/*****************************************************************/ /* NAME: Michael Benjamin */ /* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */ /* FILE: HelmIvP.h */ /* DATE: Oct 12th 2004 */ /* */ /* This file is part of MOOS-IvP */ /* */ /* MOOS-IvP is free software: you can redistribute it and/or */ /* modify it under the terms of the GNU General Public License */ /* as published by the Free Software Foundation, either version */ /* 3 of the License, or (at your option) any later version. */ /* */ /* MOOS-IvP is distributed in the hope that it will be useful, */ /* but WITHOUT ANY WARRANTY; without even the implied warranty */ /* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See */ /* the GNU General Public License for more details. */ /* */ /* You should have received a copy of the GNU General Public */ /* License along with MOOS-IvP. If not, see */ /* . */ /*****************************************************************/ #ifndef HELMIVP_HEADER #define HELMIVP_HEADER #include #include #include #include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" #include "InfoBuffer.h" #include "IvPDomain.h" #include "BehaviorSet.h" #include "HelmEngine.h" class HelmIvP : public AppCastingMOOSApp { public: HelmIvP(); virtual ~HelmIvP(); bool OnNewMail(MOOSMSG_LIST &NewMail); bool Iterate(); bool OnConnectToServer(); bool OnStartUp(); bool buildReport(); bool addBehaviorFile(std::string); bool setVerbosity(const std::string&); protected: bool handleConfigNodeSkew(const std::string&); bool handleConfigSkewAny(const std::string&); bool handleConfigStandBy(const std::string&); bool handleConfigDomain(const std::string&); bool handleConfigHoldOnApp(std::string); protected: bool handleHeartBeat(const std::string&); void handlePrepareRestart(); bool updateInfoBuffer(CMOOSMsg &Msg); void postHelmStatus(); void postCharStatus(); void postBehaviorMessages(); void postLifeEvents(); void postModeMessages(); void postDefaultVariables(); void handleHelmStartMessages(); void handleInitialVarsPhase1(); void handleInitialVarsPhase2(); void registerVariables(); void registerSingleVariable(std::string var, double freq=0.0); void registerNewVariables(); void requestBehaviorLogging(); void checkForTakeOver(); void checkHoldOnApps(std::string); bool detectChangeOnKey(const std::string& key, const std::string& sval); bool detectChangeOnKey(const std::string& key, double dval); bool detectRepeatOnKey(const std::string& key); void postAllStop(std::string msg=""); bool processNodeReport(const std::string &); std::string helmStatus() const {return(m_helm_status);} void helmStatusUpdate(const std::string& val=""); bool helmStatusEnabled() const; void seedRandom(); protected: InfoBuffer* m_info_buffer; std::string m_helm_status; // STANDBY,PARK,DRIVE,DISABLED,MALCONFIG bool m_has_control; bool m_allow_override; bool m_park_on_allstop; std::string m_allstop_msg; IvPDomain m_ivp_domain; BehaviorSet* m_bhv_set; std::string m_verbose; bool m_verbose_reset; double m_helm_start_time; std::string m_helm_alias; // The helm may be configured to be in "standby" mode, waiting for an // absence of another helm's heartbeat for "standby_threshold" seconds. bool m_standby_helm; // config variable double m_standby_threshold; // config variable double m_standby_last_heartbeat; // state variable bool m_rejournal_requested; bool m_init_vars_ready; bool m_init_vars_done; unsigned int m_no_decisions; unsigned int m_no_goal_decisions; // The refresh vars handle the occasional clearing of the m_outgoing // maps. These maps will be cleared when MOOS mail is received for the // variable given by m_refresh_var. The user can set minimum interval // between refreshes so the helm retains some control over refresh rate. // Motivated by the need for a viewer handling geometric postings from // behaviors. The new arrival of a viewer into the MOOS community can // request a refresh and then get new geometry mail to process. std::string m_refresh_var; bool m_refresh_pending; double m_refresh_time; double m_refresh_interval; unsigned int m_helm_iteration; unsigned int m_bhv_count; unsigned int m_bhv_count_ever; double m_ok_skew; bool m_skews_matter; bool m_goals_mandatory; unsigned int m_prev_total_completed; std::string m_prev_compl_pending; HelmReport m_helm_report; HelmReport m_prev_helm_report; HelmEngine* m_hengine; std::string m_bhvs_active_list; std::string m_bhvs_running_list; std::string m_bhvs_idle_list; std::string m_ownship; std::vector m_node_report_vars; // An additional MOOS variable other than MOOS_MANUAL_OVERRIDE // that may be used for overriding the helm. std::string m_additional_override; // For each decision variable in decision space, note if it is // optional. Optional means a decision need not be rendered on it. std::map m_optional_var; // User can reset the helm in a few different ways std::string m_reset_pending; bool m_reset_post_pending; // List of behavior input files. To be fed to Populator. Also sent // to the logger so it may record the .bhv files alongside others. std::set m_bhv_files; // Maps for keeping track of the previous outgoing behavior postings // for comparison on current posting. Possibly supress if they match std::map m_outgoing_key_strings; std::map m_outgoing_key_doubles; // Maps for keeping track of when the last time a post happened for // a particular variable, and whether or not repeat posts are wanted. std::map m_outgoing_timestamp; std::map m_outgoing_sval; std::map m_outgoing_dval; std::map m_outgoing_iter; std::map m_outgoing_bhv; std::map m_outgoing_repinterval; std::map m_var_reg_time; // A flag maintained on each iteration indicating whether the // info_buffer curr_time has yet to be synched to the app curr_time. bool m_ibuffer_curr_time_updated; // A mapping of vehicle node_report skews VEHICLE_NAME --> SKEW std::map m_node_skews; // Set of apps that ALL must be present before posting start posts std::vector m_hold_on_app_name; std::vector m_hold_on_app_seen; bool m_hold_apps_all_seen; bool m_helm_start_posted; bool m_seed_random; std::string m_helm_prefix; }; #endif