Fawkes API  Fawkes Development Version
execution_time_estimator.cpp
1 /***************************************************************************
2  * execution_time_estimator.cpp - Aspect for a execution time provider
3  *
4  * Created: Thu 12 Dec 2019 19:03:19 CET 19:03
5  * Copyright 2019 Till Hofmann <hofmann@kbsg.rwth-aachen.de>
6  ****************************************************************************/
7 
8 /* This program is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2 of the License, or
11  * (at your option) any later version.
12  *
13  * This program is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU Library General Public License for more details.
17  *
18  * Read the full text in the LICENSE.GPL file in the doc directory.
19  */
20 
21 #include "execution_time_estimator.h"
22 
23 #include <core/exception.h>
24 #include <core/exceptions/software.h>
25 
26 #include <algorithm>
27 
28 namespace fawkes {
29 
30 /** @class ExecutionTimeEstimatorManager
31  * A manager for execution time providers.
32  * It stores prioritized providers, where the provider with the maximal
33  * priority is considered first.
34  */
35 
36 /** Get the execution time provider for the given skill string.
37  * @param skill_string The string to get the execution time for
38  * @return a pointer to the provider
39  * @throws IllegalArgumentException if no provider for the given skill exists
40  */
41 std::shared_ptr<ExecutionTimeEstimator>
42 ExecutionTimeEstimatorManager::get_provider(const std::string &skill_string) const
43 {
44  for (const auto &pair : execution_time_estimators_) {
45  const auto &provider = pair.second;
46  if (provider->can_execute(skill_string)) {
47  return provider;
48  }
49  }
50  throw IllegalArgumentException("No provider found for %s", skill_string.c_str());
51 }
52 
53 /** Add an execution time provider.
54  * @param provider The provider to add
55  * @param priority The priority of the new provider
56  */
57 void
58 ExecutionTimeEstimatorManager::register_provider(std::shared_ptr<ExecutionTimeEstimator> provider,
59  int priority)
60 {
61  execution_time_estimators_.insert(std::make_pair(priority, provider));
62 }
63 
64 /** Remove an execution time estimate provider.
65  * @param provider The provider to remove
66  */
67 void
68 ExecutionTimeEstimatorManager::unregister_provider(std::shared_ptr<ExecutionTimeEstimator> provider)
69 {
70 #if __GNUC__ >= 9
71  std::erase_if(execution_time_estimators_, [&](auto &pair) { return provider == pair.second; });
72 #else
73  for (auto it = execution_time_estimators_.begin(); it != execution_time_estimators_.end();) {
74  if (it->second == provider) {
75  it = execution_time_estimators_.erase(it);
76  } else {
77  it++;
78  }
79  }
80 #endif
81 }
82 
83 /** @class ExecutionTimeEstimatorsAspect
84  * An aspect to give access to the execution time estimator manager.
85  * Use this aspect to add an execution time provider.
86  *
87  * @var ExecutionTimeEstimatorsAspect::execution_time_estimator_manager_
88  * The ExecutionTimeEstimatorManager that is used to manage the estimators.
89  * @see ExecutionTimeEstimatorManager
90  */
91 
92 /** Constructor. */
94 : execution_time_estimator_manager_(nullptr)
95 {
96  add_aspect("SkillExecutionTimeEstimatorAspect");
97 }
98 
99 /** Initialize the aspect with a provider manager.
100  * @param provider_manager The manager of the execution time providers
101  */
102 void
104  ExecutionTimeEstimatorManager *provider_manager)
105 {
106  execution_time_estimator_manager_ = provider_manager;
107 }
108 
109 /** Finalize the aspect. */
110 void
112 {
113 }
114 
115 } // namespace fawkes
void add_aspect(const char *name)
Add an aspect to a thread.
Definition: aspect.cpp:49
A manager for execution time providers.
std::shared_ptr< ExecutionTimeEstimator > get_provider(const std::string &skill_string) const
Get the execution time provider for the given skill string.
void register_provider(std::shared_ptr< ExecutionTimeEstimator > provider, int priority=0)
Add an execution time provider.
void unregister_provider(std::shared_ptr< ExecutionTimeEstimator > provider)
Remove an execution time estimate provider.
ExecutionTimeEstimatorManager * execution_time_estimator_manager_
The ExecutionTimeEstimatorManager that is used to manage the estimators.
void finalize_ExecutionTimeEstimatorsAspect()
Finalize the aspect.
void init_ExecutionTimeEstimatorsAspect(ExecutionTimeEstimatorManager *provider_manager)
Initialize the aspect with a provider manager.
Expected parameter is missing.
Definition: software.h:80
Fawkes library namespace.