Plan::Engine::ActionSchedule Class Reference

Detailed Description

Scheduler for plan and maneuver actions.

Classes
struct	EventActions
struct	TimedAction

Public Types
enum	ActionType { TYPE_DEACT, TYPE_ACT }
typedef std::stack< TimedAction >	TimedStack
typedef std::map< std::string, EventActions >	EventMap
typedef std::map< std::string, uint8_t >	EASMap
typedef std::pair< std::string, uint8_t >	EASPair

Public Member Functions
	ActionSchedule (Tasks::Task *task, const IMC::PlanSpecification *spec, const std::vector< IMC::PlanManeuver * > &nodes, const Duration::ManeuverDuration &durations, const Duration::ManeuverDuration::const_iterator last_dur, const std::map< std::string, IMC::EntityInfo > &cinfo)
	ActionSchedule (Tasks::Task *task, const IMC::PlanSpecification *spec, const std::vector< IMC::PlanManeuver * > &nodes, const std::map< std::string, IMC::EntityInfo > &cinfo)
void	updateSchedule (float time_left)
void	flushTimed (void)
void	planStarted (std::vector< std::string > &affected)
void	planStopped (const std::vector< std::string > &affected)
void	maneuverStarted (const std::string &id)
void	maneuverDone (const std::string &id)
float	getEarliestSchedule (void) const
bool	onEntityActivationState (const std::string &id, const IMC::EntityActivationState *msg)
bool	waitingForDevice (void)
float	calibTimeLeft (void)

Member Typedef Documentation

typedef std::map<std::string, uint8_t> Plan::Engine::ActionSchedule::EASMap

Map of entity names to entity activation states.

typedef std::pair<std::string, uint8_t> Plan::Engine::ActionSchedule::EASPair

Pair for EASMap.

typedef std::map<std::string, EventActions> Plan::Engine::ActionSchedule::EventMap

Map to address event based actions.

typedef std::stack<TimedAction> Plan::Engine::ActionSchedule::TimedStack

Stack of timed actions.

Member Enumeration Documentation

enum Plan::Engine::ActionSchedule::ActionType

Enumeration for type of timed action.

Enumerator
TYPE_DEACT	Deactivation.
TYPE_ACT	Activation.

Constructor & Destructor Documentation

Plan::Engine::ActionSchedule::ActionSchedule ( Tasks::Task *  task, const IMC::PlanSpecification *  spec, const std::vector< IMC::PlanManeuver * > &  nodes, const Duration::ManeuverDuration &  durations, const Duration::ManeuverDuration::const_iterator  last_dur, const std::map< std::string, IMC::EntityInfo > &  cinfo  )

inline

Default constructor.

Parameters

[in]	task	pointer to task
[in]	spec	pointer to PlanSpecification message
[in]	nodes	vector of sequential PlanManeuvers that describe the plan
[in]	durations	information regarding each maneuvers duration
[in]	last_dur	iterator to last maneuver with a valid duration
[in]	cinfo	map of components info

Plan::Engine::ActionSchedule::ActionSchedule ( Tasks::Task *  task, const IMC::PlanSpecification *  spec, const std::vector< IMC::PlanManeuver * > &  nodes, const std::map< std::string, IMC::EntityInfo > &  cinfo  )

inline

Alternative constructor for when plan is not sequential.

There will be no pre-scheduling using this constructor.

Parameters

[in]	task	pointer to task
[in]	spec	pointer to PlanSpecification message
[in]	nodes	vector of sequential PlanManeuvers that describe the plan
[in]	cinfo	map of components info

Member Function Documentation

float Plan::Engine::ActionSchedule::calibTimeLeft ( void  )

inline

Compute a shorter time for calibration.

Returns

time left for calibration according to devices to activate

void Plan::Engine::ActionSchedule::flushTimed ( void  )

inline

Flush all remaining timed actions in the schedule.

float Plan::Engine::ActionSchedule::getEarliestSchedule ( void  ) const

inline

Get the time of the earliest scheduled action.

Returns

time of the earliest scheduled action

void Plan::Engine::ActionSchedule::maneuverDone ( const std::string &  id )

inline

Maneuver has stopped.

Parameters

[in]

id

name of the done maneuver

void Plan::Engine::ActionSchedule::maneuverStarted ( const std::string &  id )

inline

Maneuver has started.

Parameters

[in]

id

name of the started maneuver

bool Plan::Engine::ActionSchedule::onEntityActivationState ( const std::string &  id, const IMC::EntityActivationState *  msg  )

inline

Check if the activation and deactivation requests are being complied.

Parameters

[in]	id	entity label
[in]	msg	pointer to EntityActivationState message

Returns

false if something failed to be activated, true otherwise

References DUNE::IMC::EntityActivationState::EAS_ACT_DONE, DUNE::IMC::EntityActivationState::EAS_ACT_FAIL, DUNE::IMC::EntityActivationState::EAS_ACTIVE, DUNE::IMC::EntityActivationState::EAS_DEACT_DONE, and DUNE::IMC::EntityActivationState::EAS_INACTIVE.

void Plan::Engine::ActionSchedule::planStarted ( std::vector< std::string > &  affected )

inline

The plan has started.

Parameters

[out]

affected

vector of entities that will be (de)activated during the plan

void Plan::Engine::ActionSchedule::planStopped ( const std::vector< std::string > &  affected )

inline

The plan has stopped/ended.

Parameters

[in]

affected

vector of entities that were (de)activated during last executed plan

void Plan::Engine::ActionSchedule::updateSchedule ( float  time_left )

inline

Update timed actions in schedule.

Parameters

[in]

time_left

estimated time left to finish the plan

bool Plan::Engine::ActionSchedule::waitingForDevice ( void  )

inline

Check if we are still waiting for a device in calibration process.

Returns

true if we are still waiting

Collaboration diagram for Plan::Engine::ActionSchedule: