingStart = false;
	 

	public b_TimeoutOrHelped_ir(int wt, MultiForageN150 ar)
		{
		if (DEBUG) System.out.println("b_TimeoutOrHelped_r: instantiated");
		waitTime = wt*1000;   // set the seconds the robot need to wait
		abstract_robot = ar;  // set the robot.
		}

	
	public boolean Value(long timestamp)
		{
			if (DEBUG) System.out.println("b_TimeoutOrHelped_r: Value()");
			
			// check if already help other robot to deliver the food.
			if(abstract_robot.getWaitTag() == false)
			{
				isTimingStart = false ; //reset timing.
				return true;	
			}
			
			// deal with timing
			if (isTimingStart)
			{
				if((startTime + waitTime) <= abstract_robot.getTime())
				{
					isTimingStart = false;
					abstract_robot.setWaitTag(false);
					return true;
				}
			}
			else
			{
				isTimingStart = true;
				startTime     = abstract_robot.getTime();
			} 
			
			return false;
		}
    }