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afrl-rq / OpenUxAS-SoI

Project for multi-UAV cooperative decision making
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Tasks must always report eligible entities #26

Closed derekkingston closed 7 years ago

derekkingston commented 7 years ago

When a Task reports TaskPlanOptions it must list all entities that can possibly accomplish this option. An empty EligibleEntities field in TaskPlanOptions shall not be interpreted as applying to all vehicles, rather, an empty EligibleEntities field means that no vehicle can accomplish.

The RouteAggregator should ignore any task options without eligible vehicles. If there is no valid option for a task, it should report an assignment error.

derekkingston commented 7 years ago

Rather than change all tasks and still require the RouteAggregator to report the error, simply change Tasks to strip out nonsense options (i.e. options that no vehicle can complete). Upon reception of a TaskPlanOptions message with an empty list of options, the RouteAggregator must report an assignment error.