86 lines
2.4 KiB
Rust
86 lines
2.4 KiB
Rust
use std::sync::Arc;
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use erased_serde::serialize_trait_object;
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use serde::{Deserialize, Serialize};
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use tokio::sync::{Mutex, MutexGuard, RwLock, OwnedMutexGuard};
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use tokio::task::JoinHandle;
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use crate::LiveState;
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use crate::names::Name;
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use crate::{turtle::{self, TurtleCommander}, blocks::Position};
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#[typetag::serde(tag = "type")]
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pub trait Task: Send + Sync {
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/// Execute the task
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fn run(&mut self, turtle: TurtleCommander) -> JoinHandle<()>;
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/// Return Some if the task should be scheduled
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fn poll(&mut self) -> Option<Position>;
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}
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#[derive(Serialize, Deserialize)]
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pub struct Scheduler {
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#[serde(skip)]
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turtles: Vec<(TurtleCommander, Option<JoinHandle<()>>)>,
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tasks: Vec<Box<dyn Task>>,
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}
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impl Default for Scheduler {
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fn default() -> Self {
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Self {
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turtles: Vec::new(),
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tasks: Vec::new(),
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}
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}
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}
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impl Scheduler {
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/// Add a new turtle to the scheduler
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/// Whether or not the turtle is already in the scheduler is not verified
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pub fn add_turtle(&mut self, turtle: &TurtleCommander) {
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self.turtles.push((
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turtle.clone(),
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None
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));
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}
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pub fn add_task(&mut self, task: Box<dyn Task>) {
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self.tasks.push(task);
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}
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pub async fn poll(&mut self) {
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for turtle in &mut self.turtles {
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if let Some(join) = &turtle.1 {
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if join.is_finished() {
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turtle.1 = None;
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}
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}
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}
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let mut free_turtles: Vec<&mut (TurtleCommander, Option<JoinHandle<()>>)> =
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self.turtles.iter_mut().filter(|t| t.1.is_none()).collect();
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let mut turtle_positions = Vec::new();
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for turtle in &free_turtles {
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turtle_positions.push(turtle.0.pos().await);
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}
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for task in &mut self.tasks {
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if let Some(position) = task.poll() {
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let closest_turtle = match free_turtles.iter_mut().zip(turtle_positions.iter()).min_by_key( |(_,p)| {
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p.manhattan(position)
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}) {
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Some(turtle) => turtle.0,
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None => break,
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};
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closest_turtle.1 = Some(task.run(closest_turtle.0.clone()));
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}
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}
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}
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pub async fn cancel(&mut self, turtle: Name) -> Option<()> {
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self.turtles.iter_mut().find(|t| t.0.name() == turtle)?.1.take()?.abort();
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Some(())
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}
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}
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