Scheduler.h

Go to the documentation of this file.

#pragma once
 
#include <atomic>
#include <experimental/memory>
#include <functional>
#include <cstdint>
#include <map>
#include <mutex>
#include <optional>
#include <set>
#include <string>
#include <vector>
 
#include <Eigen/Core>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
#include <ArmarXCore/core/time.h>
#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/util/CPPUtility/TripleBuffer.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
 
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
#include <armarx/view_selection/gaze_controller/ice/GazeControllerStatus.h>
#include <armarx/view_selection/gaze_scheduler/ControllerHandlerInterface.h>
#include <armarx/view_selection/gaze_scheduler/GazeTargetReachedMonitor.h>
#include <armarx/view_selection/gaze_scheduler/StatusPublisherInterface.h>
#include <armarx/view_selection/gaze_targets/GazeTarget.h>
 
namespace armarx::view_selection::gaze_scheduler
{
 
    class Scheduler
    {
    public:
        struct InjectedServices
        {
            std::experimental::observer_ptr<armem::robot_state::VirtualRobotReader>
                virtualRobotReader;
            std::experimental::observer_ptr<viz::Client> arviz;
 
            std::experimental::observer_ptr<ControllerHandlerInterface> controllerHandler;
 
            std::experimental::observer_ptr<StatusPublisherInterface> statusPublisher;
        };
 
        struct Params
        {
            std::string robotName;
            Eigen::Vector3f defaultTarget;
            std::string gazeOriginFrameName = "AzureKinect_RGB";
 
            // Visualization
            bool visualizeTaskDrivenGazeTarget;
            bool visualizeStimulusDrivenTarget;
            bool visualizeRandomEventTarget;
            int targetVizAlpha;
            bool visualizeStimulusAndTaskOnly = true;
 
            GazeReachedConfig reached;
        };
 
        Scheduler(const InjectedServices& srv, const Params& params);
        virtual ~Scheduler();
 
        void handleTargetUpdate(const gaze_targets::GazeTarget& memoryTarget);
        void resetPriorityQueue();
 
        /**
         * @brief Queue a request.
         *
         * @param gazeTargetID The memory ID of the request snapshot.  Carries the requester and the
         *                     target name, and pins the exact request, so status updates can be
         *                     attributed even when two targets share an entity name.  An invalid ID
         *                     (the internal idle target) suppresses status publishing.
         */
        void submitToQueue(gaze_targets::GazeTarget target, armem::MemoryID gazeTargetID);
 
        /// Feed one report from the low-level controller.
        void handleControllerStatus(const gaze_controller::GazeControllerStatus& status);
 
    private:
        VirtualRobot::RobotPtr robot_ = nullptr;
 
        gaze_targets::GazeTarget _idleGazeTarget;
 
        // submit next target from queue based on priority and preemption attributes
        // WARNING: can only be safely called after acquiring the targetLock
        void scheduleNextTarget();
 
        void submitControlTarget(const gaze_targets::GazeTarget& target);
 
        /**
         * @brief The single place where a target stops being the active one.
         *
         * Losing the head is not one outcome but two, and every caller has to make the same
         * distinction: a target that was already reached gave its requester what it asked for
         * (Released), one bumped before the gaze settled did not (Aborted).  A target that stays
         * queued is merely Preempted and may come back.
         */
        void leaveActiveSlot(const gaze_targets::GazeTarget& target,
                             const std::string& reason,
                             bool staysQueued);
 
        /// The request snapshot a queued target came from, by target name.  No entry for the idle
        /// target, which nobody requested and which therefore gets no status updates.
        std::optional<armem::MemoryID> gazeTargetIDOf(const std::string& targetName) const;
 
        // an irreplaceable default target with low priority used if no other
        // targets are submitted
        void resetRequestedTargets();
 
        void visualizeActiveTarget();
 
        const InjectedServices srv;
        const Params params;
 
        void init();
 
        // target managemant needs to be synchronized
        std::atomic_bool _clearGazeTargets = false;
        std::mutex _newGazeTargetsMutex;
        std::vector<gaze_targets::GazeTarget> _newGazeTargets;
        using RequestedTargets = std::multiset<gaze_targets::GazeTarget, std::greater<>>;
        RequestedTargets requestedTargets;
        TripleBuffer<std::optional<gaze_targets::GazeTarget>> currentTargetBuffer;
 
        /// Request snapshot per queued target name, for addressing status updates.
        std::map<std::string, armem::MemoryID> gazeTargetIDs;
 
        /// Identifies the control target currently handed to the low-level controller.
        std::int64_t currentTargetId = 0;
 
        /// Whether Reached/Aborted was already emitted for the current control target.
        bool reachedEmitted = false;
        bool unreachableEmitted = false;
 
        GazeTargetReachedMonitor reachedMonitor;
        armarx::DateTime currentDeadline = DateTime::Invalid();
        armarx::SimplePeriodicTask<>::pointer_type task;
        armarx::SimplePeriodicTask<>::pointer_type visualizationTask;
    };
 
} // namespace armarx::view_selection::gaze_scheduler