Propagate either STATUS or PRIORITY updates into a container

This commit is contained in:
Robert Haschke 2021-11-22 00:06:09 +01:00
parent a48b932dce
commit aef991602f

View File

@ -165,6 +165,17 @@ void ContainerBasePrivate::setStatus(const Stage* creator, const InterfaceState*
setStatus<dir>(successor->creator(), target, state<dir>(*successor), status);
}
// recursively update state priorities along solution path
template <Interface::Direction dir>
inline void updateStatePrios(const InterfaceState& s, const InterfaceState::Priority& prio) {
InterfaceState::Priority priority(prio, s.priority().status());
if (s.priority() == priority)
return;
const_cast<InterfaceState&>(s).updatePriority(priority);
for (const SolutionBase* successor : trajectories<dir>(s))
updateStatePrios<dir>(*state<dir>(*successor), prio);
}
void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) {
ROS_DEBUG_STREAM_NAMED("Pruning", "'" << child.name() << "' generated a failure");
switch (child.pimpl()->interfaceFlags()) {
@ -191,14 +202,20 @@ void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState
template <Interface::Direction dir>
void ContainerBasePrivate::copyState(Interface::iterator external, const InterfacePtr& target,
Interface::UpdateFlags updated) {
if (updated) { // propagate external state update to internal copies
auto internals{ externalToInternalMap().equal_range(&*external) };
for (auto& i = internals.first; i != internals.second; ++i) {
setStatus<dir>(nullptr, nullptr, i->second, external->priority().status());
}
if (updated) {
auto prio = external->priority();
auto internals = externalToInternalMap().equal_range(&*external);
if (updated.testFlag(Interface::Update::STATUS)) { // propagate external status updates to internal copies
for (auto& i = internals.first; i != internals.second; ++i)
setStatus<dir>(nullptr, nullptr, i->second, prio.status());
} else if (updated.testFlag(Interface::Update::PRIORITY)) {
for (auto& i = internals.first; i != internals.second; ++i)
updateStatePrios<opposite<dir>()>(*i->second, prio);
} else
assert(false); // Expecting either STATUS or PRIORITY updates, not both!
return;
}
// create a clone of external state within target interface (child's starts() or ends())
auto internal = states_.insert(states_.end(), InterfaceState(*external));
target->add(*internal);
@ -426,17 +443,6 @@ struct SolutionCollector
SolutionSequence::container_type trace;
};
// recursively update state priorities along solution path
template <Interface::Direction dir>
inline void updateStatePrios(const InterfaceState& s, const InterfaceState::Priority& prio) {
InterfaceState::Priority priority(prio, s.priority().status());
if (s.priority() == priority)
return;
const_cast<InterfaceState&>(s).updatePriority(priority);
for (const SolutionBase* successor : trajectories<dir>(s))
updateStatePrios<dir>(*state<dir>(*successor), prio);
}
void SerialContainer::onNewSolution(const SolutionBase& current) {
ROS_DEBUG_STREAM_NAMED("SerialContainer", "'" << this->name() << "' received solution of child stage '"
<< current.creator()->name() << "'");