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Filtering out unexecutable tasks from the routine. #193

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merged 3 commits into from
Apr 27, 2015
Merged

Filtering out unexecutable tasks from the routine. #193

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cf54e56
Added end time to printout.
hawesie Apr 22, 2015
f3fee25
Filtering out unexecutable tasks from the routine.
hawesie Apr 22, 2015
475d48a
This commit allows execution to recover from non-terminating or slow-…
hawesie Apr 23, 2015
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5 changes: 5 additions & 0 deletions task_executor/scripts/schedule_status.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,17 @@ def pretty(task):
def start_time(task):
return datetime.fromtimestamp(task.execution_time.secs)

def end_time(task):
return datetime.fromtimestamp((task.execution_time + task.max_duration).secs)


def callback(data):
rospy.loginfo("\n\n\n\n\n\n");

if data.currently_executing:
rospy.loginfo("Currently executing %s", pretty(data.execution_queue[0]))
rospy.loginfo("Task started at %s", start_time(data.execution_queue[0]))
rospy.loginfo(" finish by %s", end_time(data.execution_queue[0]))
elif len(data.execution_queue) > 0:
rospy.loginfo("Waiting to execute %s", pretty(data.execution_queue[0]))
rospy.loginfo("Execution to start at %s", start_time(data.execution_queue[0]))
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14 changes: 9 additions & 5 deletions task_executor/src/task_executor/sm_base_executor.py
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Expand Up @@ -244,9 +244,11 @@ def execute_task(self, task):

# create a concurrence which monitors execution time
nav_concurrence = smach.Concurrence(outcomes=['succeeded', 'preempted', 'aborted'],
default_outcome='aborted',
default_outcome='preempted',
outcome_cb=self.outcome_cb,
child_termination_cb=concurrence_child_term_cb)
child_termination_cb=concurrence_child_term_cb,
# give states 30 seconds to service a request to shut down
termination_timeout = 30)
# register callback for logging
nav_concurrence.register_start_cb(self.nav_start_cb)
nav_concurrence.register_termination_cb(self.nav_termination_cb)
Expand Down Expand Up @@ -296,9 +298,11 @@ def execute_task(self, task):

# create a concurrence which monitors execution time along with doing the execution
action_concurrence = smach.Concurrence(outcomes=['succeeded', 'preempted', 'aborted'],
default_outcome='aborted',
default_outcome='preempted',
outcome_cb=self.outcome_cb,
child_termination_cb=concurrence_child_term_cb)
child_termination_cb=concurrence_child_term_cb,
# give states 30 seconds to service a request to shut down
termination_timeout = 30)

# register callback for logging
action_concurrence.register_start_cb(self.action_start_cb)
Expand Down Expand Up @@ -350,7 +354,7 @@ def join_smach_thread(self, timeout):
return successfully_joined

def cancel_active_task(self):
preempt_timeout_secs = 30
preempt_timeout_secs = 60
if self.task_sm is not None:
rospy.loginfo('Requesting preempt on state machine in state %s' % self.task_sm.get_active_states())
self.task_sm.request_preempt()
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19 changes: 8 additions & 11 deletions task_executor/src/task_executor/task_routine.py
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Original file line number Diff line number Diff line change
Expand Up @@ -342,7 +342,6 @@ def add_tasks(self, routines):

for task_tuple in routines:


daily_start = task_tuple[1][0]
daily_duration = task_tuple[1][1]

Expand All @@ -356,7 +355,7 @@ def add_tasks(self, routines):
# see if we can still schedule any of these today
todays_tasks = self._instantiate_tasks_for_today(new_routine)
# the false means an exception is not thrown for any out of window tasks
self._create_routine(todays_tasks, False)
self._create_routine(todays_tasks)


def _new_day(self):
Expand All @@ -371,6 +370,7 @@ def _new_day(self):

# filter the extra tasks just to make sure they're sane
now = rospy.get_rostime()

for task in extra_daily_tasks:
# check we're not too late
if now + task.max_duration < task.end_before:
Expand All @@ -384,17 +384,17 @@ def _instantiate_tasks_for_today(self, routine_tasks):
todays_tasks = [self._instantiate_for_day(self.current_routine_start, *task_tuple) for task_tuple in routine_tasks]
return todays_tasks

def _create_routine(self, tasks, throw=True):
def _create_routine(self, tasks):

schedule_now, schedule_later = self._queue_for_scheduling(tasks, throw)
schedule_now, schedule_later = self._queue_for_scheduling(tasks)

rospy.loginfo('Scheduling %s tasks now and %s later' % (len(schedule_now), len(schedule_later)))

self._delay_tasks(schedule_later)
self._schedule_tasks(schedule_now)


def _queue_for_scheduling(self, tasks, throw=True):
def _queue_for_scheduling(self, tasks):
now = rospy.get_rostime()

schedule_now = []
Expand All @@ -408,14 +408,11 @@ def _queue_for_scheduling(self, tasks, throw=True):
# print (now).secs
# print (now + task.max_duration).secs

start_time = now if now > task.start_after else task.start_after

# check we're not too late
if now + task.max_duration > task.end_before:
#
if throw:
raise RoutineException('%s is too late to schedule task %s' % (now.secs, task))
else:
rospy.logdebug('Ignoring task for today')
if start_time + task.max_duration > task.end_before:
rospy.logwarn('At %s it is not possible to schedule task %s. Ignoring task for today' % (datetime.fromtimestamp(now.secs), task))
else:
# if we're in the the window when this should be scheduled
if now > (task.start_after - self.pre_schedule_delay):
Expand Down