#include <iostream>#include <iomanip>#include "RFIDAction.h"#include "msg_types.h"#include "ipc/ipc.h"#include "util/timeutil.h"#include "util/robotId.h"#include "com/ipc_com.h"RFIDAction::RFIDAction(){   _tagCount=0;   _lastDeployTime.tv_sec = 0;   _lastDeployTime.tv_usec = 0;}RFIDAction::~RFIDAction(){}int RFIDAction::deployTag(){   timeval now;   gettimeofday(&now,0);   double diff = TimevalDiff(&now, &_lastDeployTime);      if (diff > MIN_WAIT_TIME_BETWEEN_DEPLOYMENT) {      rescue_rfid_actuator_message msg;      msg.triggerTag=1;      msg.robot.id = getRobotId();      msg.robot.ts = getCurrentTime();      ComPublishToRobot(RESCUE_RFID_ACTUATOR_NAME, &msg);      gettimeofday(&_lastDeployTime,0);      return _tagCount++;   }   return -1;}/********************************************************************* * (C) Copyright 2006 Albert Ludwigs University Freiburg *     Institute of Computer Science * * All rights reserved. Use of this software is permitted for * non-commercial research purposes, and it may be copied only * for that use. All copies must include this copyright message. * This software is made available AS IS, and neither the authors * nor the Albert Ludwigs University Freiburg make any warranty * about the software or its performance. *********************************************************************/