Robust schedule failover (#88)

Signed-off-by: Michael X. Grey <grey@openrobotics.org>
open-rmf · Sep 16, 2022 · 2cd3ec6 · 2cd3ec6
1 parent e60a256
commit 2cd3ec6
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Showing 7 changed files with 29 additions and 20 deletions.
diff --git a/rmf_traffic/include/rmf_traffic/Route.hpp b/rmf_traffic/include/rmf_traffic/Route.hpp
@@ -25,6 +25,7 @@
 #include <optional>
 #include <set>
 #include <map>
+#include <unordered_map>
 
 namespace rmf_traffic {
 

diff --git a/rmf_traffic/include/rmf_traffic/schedule/Database.hpp b/rmf_traffic/include/rmf_traffic/schedule/Database.hpp
@@ -116,7 +116,7 @@ class Database : public ItineraryViewer, public Writer, public Snappable
     std::size_t participant_id) const final;
 
   // Documentation inherited from Viewer
-  Version latest_version() const final;
+  Version latest_version() const;
 
 
   //============================================================================

diff --git a/rmf_traffic/include/rmf_traffic/schedule/Mirror.hpp b/rmf_traffic/include/rmf_traffic/schedule/Mirror.hpp
@@ -58,7 +58,7 @@ class Mirror : public ItineraryViewer, public Snappable
     std::size_t participant_id) const final;
 
   // Documentation inherited from Viewer
-  Version latest_version() const final;
+  std::optional<Version> latest_version() const;
 
 
   //============================================================================
@@ -106,6 +106,11 @@ class Mirror : public ItineraryViewer, public Snappable
   /// patch does not match
   bool update(const Patch& patch);
 
+  /// Tell this mirror that the upstream database is reseting its version
+  /// number. The next patch that this mirror receives will need to provide a
+  /// full update.
+  void reset();
+
   /// Fork a new database off of this Mirror. The state of the new database
   /// will match the last state of the upstream database that this Mirror knows
   /// about.

diff --git a/rmf_traffic/include/rmf_traffic/schedule/Viewer.hpp b/rmf_traffic/include/rmf_traffic/schedule/Viewer.hpp
@@ -105,7 +105,7 @@ class Viewer
     ParticipantId participant_id) const = 0;
 
   /// Get the latest version number of this Database.
-  virtual Version latest_version() const = 0;
+//  virtual Version latest_version() const = 0;
 
   // Virtual destructor
   virtual ~Viewer() = default;

diff --git a/rmf_traffic/src/rmf_traffic/schedule/Database.cpp b/rmf_traffic/src/rmf_traffic/schedule/Database.cpp
@@ -1438,8 +1438,7 @@ std::shared_ptr<const Snapshot> Database::snapshot() const
   return std::make_shared<SnapshotType>(
     _pimpl->timeline.snapshot(check_relevant),
     _pimpl->participant_ids,
-    _pimpl->descriptions,
-    _pimpl->schedule_version);
+    _pimpl->descriptions);
 }
 
 //==============================================================================

diff --git a/rmf_traffic/src/rmf_traffic/schedule/Mirror.cpp b/rmf_traffic/src/rmf_traffic/schedule/Mirror.cpp
@@ -69,7 +69,7 @@ class Mirror::Implementation
 
   std::unordered_set<ParticipantId> participant_ids;
 
-  Version latest_version = 0;
+  std::optional<Version> latest_version = std::nullopt;
 
   mutable DependencyTracker dependencies;
 
@@ -265,7 +265,7 @@ std::shared_ptr<const ParticipantDescription> Mirror::get_participant(
 }
 
 //==============================================================================
-Version Mirror::latest_version() const
+std::optional<Version> Mirror::latest_version() const
 {
   return _pimpl->latest_version;
 }
@@ -386,8 +386,7 @@ std::shared_ptr<const Snapshot> Mirror::snapshot() const
   return std::make_shared<SnapshotType>(
     _pimpl->timeline.snapshot(nullptr),
     _pimpl->participant_ids,
-    _pimpl->descriptions,
-    _pimpl->latest_version);
+    _pimpl->descriptions);
 }
 
 //==============================================================================
@@ -580,6 +579,19 @@ bool Mirror::update(const Patch& patch)
   return true;
 }
 
+//==============================================================================
+void Mirror::reset()
+{
+  _pimpl->latest_version = std::nullopt;
+  for (auto& [id, state] : _pimpl->states)
+  {
+    state.storage.clear();
+    state.highest_storage = std::nullopt;
+    state.current_plan_id = std::numeric_limits<PlanId>::max();
+    state.itinerary_version = 0;
+  }
+}
+
 //==============================================================================
 Database Mirror::fork() const
 {
@@ -626,7 +638,7 @@ Database Mirror::fork() const
         state.progress.version);
     }
 
-    set_initial_fork_version(output, _pimpl->latest_version);
+    set_initial_fork_version(output, _pimpl->latest_version.value_or(0));
   }
   catch (const std::exception& e)
   {

diff --git a/rmf_traffic/src/rmf_traffic/schedule/internal_Snapshot.hpp b/rmf_traffic/src/rmf_traffic/schedule/internal_Snapshot.hpp
@@ -67,20 +67,13 @@ class SnapshotImplementation : public Snapshot
     return it->second;
   }
 
-  Version latest_version() const final
-  {
-    return _version;
-  }
-
   SnapshotImplementation(
     std::shared_ptr<const TimelineView<const BaseRouteEntry>> timeline,
     std::unordered_set<ParticipantId> ids,
-    ParticipantMap participants,
-    Version version)
+    ParticipantMap participants)
   : _timeline(std::move(timeline)),
     _ids(std::move(ids)),
-    _participants(std::move(participants)),
-    _version(version)
+    _participants(std::move(participants))
   {
     // Do nothing
   }
@@ -90,7 +83,6 @@ class SnapshotImplementation : public Snapshot
   std::shared_ptr<const TimelineView<const RouteEntry>> _timeline;
   std::unordered_set<ParticipantId> _ids;
   ParticipantMap _participants;
-  Version _version;
 
 };