Work on m300.

README.md

@@ -333,7 +333,45 @@ class InAirGoalExecutorFactory(ExecutorFactory):
         return res
 ```
 
-## 1.4 Signals
+## 1.5 Time
+
+It is also possible to specify time information in a node. The following time parameters are available:
+
+- stime_lb : Start time lower bound
+- stime_ub : Start time upper bound
+- etime_lb : End time lower bound
+- etime_ub : End time upper bound
+- duration_lb : Duration lower bound
+- duration:ub : Durayion upper bound
+
+There are also some other parameters available for handling time:
+
+- wait_for_stime : Boolean. If true in the execution we wait for the stime_lb before we start the eecution.
+- wait_for_etime : Boolean: If true we wait for etime_ub before finnishing the execution (or should this be lower bound...)
+- tree_start_time : If set the specified times are time from the tree_start_time. Otherwise the specified times are abolute.
+- node_start_time : The actual time the node execution was started.
+
+The parameters above can be set in the common_params block.
+
+## 1.6 Constraints
+
+We can add a set of constraints to each node.  If we use timed
+execution we can for example add a constraint like:
+
+- etime < 600 : With the intended meaing that the end time for the node should be less then 600 seconds after the tree start time.
+
+The following constraints are automatically added for all nodes if times are used.
+- stime_lb < stime < stime_ub
+- etime_lb < etime < etime_ub
+- duration_lb < duration < duration_ub
+- stime_ub + duration_ub < etime_ub
+- stime_lb + duration_lb < etime_lb
+
+
+
+To be written...
+
+## 1.7 Signals
 
 To be written...
 
@@ -343,7 +381,7 @@ CURRENTLY UNSTRUCTURED NOTES, DO NOT READ!
 See: https://gitlab.liu.se/lrs2/lrs_doc/-/blob/main/signal.md
 --->
 
-## 1.5 Communication
+## 1.8 Communication
 
 See: https://gitlab.liu.se/lrs2/lrs_doc/-/blob/main/communication.md