Plan::Engine::ActionSchedule Class Reference

Detailed Description

Scheduler for plan and maneuver actions.

Public Member Functions
	ActionSchedule (Tasks::Task *task, const IMC::PlanSpecification *spec, const std::vector< IMC::PlanManeuver *> &nodes, const Timeline &tline, 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)
void	fillComponentActiveTime (const std::vector< IMC::PlanManeuver *> &nodes, const Timeline &timeline, ComponentActiveTime &cat)

Constructor & Destructor Documentation

ActionSchedule() [1/2]

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

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]	tline	plan timeline with maneuvers' and plan's ETAs
[in]	cinfo	map of components info

References Plan::Engine::Timeline::getExecutionDuration(), Plan::Engine::Timeline::getManeuverEndETA(), and Plan::Engine::Timeline::getManeuverStartETA().

ActionSchedule() [2/2]

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
	)

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

calibTimeLeft()

float Plan::Engine::ActionSchedule::calibTimeLeft

(

void

)

Compute a shorter time for calibration.

Returns

time left for calibration according to devices to activate

Referenced by Plan::Engine::Plan::getETA().

fillComponentActiveTime()

void Plan::Engine::ActionSchedule::fillComponentActiveTime	(	const std::vector< IMC::PlanManeuver *> &	nodes,
		const Timeline &	timeline,
		ComponentActiveTime &	cat
	)

Fill the object component active time.

Parameters

[in]	nodes	vector of sequenced plan maneuvers
[in]	timeline	plan timeline with all ETAs
[in]	cat	component active time object to fill

References Plan::Engine::ComponentActiveTime::addActiveTime(), Plan::Engine::ComponentActiveTime::clear(), Plan::Engine::Timeline::getManeuverEndETA(), Plan::Engine::Timeline::getManeuverStartETA(), Plan::Engine::Timeline::getPlanETA(), and Plan::Engine::ComponentActiveTime::subtractActiveTime().

Referenced by Plan::Engine::Plan::getETA().

flushTimed()

void Plan::Engine::ActionSchedule::flushTimed

(

void

)

Flush all remaining timed actions in the schedule.

Referenced by Plan::Engine::Plan::updateProgress().

getEarliestSchedule()

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

inline

Get the time of the earliest scheduled action.

Returns

time of the earliest scheduled action

References DUNE::Tasks::Task.

Referenced by Plan::Engine::Plan::getETA().

maneuverDone()

void Plan::Engine::ActionSchedule::maneuverDone

(

const std::string &

id

)

Maneuver has stopped.

Parameters

[in]

id

name of the done maneuver

Referenced by Plan::Engine::Plan::maneuverDone().

maneuverStarted()

void Plan::Engine::ActionSchedule::maneuverStarted

(

const std::string &

id

)

Maneuver has started.

Parameters

[in]

id

name of the started maneuver

Referenced by Plan::Engine::Plan::maneuverStarted().

onEntityActivationState()

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

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

Referenced by Plan::Engine::Plan::onEntityActivationState().

planStarted()

void Plan::Engine::ActionSchedule::planStarted

(

std::vector< std::string > &

affected

)

The plan has started.

Parameters

[out]

affected

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

Referenced by Plan::Engine::Plan::planStarted().

planStopped()

void Plan::Engine::ActionSchedule::planStopped

(

const std::vector< std::string > &

affected

)

The plan has stopped/ended.

Parameters

[in]

affected

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

Referenced by Plan::Engine::Plan::planStopped().

updateSchedule()

void Plan::Engine::ActionSchedule::updateSchedule

(

float

time_left

)

Update timed actions in schedule.

Parameters

[in]

time_left

estimated time left to finish the plan

Referenced by Plan::Engine::Plan::updateProgress().

waitingForDevice()

bool Plan::Engine::ActionSchedule::waitingForDevice

(

void

)

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

Returns

true if we are still waiting

Referenced by Plan::Engine::Plan::getETA().

Collaboration diagram for Plan::Engine::ActionSchedule: