scheduled_task_executor.ScheduledTaskExecutor Class Reference

Inheritance diagram for scheduled_task_executor.ScheduledTaskExecutor:

Public Member Functions
def	__init__ (self)
def	add_tasks (self, tasks)
def	bound_tasks_by_start_window (self, tasks, start_after)
def	call_scheduler
def	cancel_task (self, task_id)
def	clear_schedule (self)
def	execute_tasks (self)
def	fill_times (self, task)
def	get_default_end_time (self, start_time)
def	get_duration_matrix (self, tasks)
def	pause_execution (self)
def	publish_schedule (self)
def	schedule_tasks (self)
def	start_execution (self)
def	task_complete (self, task)
def	task_demanded (self, demanded_task, currently_active_task)
def	try_schedule (self, additional_tasks)
def	wait_for_task_to_complete (self)
Public Member Functions inherited from task_executor.sm_base_executor.AbstractTaskExecutor
def	__init__ (self)
def	action_start_cb (self, userdata, initial_states)
def	action_termination_cb (self, userdata, terminal_states, container_outcome)
def	cancel_active_task (self)
def	execute_task (self, task)
def	join_smach_thread (self, timeout)
def	nav_start_cb (self, userdata, initial_states)
def	nav_termination_cb (self, userdata, terminal_states, container_outcome)
def	outcome_cb (self, outcome_map)
def	reset_sm (self)
Public Member Functions inherited from task_executor.base_executor.BaseTaskExecutor
def	__init__ (self)
def	add_task_ros_srv (self, req)
def	add_tasks (self, tasks)
def	add_tasks_ros_srv (self, req)
def	advertise_services (self)
def	cancel_task (self, task_id)
def	cancel_task_ros_srv (self, req)
def	clear_schedule (self)
def	clear_schedule_ros_srv (self, req)
def	demand_task_ros_srv (self, req)
def	expected_navigation_duration (self, task)
def	get_active_task_completion_time (self)
def	get_active_task_ros_srv (self, req)
def	get_arguments (self, argument_list)
def	get_execution_status_ros_srv (self, req)
def	get_navigation_duration (self, start, end)
def	get_task_types (self, action_name)
def	instantiate_from_string_pair (self, string_pair)
def	is_task_interruptible (self, task)
def	log_task_event
def	log_task_events
def	pause_execution (self)
def	prepare_task (self, task)
def	set_execution_status_ros_srv (self, req)
def	start_execution (self)
def	task_complete (self, task)
def	task_demanded (self, demanded_task, currently_active_task)
def	task_failed (self, task)
def	task_succeeded (self, task)
def	update_topological_closest_node (self, node_name)
def	update_topological_location (self, node_name)

Public Attributes
	default_duration
	execution_schedule
	execution_thread
	running
	schedule_publisher
	schedule_srv
	scheduling_thread
	unscheduled_tasks
Public Attributes inherited from task_executor.sm_base_executor.AbstractTaskExecutor
	active_task
	join_lock
	sis
	smach_thread
	task_sm
Public Attributes inherited from task_executor.base_executor.BaseTaskExecutor
	active_task
	active_task_completes_by
	closest_node
	current_node
	executing
	expected_time
	expected_time_lock
	logging_msg_store
	msg_store
	service_lock
	task_counter
	task_event_publisher

Detailed Description

Definition at line 13 of file scheduled_task_executor.py.

Constructor & Destructor Documentation

def scheduled_task_executor.ScheduledTaskExecutor.__init__

(

self

)

Definition at line 15 of file scheduled_task_executor.py.

Member Function Documentation

def scheduled_task_executor.ScheduledTaskExecutor.add_tasks	(		self,
			tasks
	)

Called with new tasks for the executor 

Definition at line 101 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.bound_tasks_by_start_window	(		self,
			tasks,
			start_after
	)

Definition at line 257 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.call_scheduler	(		self,
			tasks,
			earliest_start,
			current_id = 0
	)

Calls scheduler. Reorders the list of tasks in execution order with their execution times set. 

Definition at line 204 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.cancel_task	(		self,
			task_id
	)

Called when a request is received to cancel a task. The currently executing one is checked elsewhere. 

Definition at line 389 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.clear_schedule

(

self

)

Called to clear all tasks from schedule, with the exception of the currently executing one. 

Definition at line 398 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.execute_tasks

(

self

)

Definition at line 371 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.fill_times	(		self,
			task
	)

Definition at line 93 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.get_default_end_time	(		self,
			start_time
	)

Definition at line 89 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.get_duration_matrix	(		self,
			tasks
	)

Creates the matrix of durations between waypoints needed as input to the scheuler.
Output is a DurationMatrix encoding  duration[i][j] where this is the duration expected for travelling between the end of the ith task in tasks and the start of the jth element.

Definition at line 175 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.pause_execution

(

self

)

Definition at line 58 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.publish_schedule

(

self

)

Definition at line 242 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.schedule_tasks

(

self

)

Definition at line 340 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.start_execution

(

self

)

Called when overall execution should  (re)start 

Definition at line 45 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.task_complete	(		self,
			task
	)

Called when the given task has completed execution 

Definition at line 113 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.task_demanded	(		self,
			demanded_task,
			currently_active_task
	)

Called when a task is demanded. self.active_task is the demanded task (and is being executed) and previously_active_task was the task that was being executed (which could be None) 

Definition at line 136 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.try_schedule	(		self,
			additional_tasks
	)

Definition at line 276 of file scheduled_task_executor.py.

def scheduled_task_executor.ScheduledTaskExecutor.wait_for_task_to_complete

(

self

)

Useful for cases where you don't know what the effect of cancellation will be   

Definition at line 119 of file scheduled_task_executor.py.

Member Data Documentation

scheduled_task_executor.ScheduledTaskExecutor.default_duration

Definition at line 32 of file scheduled_task_executor.py.

scheduled_task_executor.ScheduledTaskExecutor.execution_schedule

Definition at line 38 of file scheduled_task_executor.py.

scheduled_task_executor.ScheduledTaskExecutor.execution_thread

Definition at line 52 of file scheduled_task_executor.py.

scheduled_task_executor.ScheduledTaskExecutor.running

Definition at line 41 of file scheduled_task_executor.py.

scheduled_task_executor.ScheduledTaskExecutor.schedule_publisher

Definition at line 29 of file scheduled_task_executor.py.

scheduled_task_executor.ScheduledTaskExecutor.schedule_srv

Definition at line 26 of file scheduled_task_executor.py.

scheduled_task_executor.ScheduledTaskExecutor.scheduling_thread

Definition at line 51 of file scheduled_task_executor.py.

scheduled_task_executor.ScheduledTaskExecutor.unscheduled_tasks

Definition at line 35 of file scheduled_task_executor.py.

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The documentation for this class was generated from the following file:

• scheduled_task_executor.py