Add in functional estimation and executor plug-ins (ROSI-AP/rosi-ap_c…

…ommercial/cag/rmf_scheduler!23)

Signed-off-by: Chen Bainian <[email protected]>

* temp commit for old estimate interface.

Co-authored-by: Santosh Balaji Selvaraj <[email protected]>

.doxygen/Doxyfile

@@ -30,8 +30,8 @@ EXTRACT_PACKAGE        = NO
 EXTRACT_STATIC         = YES
 INPUT                  = ./doxygen.md \
                          ../rmf_scheduler/include \ 
-                         ../task_estimate_client_cpp/include \ 
-                         ../conflict_resolver/include \ 
+                         ../rmf_scheduler_plugins/include \ 
+                         ../rmf_scheduler_ros2/include \ 
 USE_MDFILE_AS_MAINPAGE = ./doxygen.md
 RECURSIVE              = YES
 EXCLUDE                =

rmf_scheduler/CMakeLists.txt

@@ -27,21 +27,29 @@ include_directories(
 
 add_library(${PROJECT_NAME}
   SHARED
-  src/conflict_identifier.cpp
-  src/conflict_resolver/cp_solver.cpp
-  src/dag.cpp
-  src/dag_executor.cpp
+  src/conflict/identifier.cpp
+  src/conflict/cp_solver.cpp
+  src/data/dag.cpp
+  src/data/event.cpp
+  src/data/events_handler.cpp
+  src/data/schedule.cpp
+  src/data/series.cpp
   src/error_code.cpp
-  src/events_handler.cpp
   src/parser.cpp
-  src/runtime_interface.cpp
-  src/runtime.cpp
-  src/schedule.cpp
+  src/runtime/dag_executor.cpp
+  src/runtime/system_time_executor.cpp
   src/scheduler.cpp
+  src/scheduler_options.cpp
   src/schema_validator.cpp
-  src/series.cpp
-  src/system_time_executor.cpp
-  src/system_time_utils.cpp
+  src/task/task_plugin.cpp
+  src/task/builder.cpp
+  src/task/estimate_interface.cpp
+  src/task/estimator.cpp
+  src/task/execution_interface.cpp
+  src/task/executor.cpp
+  src/utils/system_time_utils.cpp
+  src/log.cpp
+  src/default_log_handler.cpp
 )
 
 ament_target_dependencies(${PROJECT_NAME}

rmf_scheduler/include/rmf_scheduler/conflict_resolver/cp_solver.hpp → rmf_scheduler/include/rmf_scheduler/conflict/cp_solver.hpp

@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMF_SCHEDULER__CONFLICT_RESOLVER__CP_SOLVER_HPP_
-#define RMF_SCHEDULER__CONFLICT_RESOLVER__CP_SOLVER_HPP_
+#ifndef RMF_SCHEDULER__CONFLICT__CP_SOLVER_HPP_
+#define RMF_SCHEDULER__CONFLICT__CP_SOLVER_HPP_
 
 #include <memory>
 #include <vector>
 #include <string>
 #include <unordered_map>
 
-#include "rmf_scheduler/event.hpp"
+#include "rmf_scheduler/data/event.hpp"
 
 namespace rmf_scheduler
 {
-namespace conflict_resolver
+namespace conflict
 {
 
 // Class to reflect changes of an event
@@ -55,7 +55,7 @@ class CpSolver
 
   /// Initialize the Solver with events of interest
   void init(
-    const std::vector<Event> & events,
+    const std::vector<data::Event> & events,
     const Window & window,
     double time_limit = -1.0);
 
@@ -97,7 +97,7 @@ class CpSolver
   std::unique_ptr<Impl> impl_;
 };
 
-}  // namespace conflict_resolver
+}  // namespace conflict
 }  // namespace rmf_scheduler
 
-#endif  // RMF_SCHEDULER__CONFLICT_RESOLVER__CP_SOLVER_HPP_
+#endif  // RMF_SCHEDULER__CONFLICT__CP_SOLVER_HPP_

rmf_scheduler/include/rmf_scheduler/conflict_identifier.hpp → rmf_scheduler/include/rmf_scheduler/conflict/identifier.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMF_SCHEDULER__CONFLICT_IDENTIFIER_HPP_
-#define RMF_SCHEDULER__CONFLICT_IDENTIFIER_HPP_
+#ifndef RMF_SCHEDULER__CONFLICT__IDENTIFIER_HPP_
+#define RMF_SCHEDULER__CONFLICT__IDENTIFIER_HPP_
 
 #include <cstdint>
 #include <vector>
@@ -22,7 +22,7 @@
 #include <unordered_set>
 #include <utility>
 
-#include "rmf_scheduler/event.hpp"
+#include "rmf_scheduler/data/event.hpp"
 
 namespace rmf_scheduler
 {
@@ -68,7 +68,7 @@ bool simple_conflict_check(
  * \return[out] A list of pairs of ids of conflicting events
  */
 std::vector<Conflict> identify_conflicts(
-  const std::vector<Event> & events,
+  const std::vector<data::Event> & events,
   const std::unordered_set<std::string> & allowed_types = {},
   const std::vector<std::string> & filters = {},
   const std::string & method = "optimal");
@@ -85,7 +85,7 @@ std::vector<Conflict> identify_conflicts(
  */
 std::vector<std::unordered_map<std::string, std::vector<std::string>>>
 categorise_by_filter(
-  const std::vector<Event> & events,
+  const std::vector<data::Event> & events,
   const std::vector<std::string> & filters,
   const std::unordered_set<std::string> & allowed_types = {});
 
@@ -95,11 +95,11 @@ categorise_by_filter(
  * \return[out] id based on the filtered result
  */
 std::unordered_map<std::string, std::vector<std::string>> categorise_by_type(
-  const std::vector<Event> & events,
+  const std::vector<data::Event> & events,
   const std::unordered_set<std::string> & allowed_types = {});
 
 }  // namespace utils
 
 }  // namespace rmf_scheduler
 
-#endif  // RMF_SCHEDULER__CONFLICT_IDENTIFIER_HPP_
+#endif  // RMF_SCHEDULER__CONFLICT__IDENTIFIER_HPP_

rmf_scheduler/include/rmf_scheduler/dag.hpp → rmf_scheduler/include/rmf_scheduler/data/dag.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMF_SCHEDULER__DAG_HPP_
-#define RMF_SCHEDULER__DAG_HPP_
+#ifndef RMF_SCHEDULER__DATA__DAG_HPP_
+#define RMF_SCHEDULER__DATA__DAG_HPP_
 
 #include <cstdarg>
 #include <memory>
@@ -24,6 +24,7 @@
 #include <vector>
 
 #include "rmf_scheduler/exception.hpp"
+#include "rmf_scheduler/error_code.hpp"
 
 namespace tf
 {
@@ -34,9 +35,17 @@ class Taskflow;
 namespace rmf_scheduler
 {
 
+namespace runtime
+{
+class DAGExecutor;
+}  // namespace runtime
+
+namespace data
+{
+
 class DAG
 {
-  friend class DAGExecutor;
+  friend class runtime::DAGExecutor;
 
 public:
   using DependencyInfo = std::vector<std::string>;
@@ -121,13 +130,19 @@ class DAG
   Description temp_description_info_;
 };
 
+}  // namespace data
+
+namespace exception
+{
 
 class DAGIDException : public IDException
 {
 public:
   template<typename ... Args>
   DAGIDException(const char * id, const char * msg, Args && ... args)
-  : IDException(id, msg, std::forward<Args>(args) ...)
+  : IDException(
+      ErrorCode::FAILURE | ErrorCode::INVALID_ID | ErrorCode::INVALID_DEPENDENCY,
+      id, msg, std::forward<Args>(args) ...)
   {
     add_prefix("DAGIDException:\n  ");
   }
@@ -139,12 +154,16 @@ class DAGCyclicException : public ExceptionTemplate
 public:
   template<typename ... Args>
   DAGCyclicException(const char * msg, Args && ... args)
-  : ExceptionTemplate(msg, std::forward<Args>(args) ...)
+  : ExceptionTemplate(
+      ErrorCode::FAILURE | ErrorCode::INVALID_LOGIC | ErrorCode::INVALID_DEPENDENCY,
+      msg, std::forward<Args>(args) ...)
   {
     add_prefix("DAGCyclicException:\n  ");
   }
 };
 
+}  // namespace exception
+
 }  // namespace rmf_scheduler
 
-#endif  // RMF_SCHEDULER__DAG_HPP_
+#endif  // RMF_SCHEDULER__DATA__DAG_HPP_

rmf_scheduler/include/rmf_scheduler/event.hpp → rmf_scheduler/include/rmf_scheduler/data/event.hpp

@@ -12,19 +12,35 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMF_SCHEDULER__EVENT_HPP_
-#define RMF_SCHEDULER__EVENT_HPP_
+#ifndef RMF_SCHEDULER__DATA__EVENT_HPP_
+#define RMF_SCHEDULER__DATA__EVENT_HPP_
 
 #include <cstdint>
+#include <memory>
 #include <string>
 #include <vector>
 
 namespace rmf_scheduler
 {
 
+namespace data
+{
+
 /// Basic information about the Event
 struct Event
 {
+  explicit Event(
+    std::string _description,
+    std::string _type,
+    uint64_t _start_time,
+    uint64_t _duration,
+    std::string _id,
+    std::string _series_id,
+    std::string _dag_id,
+    std::string _event_details);
+
+  Event() = default;
+
   /// Event description
   std::string description;
 
@@ -51,9 +67,13 @@ struct Event
 
   /// Event details
   std::string event_details;
+
+  /// Task details
+  std::string task_details;
 };
 
+}  // namespace data
 
 }  // namespace rmf_scheduler
 
-#endif  // RMF_SCHEDULER__EVENT_HPP_
+#endif  // RMF_SCHEDULER__DATA__EVENT_HPP_

rmf_scheduler/include/rmf_scheduler/events_handler.hpp → rmf_scheduler/include/rmf_scheduler/data/events_handler.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMF_SCHEDULER__EVENTS_HANDLER_HPP_
-#define RMF_SCHEDULER__EVENTS_HANDLER_HPP_
+#ifndef RMF_SCHEDULER__DATA__EVENTS_HANDLER_HPP_
+#define RMF_SCHEDULER__DATA__EVENTS_HANDLER_HPP_
 
 #include <cstdarg>
 
@@ -24,12 +24,16 @@
 #include <utility>
 #include <vector>
 
-#include "rmf_scheduler/event.hpp"
+#include "rmf_scheduler/data/event.hpp"
 #include "rmf_scheduler/exception.hpp"
+#include "rmf_scheduler/error_code.hpp"
 
 namespace rmf_scheduler
 {
 
+namespace data
+{
+
 class EventsHandler
 {
 public:
@@ -73,19 +77,28 @@ class EventsHandler
   StartTimeLookup start_time_lookup_;
 };
 
+}  // namespace data
+
+namespace exception
+{
+
 class EventsHandlerIDException : public IDException
 {
 public:
   template<typename ... Args>
   EventsHandlerIDException(const char * id, const char * msg, Args && ... args)
-  : IDException(id, msg, std::forward<Args>(args) ...)
+  : IDException(
+      ErrorCode::FAILURE | ErrorCode::INVALID_ID | ErrorCode::INVALID_EVENT,
+      id, msg, std::forward<Args>(args) ...)
   {
     add_prefix("EventsHandlerIDException:\n  ");
   }
 
   ~EventsHandlerIDException() = default;
 };
 
+}  // namespace exception
+
 }  // namespace rmf_scheduler
 
-#endif  // RMF_SCHEDULER__EVENTS_HANDLER_HPP_
+#endif  // RMF_SCHEDULER__DATA__EVENTS_HANDLER_HPP_

rmf_scheduler/include/rmf_scheduler/schedule.hpp → rmf_scheduler/include/rmf_scheduler/data/schedule.hpp

@@ -12,20 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMF_SCHEDULER__SCHEDULE_HPP_
-#define RMF_SCHEDULER__SCHEDULE_HPP_
+#ifndef RMF_SCHEDULER__DATA__SCHEDULE_HPP_
+#define RMF_SCHEDULER__DATA__SCHEDULE_HPP_
 
 #include <string>
 #include <vector>
 #include <unordered_map>
 
-#include "rmf_scheduler/events_handler.hpp"
-#include "rmf_scheduler/dag.hpp"
-#include "rmf_scheduler/series.hpp"
+#include "rmf_scheduler/data/events_handler.hpp"
+#include "rmf_scheduler/data/dag.hpp"
+#include "rmf_scheduler/data/series.hpp"
 
 namespace rmf_scheduler
 {
 
+namespace data
+{
+
 /// Schedule class
 class Schedule
 {
@@ -171,6 +174,9 @@ class Schedule
   void delete_dag_series(
     const std::string & series_id);
 
+  /// Expand event series and add additional events
+  void expand_all_series_until(uint64_t time);
+
   /// Get Series
   const Series & get_series(
     const std::string & series_id) const;
@@ -281,6 +287,8 @@ class Schedule
   std::unordered_map<std::string, Series> series_map_;
 };
 
+}  // namespace data
+
 }  // namespace rmf_scheduler
 
-#endif  // RMF_SCHEDULER__SCHEDULE_HPP_
+#endif  // RMF_SCHEDULER__DATA__SCHEDULE_HPP_