Custom executor support

alica_engine/CMakeLists.txt

@@ -37,9 +37,11 @@ add_library(${PROJECT_NAME} SHARED
   src/engine/BasicUtilityFunction.cpp
   src/engine/ConfigChangeListener.cpp
   src/engine/DefaultUtilityFunction.cpp
+  src/engine/Executor.cpp
   src/engine/FileSystem.cpp
   src/engine/IAlicaCommunication.cpp
   src/engine/IRoleAssignment.cpp
+  src/engine/IExecutor.cpp
   src/engine/PlanBase.cpp
   src/engine/PlanRepository.cpp
   src/engine/RuleBook.cpp

alica_engine/include/engine/AlicaContext.h

@@ -11,6 +11,7 @@
 #include "engine/IBehaviourCreator.h"
 #include "engine/IConditionCreator.h"
 #include "engine/IConstraintCreator.h"
+#include "engine/IExecutor.h"
 #include "engine/IPlanCreator.h"
 #include "engine/ITransitionConditionCreator.h"
 #include "engine/IUtilityCreator.h"
@@ -245,7 +246,7 @@ class AlicaContext
      *
      * @see AlicaCreators
      */
-    int init(AlicaCreators&& creatorCtx, bool delayStart = false);
+    int init(AlicaCreators&& creatorCtx, bool delayStart = false, const std::shared_ptr<IExecutor>& executor = nullptr);
 
     /**
      * Terminate alica framework and related modules. This function must be called for safe termination before

alica_engine/include/engine/AlicaEngine.h

@@ -43,10 +43,11 @@ class AlicaEngine
     ~AlicaEngine();
 
     // State modifiers:
-    bool init(AlicaCreators&& creatorCtx);
+    bool init(AlicaCreators&& creatorCtx, const std::shared_ptr<IExecutor>& executor);
     void start();
     void terminate();
     void stepNotify();
+    void step();
 
     // Parameter Access:
     // bool getStepEngine() const;
@@ -134,6 +135,7 @@ class AlicaEngine
     ExpressionHandler _expressionHandler;
     AuthorityManager _auth;
     DefaultTransitionConditionCreator _defaultTransitionConditionCreator;
+    std::shared_ptr<IExecutor> _executor;
 
     /**
      * TODO: Make VariableSyncModule a stack variable.

alica_engine/include/engine/Executor.h

@@ -0,0 +1,37 @@
+#pragma once
+#include "engine/IExecutor.h"
+#include <atomic>
+#include <memory>
+#include <thread>
+
+namespace alica
+{
+
+class AsyncExecutor : public IExecutor
+{
+
+public:
+    AsyncExecutor(){};
+    ~AsyncExecutor() override { stop(); };
+
+    void start() override;
+    void stop() override;
+    void run() override;
+
+private:
+    std::unique_ptr<std::thread> _thread;
+    std::atomic<bool> _running{false};
+};
+
+class DrivenExecutor : public IExecutor
+{
+public:
+    DrivenExecutor(){};
+    ~DrivenExecutor() override = default;
+
+    void start() override{};
+    void stop() override{};
+    void run() override;
+};
+
+} // namespace alica

alica_engine/include/engine/IExecutor.h

@@ -0,0 +1,18 @@
+#pragma once
+#include <functional>
+
+namespace alica
+{
+class IExecutor
+{
+public:
+    virtual ~IExecutor() = default;
+    virtual void start() = 0;
+    virtual void stop() = 0;
+    virtual void run() = 0; // only for driven executor
+    void attachRunCb(std::function<void()>&& runCb);
+
+protected:
+    std::function<void()> _run_cb = nullptr;
+};
+} // namespace alica

alica_engine/include/engine/PlanBase.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "engine/AlicaClock.h"
+#include "engine/IExecutor.h"
 #include "engine/RuleBook.h"
 #include "engine/RunningPlan.h"
 #include "engine/RuntimeBehaviourFactory.h"
@@ -12,6 +13,7 @@
 #include <math.h>
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <queue>
 #include <stdio.h>
 #include <thread>
@@ -57,7 +59,8 @@ class PlanBase
     const AlicaTime getLoopInterval() const;
     void setLoopInterval(AlicaTime loopInterval);
     void stop();
-    void start(const Plan* masterPlan);
+    void start(const Plan* masterPlan, const std::shared_ptr<IExecutor>& executor);
+    void run(const Plan* masterPlan);
     void addFastPathEvent(RunningPlan* p);
     bool isWaiting() const { return _isWaiting; }
 
@@ -75,8 +78,6 @@ class PlanBase
 private:
     static constexpr const char* LOGNAME = "PlanBase";
 
-    void run(const Plan* masterPlan);
-
     // Owning container of running plans (replace with uniqueptrs once possible)
     std::vector<std::shared_ptr<RunningPlan>> _runningPlans;
 
@@ -104,8 +105,8 @@ class PlanBase
 
     const RunningPlan* _deepestNode;
 
-    std::unique_ptr<std::thread> _mainThread;
     std::unique_ptr<AlicaEngineInfo> _statusMessage;
+    std::shared_ptr<IExecutor> _executor;
 
     AlicaTime _loopTime;
     AlicaTime _lastSendTime;

alica_engine/src/engine/AlicaContext.cpp

@@ -76,7 +76,7 @@ int AlicaContext::init(AlicaCreators& creatorCtx)
     return init(std::move(creators));
 }
 
-int AlicaContext::init(AlicaCreators&& creatorCtx, bool delayStart)
+int AlicaContext::init(AlicaCreators&& creatorCtx, bool delayStart, const std::shared_ptr<IExecutor>& executor)
 {
     if (_initialized) {
         Logging::logWarn(LOGNAME) << "Context already initialized.";
@@ -94,7 +94,7 @@ int AlicaContext::init(AlicaCreators&& creatorCtx, bool delayStart)
 
     _communicator->startCommunication();
 
-    if (_engine->init(std::move(creatorCtx))) {
+    if (_engine->init(std::move(creatorCtx), executor)) {
         LockedBlackboardRW gbb(*_globalBlackboard);
         gbb.set("agentName", _engine->getLocalAgentName());
         gbb.set("agentId", _engine->getTeamManager().getLocalAgentID());

alica_engine/src/engine/AlicaEngine.cpp

@@ -1,5 +1,6 @@
 #include "engine/AlicaEngine.h"
 
+#include "engine/Executor.h"
 #include "engine/IRoleAssignment.h"
 #include "engine/StaticRoleAssignment.h"
 #include "engine/Types.h"
@@ -81,14 +82,17 @@ void AlicaEngine::reload(const YAML::Node& config)
  * Initialise the engine
  * @return bool true if everything worked false otherwise
  */
-bool AlicaEngine::init(AlicaCreators&& creatorCtx)
+bool AlicaEngine::init(AlicaCreators&& creatorCtx, const std::shared_ptr<IExecutor>& executor)
 {
     if (_initialized) {
         Logging::logWarn(LOGNAME) << "Already initialized.";
         return true; // todo false?
     }
 
+    _executor = executor ? executor : std::make_shared<AsyncExecutor>();
+
     _planBase.init(std::move(creatorCtx.behaviourCreator), std::move(creatorCtx.planCreator));
+    _executor->attachRunCb(std::bind(&PlanBase::run, &_planBase, _masterPlan));
 
     _roleAssignment->init();
 
@@ -109,7 +113,7 @@ bool AlicaEngine::init(AlicaCreators&& creatorCtx)
 void AlicaEngine::start()
 {
     // TODO: Removing this api need major refactoring of unit tests.
-    _planBase.start(_masterPlan);
+    _planBase.start(_masterPlan, _executor);
     Logging::logInfo(LOGNAME) << "Engine started!";
 }
 /**

alica_engine/src/engine/Executor.cpp

@@ -0,0 +1,37 @@
+#include "engine/Executor.h"
+#include <cassert>
+
+namespace alica
+{
+
+void AsyncExecutor::start()
+{
+    assert(_run_cb);
+    _running = true;
+    _thread = std::make_unique<std::thread>(&AsyncExecutor::run, this);
+}
+
+void AsyncExecutor::stop()
+{
+    _running = false;
+    if (_thread) {
+        _thread->join();
+        _thread.reset();
+    }
+}
+
+void AsyncExecutor::run()
+{
+    assert(_run_cb);
+    while (_running) {
+        _run_cb();
+    }
+}
+
+void DrivenExecutor::run()
+{
+    assert(_run_cb);
+    _run_cb();
+}
+
+} // namespace alica

alica_engine/src/engine/IExecutor.cpp

@@ -0,0 +1,11 @@
+#include "engine/IExecutor.h"
+
+namespace alica
+{
+
+void IExecutor::attachRunCb(std::function<void()>&& runCb)
+{
+    _run_cb = std::move(runCb);
+}
+
+} // namespace alica