priority_scheduler.cpp

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#include <tuw_global_router/priority_scheduler.h>
 
namespace multi_robot_router
{
PriorityScheduler::PriorityScheduler(const uint32_t _nrRobots)
{
    reset(_nrRobots);
}
 
void PriorityScheduler::reset(const uint32_t _nrRobots)
{
    checkedSchedules_.clear();
    actualPrioritySchedule_.clear();
 
    for (uint32_t i = 0; i < _nrRobots; i++)
    {
        actualPrioritySchedule_.emplace_back(i);
    }
 
    checkedSchedules_.emplace_back(actualPrioritySchedule_);
}
 
const std::vector<uint32_t> &PriorityScheduler::getActualSchedule() const
{
    return actualPrioritySchedule_;
}
 
bool PriorityScheduler::reschedulePriorities(const uint32_t _collidingRobot, std::vector<uint32_t> _collisions, std::vector<uint32_t> &_newSchedule, uint32_t &_firstRobotToReplan)
{
    _collisions.resize(_newSchedule.size(), 0);
 
    auto it = std::find(actualPrioritySchedule_.begin(), actualPrioritySchedule_.end(), _collidingRobot);
 
    if (it == actualPrioritySchedule_.end())
        return false;
 
    uint32_t priorityCollidingRobot = std::distance(actualPrioritySchedule_.begin(), it);
 
    bool found;
    uint32_t count = 0;
    std::vector<uint32_t> newSchedule = actualPrioritySchedule_;
 
    do
    {
        found = true;
        uint32_t maxCollisions = 0;
        bool robotFound = false;
        _firstRobotToReplan = 0;
 
        for (uint32_t i = 0; i < priorityCollidingRobot; i++)
        {
            uint32_t robot = newSchedule[i];
 
            if (_collisions[robot] > maxCollisions)
            {
                maxCollisions = _collisions[robot];
                _firstRobotToReplan = i;
                robotFound = true;
            }
        }
 
        if (!robotFound)
            return false;
 
        std::swap(newSchedule[_firstRobotToReplan], newSchedule[priorityCollidingRobot]);
 
        for (const std::vector<uint32_t> &schedule : checkedSchedules_)
        {
            bool neq = false;
 
            for (uint32_t i = 0; i < newSchedule.size(); i++)
            {
                if (newSchedule[i] != schedule[i])
                {
                    neq = true;
                    break;
                }
            }
 
            if (neq == false)
            {
                found = false;
                //Swap back
                std::swap(newSchedule[_firstRobotToReplan], newSchedule[priorityCollidingRobot]);
                _collisions[newSchedule[_firstRobotToReplan]] = 0; //Remove robot from potential exchange list
                break;
            }
        }
 
        count++;
    } while (count < priorityCollidingRobot && !found);
 
    if (found)
    {
        actualPrioritySchedule_ = newSchedule;
        _newSchedule = newSchedule;
        checkedSchedules_.emplace_back(actualPrioritySchedule_);
        return true;
    }
 
    return false;
}
} // namespace multi_robot_router