Time scheduling method and scheduler for a modular engine that negotiates among modules timing offers which include a timing range

A time scheduling method for a modular engine, said modular engine including a set of action modules for performing a particular action, respectively, wherein, for a chain of actions to be scheduled, interaction between the modules involved in said chain of actions is defined as an output from one module that is delivered as an input to another module, the engine having at least one module that does not need an input from another module for performing a first action, the method allocating a time to each action to be performed by the modules on the basis of information on the current status and timing constraints of the respective modules, the method comprising:

• each action module allocating the timings for its own actions by sending a timing offer including a timing range to a recipient module to which said output of the action module has to be delivered;
• and
• each module receiving from the corresponding recipient module a message accepting or rejecting the offer, respectively, a message accepting the offer including a specific interaction time selected from the timing range;
• wherein the timing offer is based on the internal status and timing constraints of the module sending the timing offer, and if an input from another module is needed, on a timing offer from that other module.