root / scout / libscout / src / behaviors / Scheduler.cpp @ 6fab3966
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#include "Scheduler.h" |
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#include "../helper_classes/Order.h" |
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using namespace std; |
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/** @Brief: Initialize data structures for the scheduler. */
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Scheduler::Scheduler(std::string scoutname, Sensors* sensors):
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Behavior(scoutname, "Scheduler", sensors)
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{ |
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unassignedOrders = new PQWrapper(NUM_TASKS);
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create_orders(); |
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} |
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/** @Brief: Free allocatetd memory. */
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Scheduler::~Scheduler() |
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{ |
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delete unassignedOrders;
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} |
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/** @Brief: Add robot to the waiting queue.
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* A robot calls this function with itself
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* and gets pushed on a list of waiting robots.
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* When a task is availaible the scheduler, removes
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* the robot of the waiting queue, and gives it a
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* task.
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*/
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void Scheduler::get_task(int robot) |
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{ |
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Robot my_robot = robots[robot-1];
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if(my_robot.sched_status != WAITING_ROBOT)
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{ |
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waitingRobots.push(my_robot); |
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my_robot.sched_status = WAITING_ROBOT; |
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} |
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} |
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/** @Brief: Statically add orders to the Priority Queue Wrapper.*/
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void Scheduler::create_orders()
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{ |
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Path p; |
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p.len = 0;
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p.path = NULL;
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Time t = ros::Time::now(); |
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Duration end(0);
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Duration five(5);
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Duration three(3);
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Duration ten(10);
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Order a(1,0,13,t+ten,p,end); |
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Order b(2,0,14,t+five,p,end); |
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Order c(3,0,15,t+three,p,end); |
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Order d(4,0,16,t,p,end); |
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unassignedOrders->insert(a); |
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unassignedOrders->insert(b); |
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unassignedOrders->insert(c); |
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unassignedOrders->insert(d); |
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} |
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/** @Brief: This is a confirmation that the task is complete.
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This function removes the order from assignedOrders. */
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void Scheduler::task_complete(Order o)
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{ |
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ROS_INFO("Scheduler: Task id %d was completed", o.getid());
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for (unsigned int i=0; i<assignedOrders.size(); i++) |
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{ |
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if (assignedOrders[i].getid()==o.getid())
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{ |
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assignedOrders.erase(assignedOrders.begin()+i); |
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} |
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} |
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} |
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/** @Brief: This is a confirmation that the task failed.
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This function places the order back on the PQWrapper. */
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void Scheduler::task_failed(Order o)
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{ |
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ROS_INFO("Scheduler: Task id %d was failed", o.getid());
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task_complete(o); |
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unassignedOrders->insert(o); |
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} |
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/** @Brief: Do a waiting dance. */
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void Scheduler::waiting_dance()
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{ |
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//ROS_INFO("Scheduler: TEEHEE i do a dance!");
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} |
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/** @Brief: The scheduling algorithm. Picks a task and pops from the PQWrapper. */
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Order Scheduler::get_next_item() |
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{ |
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Time t = ros::TIME_MAX; |
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double time = t.toSec();
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Order* best; |
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int best_index;
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for(unsigned int i=0; i<unassignedOrders->arraySize(); i++) |
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{ |
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Order order = unassignedOrders->peek(i); |
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Time end_time = order.get_start_time() - order.get_est_time(); |
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if(end_time.toSec() + MAX_WAIT_TIME < time) //TODO: use another function |
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{ |
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best = ℴ |
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best_index = i; |
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time = end_time.toSec() + MAX_WAIT_TIME; |
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} |
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} |
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Order ret; |
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ret = unassignedOrders->remove(best_index); |
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assignedOrders.push_back(ret); |
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return ret;
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} |
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void Scheduler::msg_callback(const std_msgs::String::ConstPtr& msg) |
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{ |
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if(msg->data.compare(0, 6, "FAILED") == 0) |
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{ |
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int order_id = atoi(msg->data.substr(7).c_str()); |
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for(unsigned int i=0; i<assignedOrders.size(); i++) |
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{ |
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if(assignedOrders[i].getid() == order_id)
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{ |
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task_failed(assignedOrders[i]); |
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break;
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} |
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} |
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} |
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else if(msg->data.compare(0, 7, "SUCCESS") == 0) |
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{ |
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int order_id = atoi(msg->data.substr(8).c_str()); |
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for(unsigned int i=0; i<assignedOrders.size(); i++) |
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{ |
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if(assignedOrders[i].getid() == order_id)
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{ |
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task_complete(assignedOrders[i]); |
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break;
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} |
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} |
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} |
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else if(msg->data.compare(0, 8, "GET_TASK") == 0) |
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{ |
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ROS_INFO("SCHEDULER: got get task message");
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int robot = atoi(msg->data.substr(9).c_str()); |
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get_task(robot); |
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} |
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else if(msg->data.compare(0, 8, "REGISTER") == 0) |
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{ |
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string robot_name = msg->data.substr(9); |
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for(unsigned int i=0; i<robots.size(); i++) |
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{ |
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if(robots[i].name.compare(robot_name) == 0) |
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{ |
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return;
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} |
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} |
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int id = robots.size() +1; |
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Robot new_robot; |
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new_robot.name = robot_name; |
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new_robot.topic = node.advertise<std_msgs::String>(new_robot.name + "_topic", 1000); |
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new_robot.sched_status = NEW_ROBOT; |
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robots.push_back(new_robot); |
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std_msgs::String msg; |
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std::stringstream ss; |
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ss<<"REG_SUCCESS "<<id;
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msg.data = ss.str(); |
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new_robot.topic.publish(msg); |
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spinOnce(); |
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ROS_INFO("Registration a success");
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assert(robots.size() > 0);
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} |
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else
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{ |
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ROS_INFO("I got a bad message: %s", msg->data.c_str());
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} |
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return;
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} |
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/** @Brief: Continuously checks for waiting robots. If no robots are waiting,
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this function calls the waiting_dance() function. */
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void Scheduler::run()
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{ |
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robot_to_sched = node.subscribe("robot_to_sched", 1000, &Scheduler::msg_callback, this); |
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ROS_INFO("I am a scheduler!. Now waiting for robots");
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while(robots.size() < 1 && ok()) |
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{ |
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spinOnce(); |
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} |
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ROS_INFO("SCHEDULER: main loop");
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while (ok())
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{ |
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ROS_INFO("Scheduler running");
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spinOnce(); |
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while((waitingRobots.empty() || unassignedOrders->arraySize()==0) && ok()) |
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{ |
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waiting_dance(); |
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spinOnce(); |
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} |
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ROS_INFO("SCHEDULER: Setting task");
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Order next = get_next_item(); |
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Robot r = waitingRobots.front(); |
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ROS_INFO("SCHEDULER: Setting task %d to robot %s", next.getid(), r.name.c_str());
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std_msgs::String msg; |
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std::stringstream ss; |
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ss<<"SET_TASK "<<next.getid()<<" "<<next.get_source()<<" "<<next.get_dest(); |
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std::cout<<"msg: "<<ss.str()<<endl;
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msg.data = ss.str(); |
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r.topic.publish(msg); |
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spinOnce(); |
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waitingRobots.front().sched_status = ORDERED_ROBOT; |
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waitingRobots.pop(); |
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} |
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} |
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