us.ihmc.tools.taskExecutor.PipeLine java code examples

public void submitAll(List<Task> tasks)
{
 for (Task task : tasks)
 {
   submitSingleTaskStage(task);
 }
}

public void submitAll(T executorKey, List<Task> tasks)
{
 for (Task task : tasks)
 {
   submitTaskForPallelPipesStage(executorKey, task);
 }
}

@Override
public void onBehaviorAborted()
{
 pipeLine.clearAll();
}

private void submitFootstepPose(boolean parallelize, RobotSide robotSide, FramePose3D desiredFootstepPose)
{
 FramePose3D footPose = new FramePose3D(desiredFootstepPose);
 FootstepTask footstepTask = new FootstepTask(fullRobotModel, robotSide, footstepListBehavior, footPose);
 if (parallelize)
   pipeLine.submitTaskForPallelPipesStage(footstepListBehavior, footstepTask);
 else
   pipeLine.submitSingleTaskStage(footstepTask);
}

private void setUpPipeline()
 pipeLine.clearAll();
 BehaviorAction setStanceTask = new BehaviorAction(footListBehavior)
 pipeLine.requestNewStage();
 pipeLine.submitSingleTaskStage(setStanceTask2);
 pipeLine.requestNewStage();
 pipeLine.submitSingleTaskStage(movePelvisTask);
 pipeLine.requestNewStage();
 pipeLine.submitTaskForPallelPipesStage(rightArmBehavior, moveRightPreTask);
 pipeLine.submitTaskForPallelPipesStage(rightArmBehavior, moveLeftPreTask);
 pipeLine.requestNewStage();
 pipeLine.submitTaskForPallelPipesStage(leftArmBehavior, moveLeftFinalTask);
 pipeLine.submitTaskForPallelPipesStage(leftArmBehavior, moveRightFinalTask);
 pipeLine.requestNewStage();
 pipeLine.submitSingleTaskStage(movePelvisTask2);

private void setupPipeline()
{
 publishTextToSpeack("Resetting Robot Pose");
 pipeLine.clearAll();
 //RESET BODY POSITIONS *******************************************
 GoHomeMessage goHomeChestMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.CHEST, 2);
 GoHomeTask goHomeChestTask = new GoHomeTask(goHomeChestMessage, chestGoHomeBehavior);
 GoHomeMessage goHomepelvisMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.PELVIS, 2);
 GoHomeTask goHomePelvisTask = new GoHomeTask(goHomepelvisMessage, pelvisGoHomeBehavior);
 GoHomeMessage goHomeLeftArmMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.ARM, RobotSide.LEFT, 2);
 GoHomeTask goHomeLeftArmTask = new GoHomeTask(goHomeLeftArmMessage, armGoHomeLeftBehavior);
 GoHomeMessage goHomeRightArmMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.ARM, RobotSide.RIGHT, 2);
 GoHomeTask goHomeRightArmTask = new GoHomeTask(goHomeRightArmMessage, armGoHomeRightBehavior);
 pipeLine.requestNewStage();
 if (rightArm)
   pipeLine.submitSingleTaskStage(goHomeRightArmTask);
 if (leftArm)
   pipeLine.submitSingleTaskStage(goHomeLeftArmTask);
 if (chest)
   pipeLine.submitSingleTaskStage(goHomeChestTask);
 if (pelvis)
   pipeLine.submitSingleTaskStage(goHomePelvisTask);
}

private void setupPipeline()
 pipeLine.clearAll();
 BehaviorAction resetRobot = new BehaviorAction(resetRobotBehavior);
 pipeLine.submitSingleTaskStage(moveHandToApproachPoint);
 pipeLine.submitSingleTaskStage(moveHandCloseToValve);
 pipeLine.submitSingleTaskStage(resetRobot);

@Override
public void doControl()
{
 pipeLine.doControl();
}

@Override
public boolean isDone()
{
 return pipeLine.isDone();
}

private void flexUp()
{
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP);
 pipeLine.requestNewStage();
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLEX_UP);
 pipeLine.requestNewStage();
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP);
 pipeLine.requestNewStage();
}

private void submitFootstepPose(boolean parallelize, RobotSide robotSide, FramePose desiredFootstepPose)
{
 FramePose footPose = new FramePose(desiredFootstepPose);
 FootstepTask footstepTask = new FootstepTask(fullRobotModel, robotSide, footstepListBehavior, footPose);
 if (parallelize)
   pipeLine.submitTaskForPallelPipesStage(footstepListBehavior, footstepTask);
 else
   pipeLine.submitSingleTaskStage(footstepTask);
}

private void setupPipeline()
{
 TextToSpeechPacket p1 = new TextToSpeechPacket("Resetting Robot Pose");
 sendPacket(p1);
 pipeLine.clearAll();
 //RESET BODY POSITIONS *******************************************
 GoHomeMessage goHomeChestMessage = new GoHomeMessage(BodyPart.CHEST, 2);
 GoHomeTask goHomeChestTask = new GoHomeTask(goHomeChestMessage, chestGoHomeBehavior);
 GoHomeMessage goHomepelvisMessage = new GoHomeMessage(BodyPart.PELVIS, 2);
 GoHomeTask goHomePelvisTask = new GoHomeTask(goHomepelvisMessage, pelvisGoHomeBehavior);
 GoHomeMessage goHomeLeftArmMessage = new GoHomeMessage(BodyPart.ARM, RobotSide.LEFT, 2);
 GoHomeTask goHomeLeftArmTask = new GoHomeTask(goHomeLeftArmMessage, armGoHomeLeftBehavior);
 GoHomeMessage goHomeRightArmMessage = new GoHomeMessage(BodyPart.ARM, RobotSide.RIGHT, 2);
 GoHomeTask goHomeRightArmTask = new GoHomeTask(goHomeRightArmMessage, armGoHomeRightBehavior);
 pipeLine.requestNewStage();
 if (rightArm)
   pipeLine.submitSingleTaskStage(goHomeRightArmTask);
 if (leftArm)
   pipeLine.submitSingleTaskStage(goHomeLeftArmTask);
 if (chest)
   pipeLine.submitSingleTaskStage(goHomeChestTask);
 if (pelvis)
   pipeLine.submitSingleTaskStage(goHomePelvisTask);
}

private void setupPipeline()
 pipeLine.clearAll();
 BehaviorAction<TurnValveBehaviorState> resetRobot = new BehaviorAction<TurnValveBehaviorState>(TurnValveBehaviorState.RESET_ROBOT, resetRobotBehavior);
 pipeLine.submitSingleTaskStage(moveHandToApproachPoint);
 pipeLine.submitSingleTaskStage(moveHandCloseToValve);
 pipeLine.submitSingleTaskStage(resetRobot);

@Override
public void doControl()
{
 pipeLine.doControl();
}

@Override
public boolean isDone()
{
 return pipeLine.isDone();
}

private void flexUp()
{
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP);
 pipeLine.requestNewStage();
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLEX_UP);
 pipeLine.requestNewStage();
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP);
 pipeLine.requestNewStage();
}

private void submitChestHomeCommand(boolean parallelize)
{
 GoHomeMessage goHomeMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.CHEST, trajectoryTime.getDoubleValue());
 GoHomeTask goHomeTask = new GoHomeTask(goHomeMessage, chestGoHomeBehavior);
 if (parallelize)
 {
   pipeLine.submitTaskForPallelPipesStage(chestGoHomeBehavior, goHomeTask);
   pipeLine.submitTaskForPallelPipesStage(chestGoHomeBehavior, createSleepTask(sleepTimeBetweenPoses.getDoubleValue()));
 }
 else
 {
   pipeLine.submitSingleTaskStage(goHomeTask);
   pipeLine.submitSingleTaskStage(createSleepTask(sleepTimeBetweenPoses.getDoubleValue()));
 }
}

private void setupPipeline()
 pipeLine.clearAll();
 pipeLine.requestNewStage();
 pipeLine.submitSingleTaskStage(wakeup);
 pipeLine.submitSingleTaskStage(requestPlan);
 pipeLine.submitSingleTaskStage(waitForPlan);
 pipeLine.submitSingleTaskStage(processPlan);

pipeLine.clearAll();
pipeLine.submitSingleTaskStage(enableLidarTask);
pipeLine.submitSingleTaskStage(setLidarMediumRangeTask);
pipeLine.submitSingleTaskStage(lookDownAction);

public void submitAll(List<Task> tasks)
{
 for (Task task : tasks)
 {
   submitSingleTaskStage(task);
 }
}

Javadoc

Block diagram representation of a PipeLine:

 
| 
----- 
| A |              Stage 1 
----- 
|            \ 
-------------       | 
|     |     |       | 
----- ------ ------   | 
|   | | B0 | | C0 |   | 
| A | ------ ------   | 
|   |   |      |      |  Stage 2 
----- ------   |      | 
|   | B1 | ------   | 
|   ------ | C1 |   | 
|     |    ------   | 
|     |      |      | 
--------------      | 
|            / 
------------- 
|           | 
-----       ----- 
| A |       | B |        Stage 3 
-----       ----- 
|           | 
------------- 
| 
----- 
| A |              Stage 4 
----- 
|

Each block represents a Task to be executed.

The tasks are submitted to the master TaskExecutor and can be executed sequentially (as stages 1 and 4) or in parallel (as stages 2 and 3). The parallel tasks run using ParallelTask which uses "slave TaskExecutors" (one slave TaskExecutor per task to be parallelized).

Note about Stage 2: As for each key (A, B, and C) a slave TaskExecutor is used, it is possible to execute a pile of sequential tasks associated with each of the key. When all the slave TaskExecutors are done with their pile of tasks, the master TaskExecutor can go to the next stage, for instance Stage 3.

Note about how to create the transition from Stage 2 to Stage 3: To be able to execute two consecutive stages consisting of parallel tasks, it is necessary to call the methods requestNextStage().

Most used methods

submitSingleTaskStage
Submit a new single Task stage that will be executed in a new stage.
submitTaskForPallelPipesStage
Submit a new Task to be parallelized. Two possible cases: If the last stage is a single task stage,
clearAll
Remove all the stages from the master TaskExecutor.
doControl
isDone
requestNewStage
Create a new stage in the master TaskExecutor. Helpful especially when two consecutive stages have p

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How to usePipeLine in us.ihmc.tools.taskExecutor

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