Scheduler.h

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#pragma once
 
#include <atomic>
#include <experimental/memory>
#include <functional>
#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 <armarx/view_selection/gaze_scheduler/ControllerHandlerInterface.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;
        };
 
        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;
        };
 
        Scheduler(const InjectedServices& srv, const Params& params);
        virtual ~Scheduler();
 
        void handleTargetUpdate(const gaze_targets::GazeTarget& memoryTarget);
        void resetPriorityQueue();
 
        void submitToQueue(gaze_targets::GazeTarget target);
 
    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);
 
        // 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;
        armarx::DateTime currentDeadline = DateTime::Invalid();
        armarx::SimplePeriodicTask<>::pointer_type task;
        armarx::SimplePeriodicTask<>::pointer_type visualizationTask;
    };
 
} // namespace armarx::view_selection::gaze_scheduler