Changes have been pushed for the repository "fawkesrobotics/fawkes".
Clone: https://github.com/fawkesrobotics/fawkes.git Gitweb: https://github.com/fawkesrobotics/fawkes The branch, thofmann/standalone-execution-time-estimator has been updated to 99ae21b2984c4ef9a8eaf4ccd62fda84496a04a3 (commit) via 095fbd7f012ace3c0883ecbb8e62103b4ff3a00f (commit) via 04b09440788053b4ef539fd14ac33de31a2744b4 (commit) from dd868135105608f844721acd11b2bcf2a636aded (commit) https://github.com/fawkesrobotics/fawkes/tree/thofmann/standalone-execution-time-estimator Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit 04b09440788053b4ef539fd14ac33de31a2744b4 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu May 7 09:09:31 2020 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu May 7 09:11:43 2020 +0200 execution-time-estimator: move static estimate config to `skills/` Move the static estimate config values for particular skills to the `skills` sub-space in the config. This avoids mixing general config values with the skill estimates. https://github.com/fawkesrobotics/fawkes/commit/04b094407 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 095fbd7f012ace3c0883ecbb8e62103b4ff3a00f Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu May 7 09:19:04 2020 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu May 7 09:19:04 2020 +0200 execution-time-estimator: move cfg prefix to thread class We will also need the config prefix in the plugin's thread itself. To avoid defining it twice, only define it in the thread class and pass it to the estimator. https://github.com/fawkesrobotics/fawkes/commit/095fbd7f0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 99ae21b2984c4ef9a8eaf4ccd62fda84496a04a3 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu May 7 09:21:34 2020 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu May 7 09:24:47 2020 +0200 execution-time-estimator: make static estimator's priority configurable https://github.com/fawkesrobotics/fawkes/commit/99ae21b29 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- cfg/conf.d/execution-time-estimator.yaml | 3 ++- .../estimators/config_estimator.cpp | 18 ++++++++++-------- .../estimators/config_estimator.h | 6 +++--- .../execution_time_estimator_thread.cpp | 5 ++++- .../execution_time_estimator_thread.h | 1 + 5 files changed, 20 insertions(+), 13 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 04b09440788053b4ef539fd14ac33de31a2744b4 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu May 7 09:09:31 2020 +0200 Subject: execution-time-estimator: move static estimate config to `skills/` cfg/conf.d/execution-time-estimator.yaml | 3 ++- .../execution-time-estimator/estimators/config_estimator.cpp | 7 ++++--- 2 files changed, 6 insertions(+), 4 deletions(-) _Diff for modified files_: diff --git a/cfg/conf.d/execution-time-estimator.yaml b/cfg/conf.d/execution-time-estimator.yaml index fae2689a7..d94d6ccc1 100644 --- a/cfg/conf.d/execution-time-estimator.yaml +++ b/cfg/conf.d/execution-time-estimator.yaml @@ -4,7 +4,8 @@ plugins/execution-time-estimator: static: default: 1 - say: 2.5 + skills: + say: 2.5 navgraph: speed: 0.5 skills: diff --git a/src/plugins/execution-time-estimator/estimators/config_estimator.cpp b/src/plugins/execution-time-estimator/estimators/config_estimator.cpp index 84aef6b1b..a84c03fed 100644 --- a/src/plugins/execution-time-estimator/estimators/config_estimator.cpp +++ b/src/plugins/execution-time-estimator/estimators/config_estimator.cpp @@ -40,14 +40,15 @@ ConfigExecutionTimeEstimator::ConfigExecutionTimeEstimator(Configuration *config bool ConfigExecutionTimeEstimator::can_execute(const Skill &skill) const { - return config_->exists(cfg_prefix_ + skill.skill_name) - || config_->exists(cfg_prefix_ + std::string{"default"}); + return config_->exists(std::string{cfg_prefix_} + "skills/" + skill.skill_name) + || config_->exists(std::string{cfg_prefix_} + "default"); } float ConfigExecutionTimeEstimator::get_execution_time(const Skill &skill) const { - if (const std::string cfg_path = cfg_prefix_ + skill.skill_name; config_->exists(cfg_path)) { + if (const std::string cfg_path = std::string{cfg_prefix_} + "skills/" + skill.skill_name; + config_->exists(cfg_path)) { return config_->get_float(cfg_path); } else if (const std::string default_path = cfg_prefix_ + std::string{"default"}; config_->exists(default_path)) { - *commit* 095fbd7f012ace3c0883ecbb8e62103b4ff3a00f - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu May 7 09:19:04 2020 +0200 Subject: execution-time-estimator: move cfg prefix to thread class .../estimators/config_estimator.cpp | 17 +++++++++-------- .../estimators/config_estimator.h | 6 +++--- .../execution_time_estimator_thread.cpp | 4 +++- .../execution_time_estimator_thread.h | 1 + 4 files changed, 16 insertions(+), 12 deletions(-) _Diff for modified files_: diff --git a/src/plugins/execution-time-estimator/estimators/config_estimator.cpp b/src/plugins/execution-time-estimator/estimators/config_estimator.cpp index a84c03fed..70fbd4c6b 100644 --- a/src/plugins/execution-time-estimator/estimators/config_estimator.cpp +++ b/src/plugins/execution-time-estimator/estimators/config_estimator.cpp @@ -22,8 +22,6 @@ namespace fawkes { -constexpr char ConfigExecutionTimeEstimator::cfg_prefix_[]; - /** @class ConfigExecutionTimeEstimator * Get a static estimate for the skill execution time from the config. * This simply reads the execution time from the config. It only considers @@ -31,26 +29,29 @@ constexpr char ConfigExecutionTimeEstimator::cfg_prefix_[]; */ /** Constructor - * @param config The config to read the execution times from + * @param config The config to read from + * @param cfg_prefix The config prefix to read from */ -ConfigExecutionTimeEstimator::ConfigExecutionTimeEstimator(Configuration *config) : config_(config) +ConfigExecutionTimeEstimator::ConfigExecutionTimeEstimator(Configuration * config, + const std::string &cfg_prefix) +: config_(config), cfg_prefix_(cfg_prefix) { } bool ConfigExecutionTimeEstimator::can_execute(const Skill &skill) const { - return config_->exists(std::string{cfg_prefix_} + "skills/" + skill.skill_name) - || config_->exists(std::string{cfg_prefix_} + "default"); + return config_->exists(cfg_prefix_ + "skills/" + skill.skill_name) + || config_->exists(cfg_prefix_ + "default"); } float ConfigExecutionTimeEstimator::get_execution_time(const Skill &skill) const { - if (const std::string cfg_path = std::string{cfg_prefix_} + "skills/" + skill.skill_name; + if (const std::string cfg_path = cfg_prefix_ + "skills/" + skill.skill_name; config_->exists(cfg_path)) { return config_->get_float(cfg_path); - } else if (const std::string default_path = cfg_prefix_ + std::string{"default"}; + } else if (const std::string default_path = cfg_prefix_ + "default"; config_->exists(default_path)) { return config_->get_float(default_path); } else diff --git a/src/plugins/execution-time-estimator/estimators/config_estimator.h b/src/plugins/execution-time-estimator/estimators/config_estimator.h index b310e1b11..9973dd6b6 100644 --- a/src/plugins/execution-time-estimator/estimators/config_estimator.h +++ b/src/plugins/execution-time-estimator/estimators/config_estimator.h @@ -27,13 +27,13 @@ namespace fawkes { class ConfigExecutionTimeEstimator : public ExecutionTimeEstimator { public: - ConfigExecutionTimeEstimator(Configuration *config); + ConfigExecutionTimeEstimator(Configuration *config, const std::string &cfg_prefix); float get_execution_time(const Skill &skill) const override; bool can_execute(const Skill &skill) const override; private: - Configuration *const config_; - constexpr static char cfg_prefix_[] = "/plugins/execution-time-estimator/static/"; + Configuration *const config_; + const std::string cfg_prefix_; }; } // namespace fawkes diff --git a/src/plugins/execution-time-estimator/execution_time_estimator_thread.cpp b/src/plugins/execution-time-estimator/execution_time_estimator_thread.cpp index a00bb9417..7d634bca7 100644 --- a/src/plugins/execution-time-estimator/execution_time_estimator_thread.cpp +++ b/src/plugins/execution-time-estimator/execution_time_estimator_thread.cpp @@ -28,6 +28,8 @@ * @author Till Hofmann */ +constexpr char ExecutionTimeEstimatorsThread::cfg_prefix_[]; + ExecutionTimeEstimatorsThread::ExecutionTimeEstimatorsThread() : Thread("ExecutionTimeEstimatorThread", Thread::OPMODE_WAITFORWAKEUP), AspectProviderAspect(&provider_inifin_), @@ -39,5 +41,5 @@ void ExecutionTimeEstimatorsThread::init() { execution_time_estimator_manager_.register_provider( - std::make_shared<fawkes::ConfigExecutionTimeEstimator>(config), -1); + std::make_shared<fawkes::ConfigExecutionTimeEstimator>(config, cfg_prefix_), -1); } diff --git a/src/plugins/execution-time-estimator/execution_time_estimator_thread.h b/src/plugins/execution-time-estimator/execution_time_estimator_thread.h index d61905f1f..f1af27f59 100644 --- a/src/plugins/execution-time-estimator/execution_time_estimator_thread.h +++ b/src/plugins/execution-time-estimator/execution_time_estimator_thread.h @@ -38,4 +38,5 @@ public: private: fawkes::ExecutionTimeEstimatorManager execution_time_estimator_manager_; fawkes::ExecutionTimeEstimatorsAspectIniFin provider_inifin_; + constexpr static char cfg_prefix_[] = "/plugins/execution-time-estimator/static/"; }; - *commit* 99ae21b2984c4ef9a8eaf4ccd62fda84496a04a3 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu May 7 09:21:34 2020 +0200 Subject: execution-time-estimator: make static estimator's priority configurable .../execution-time-estimator/execution_time_estimator_thread.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) _Diff for modified files_: diff --git a/src/plugins/execution-time-estimator/execution_time_estimator_thread.cpp b/src/plugins/execution-time-estimator/execution_time_estimator_thread.cpp index 7d634bca7..f35efb8a7 100644 --- a/src/plugins/execution-time-estimator/execution_time_estimator_thread.cpp +++ b/src/plugins/execution-time-estimator/execution_time_estimator_thread.cpp @@ -41,5 +41,6 @@ void ExecutionTimeEstimatorsThread::init() { execution_time_estimator_manager_.register_provider( - std::make_shared<fawkes::ConfigExecutionTimeEstimator>(config, cfg_prefix_), -1); + std::make_shared<fawkes::ConfigExecutionTimeEstimator>(config, cfg_prefix_), + config->get_int_or_default((std::string{cfg_prefix_} + "priority").c_str(), 0)); } _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
