robokudo.tree_components.task_scheduler
=======================================

.. py:module:: robokudo.tree_components.task_scheduler


Classes
-------

.. autoapisummary::

   robokudo.tree_components.task_scheduler.TaskSchedulerBase
   robokudo.tree_components.task_scheduler.IterativeTaskScheduler


Module Contents
---------------

.. py:class:: TaskSchedulerBase(name='TaskSchedulerBase')

   Bases: :py:obj:`py_trees.behaviour.Behaviour`


   This Behaviour enables a dynamic arrangement of known Behaviours.
   It assumes that it is placed in a certain configuration in a behaviour tree:
       #
       #          JOB_SCHEDULING [SEQUENCE]
       #         /             |
       #  JOB_SCHEDULER      JOB [SEQUENCE]
       #                       |
       #
   During startup this class will save the Job Sequence which contains as a (direct) children all
   the Annotators that might need to get scheduled.

   Please note:
   In order to use this class, please use one of the deriving classes.


   .. py:attribute:: logger
      :value: None



   .. py:attribute:: fix_parent_relationships_after_plan
      :value: True



   .. py:method:: initialise()


   .. py:method:: plan_new_job() -> Optional[py_trees.Sequence]

      Get the new job that should be applied by the JobScheduler.

      It is the responsibility of your method to return a valid py_trees.Sequence.
      This means especially that you have to make sure that your parent and children relations
      should be intact. This is important if you have to keep Instances of your Behaviours/Annotators
      which might get changed when being put into different py_trees.Behaviours.

      :return: py_trees.Sequence if it can be computed or None if no plan could be found.



   .. py:method:: update()

      Called every time the behavior is ticked.

      This will happen only once for the job scheduling.



.. py:class:: IterativeTaskScheduler(name='IterativeTaskScheduler', tree_list=[])

   Bases: :py:obj:`TaskSchedulerBase`


   A Task Scheduler that cycles iteratively through a list of given subtrees.
   Repeats from the beginning after the end of the list is reached.


   .. py:attribute:: tree_list
      :value: []



   .. py:attribute:: idx
      :value: 0



   .. py:method:: setup(timeout)


   .. py:method:: plan_new_job() -> Optional[py_trees.Sequence]

      Get the new job that should be applied by the JobScheduler.

      It is the responsibility of your method to return a valid py_trees.Sequence.
      This means especially that you have to make sure that your parent and children relations
      should be intact. This is important if you have to keep Instances of your Behaviours/Annotators
      which might get changed when being put into different py_trees.Behaviours.

      :return: py_trees.Sequence if it can be computed or None if no plan could be found.