Merge pull request #22 from robocup-logistics/thofmann/two-maintenanc…

…es-per-bot Allow two maintenances per bot
robocup-logistics · Apr 17, 2019 · a02529a · a02529a
2 parents 1af10a5 + eb382ad
commit a02529a
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Showing 4 changed files with 16 additions and 7 deletions.
diff --git a/src/games/rcll/globals.clp b/src/games/rcll/globals.clp
@@ -86,7 +86,8 @@
   ?*TECHCHALL-WAM-TIME* = 300
   ?*TECHCHALL-NAVIGATION-TIME* = 60
   ; number of allowed robot maintenance cycles
-  ?*MAINTENANCE-ALLOWED-CYCLES* = 1
+  ?*MAINTENANCE-ALLOWED-CYCLES* = 2
+  ?*MAINTENANCE-COST*           = (create$ 0 5)
   ?*MAINTENANCE-ALLOWED-TIME*   = 120
   ?*MAINTENANCE-WARN-TIME*      = 105
   ?*MAINTENANCE-GRACE-TIME*     =  15

diff --git a/src/games/rcll/orders.clp b/src/games/rcll/orders.clp
@@ -256,6 +256,6 @@
 (defrule order-print-points
   (points (game-time ?gt) (points ?points) (team ?team) (phase ?phase) (reason ?reason))
   =>
-  (printout t "Awarding " ?points " points to team " ?team ": " ?reason
+  (printout t "Giving " ?points " points to team " ?team ": " ?reason
 	    " (" ?phase " @ " ?gt ")" crlf)
 )
diff --git a/src/games/rcll/robots.clp b/src/games/rcll/robots.clp
@@ -85,7 +85,7 @@
 
 (defrule robot-recv-SetRobotMaintenance
   ?pf <- (protobuf-msg (type "llsf_msgs.SetRobotMaintenance") (ptr ?p) (rcvd-via STREAM))
-  (gamestate (cont-time ?ctime))
+  (gamestate (phase ?phase) (cont-time ?ctime) (game-time ?game-time))
   =>
   (retract ?pf) ; message will be destroyed after rule completes
   (do-for-fact ((?robot robot))
@@ -99,6 +99,14 @@
 	(printout t "Robot " ?robot:number " scheduled for maintenance cycle " ?cycle crlf)
 	(modify ?robot (state MAINTENANCE) (maintenance-start-time ?ctime)
 		(maintenance-cycles ?cycle) (maintenance-warning-sent FALSE))
+	(bind ?cycle-cost (nth$ ?cycle ?*MAINTENANCE-COST*))
+	(if (neq ?cycle-cost nil)
+	 then
+		(assert (points (game-time ?game-time)
+		                (points (* -1 ?cycle-cost))
+		                (team ?robot:team-color) (phase ?phase)
+		                (reason (str-cat "Maintenance of robot " ?robot:number))))
+	)
       )
     else
       (bind ?maint-time (- ?ctime ?robot:maintenance-start-time))

diff --git a/src/shell/robot.cpp b/src/shell/robot.cpp
@@ -149,13 +149,13 @@ LLSFRefBoxShellRobot::refresh()
     printw(1, width() - 5, "%s", RobotState_Name(state_).substr(0,3).c_str());
     standend();
 
+    attron(A_BOLD);
     if (maintenance_cycles_ > 0) {
-      attron(A_BOLD);
       attron(' '|COLOR_PAIR(COLOR_RED_ON_BACK));
-      //mvwaddwstr(w, 1, width() - 1, L"\u26a0");
-      printw(1, width() - 1, "!");
-      standend();
     }
+    //mvwaddwstr(w, 1, width() - 1, L"\u26a0");
+    printw(1, width() - 1, "%1i", maintenance_cycles_);
+    standend();
 
   } else {
     bkgd(' '|COLOR_PAIR(COLOR_DEFAULT));