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CHAPTER 4 Software Project Planning
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Implementation Code the image capture. Code the image processing. Code the image comparison. Integrate with other robot software. Testing Test image capture. Delivery Document.
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Some of these subtasks are still very high level. These tasks may not have an obvious and checkable deliverable. That is, it may not be easy to determine de nitively when a subtask has been completed. It is not suitable for a subtask to be done when the developer feels that it is done. There must be some way to determine objectively when a subtask has been completed properly.
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EXAMPLE 4.3
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The team broke the subtask Code the image capture into a more detailed set of subtasks, with each new subtask having a more specific deliverable and completion criterion. The set of subtasks and deliverables are the following: Install commercial camera driver. Test driver from windows and save an image to file. Write routine to call driver from C++. Test C++ routine separately and save an image to file. Test C++ routine from the main robot control software and capture image. Installed driver Image file Routine Image from C++ code Image from main
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4.3 PERT Program Evaluation and Review Technique
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This technique creates a graph that shows the dependencies among the tasks. Each task has an estimate of the time necessary to complete the task and a list of other tasks that have to be completed before this task can be started (dependencies). The graph may not always have only one starting subtask or only one stopping subtask. The whole task is only completed when all the subtasks are completed. The graph can be used to calculate the completion times for all the subtasks, the minimum completion time for the whole task, and the critical path of the subtasks.
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ALGORITHM FOR COMPLETION TIMES
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1. For each node, do step 1.1 (until completion times of all nodes are calculated) 1.1 If the predecessors are completed, then take the latest completions time of the predecessors and add required time for this node.
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CHAPTER 4 Software Project Planning
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2. The node with the latest completion time determines the earliest completion time for project.
EXAMPLE 4.4
Apply this algorithm to Table 4-1, which shows an example of tasks and dependencies. The same dependencies are shown in Fig. 4-3. To apply the completion time algorithm, start with subtask a; it has no dependencies, so it can start at the initial time (say, 0). It can complete at time 0 8 8. Similarly, subtask b can complete at time 0 10 10. See Table 4-2. Note that since these subtasks are not dependent on each other or on anything else, they can start at time 0. Their completion times are calculated without concern for lack of resources. That is, for this completion calculation, it assumes that there are people available to do both tasks at the same time. Table 4-1 Subtask ID a b c d e f g h i Subtasks Dependencies
Time to Complete Task 8 10 8 9 5 3 2 4 3
a,b a b c,d d f,g e,f
8 8 a h 9 10 b 5 e i d 2 g 3 c f 3 4
Fig. 4-3.
PERT diagram.
CHAPTER 4 Software Project Planning
Table Subtask ID a b c d e f g h i Start Time 0 0 10 8 10 18 17 21 21 4-2 Critical Path
Completion Time 8 10 18 17 15 21 19 25 24
Since the completion times for subtasks a and b are now calculated, the completion times for nodes c, d, and e can be calculated. Since the predecessors of c finish at 8 and 10, subtask c can start at 10 and complete at 10 + 8 = 16. The start time for d will be 8 and the completion time can be 8 + 9 = 17, and for e the times will be 10 and 10 + 5 = 14. Now we can process subtasks f and g. The start times can be 17 and 16, respectively. The completion times will be 17 + 3 = 20 for f and 16 + 2 = 18 for g. Subtasks h and i can now be calculated with both starting at 21 and h competing at 25 and i at 24. Table 4-2 has all of the start and completion times.
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