Application: pTaskManager

Brief Synopsis:

Manage incoming tasks and bids for decentralized decision-making.

Authors:

  • Michael Benjamin

Groups:

Dependencies:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu

Function:

The pTaskManager app is a broker that resides on any vehicle participating in decentralized collaborative decision making with other vehicles. The task manager does four primary things: (1) Accept registrations for alerts from helm behaviors related to bidding on tasks. (2) Accept incoming MISSION_TASK messages and spawn helm behaviors related to bidding on tasks. (3) As a persistent app that is running during the entire mission, it will monitor incoming task bids from other vehicles that may arrive prior to the spawning of a task behavior that needs these bid messages. It retains a cache of "early-arriving" task bids and re-posts them when the task behavior is spawned. (4) The task manager monitors outgoing MISSION_TASK messages and TASK_STATE status messages produced by local task behaviors. It consolidates this information to generate appcasting output which may be useful for debugging and monitoring a mission.

Lines of Code:

  • 788 (with libraries: 10,557)

Files of Code:

  • 9 (with libraries: 106)

Work Years:

  • 0.16 (with libraries: 2.22)