SimScheduler.h

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/*
Scheduler header file
 
Author: Alex Reynolds
*/
#ifndef SIMULATION_SIM_SCHEDULER_H
#define SIMULATION_SIM_SCHEDULER_H
 
#include <vector>
 
#include "flight/Scheduler.h"
#include "simulation/SimTimeManager.h"
#include "core/clockwerkerrors.h"
#include "models/support/SixDOFDynamicsModel.h"
#include "models/support/ExternalInterfaceModel.h"
#include "SimulationSteps.h"
#include "frames/Frame.h"
 
namespace warptwin {
    class SimulationExecutive;




    class SimScheduler : public warpos::Scheduler {
    public:
        START_PARAMS
            SIGNAL(integrator_type,         int,                        4)
            SIGNAL(root_frame_ptr,          Frame*,                     nullptr)
            SIGNAL(max_real_time_multiple,  int,                        -1)
        END_PARAMS
 
        START_INPUTS
            SIGNAL(rate,                clockwerk::Time,    clockwerk::Time(1,0))
        END_INPUTS
 
        START_OUTPUTS
            SIGNAL(entry_time,              clockwerk::Time,            clockwerk::Time())
            SIGNAL(exit_time,               clockwerk::Time,            clockwerk::Time())
        END_OUTPUTS

        SimScheduler(SimulationExecutive &executive);
        
        int16 startup() override;

        int16 step(const clockwerk::Time &step_size = clockwerk::Time(0, NSEC_MAX + 1)) override;

        int16 run() override;

        void connectExternalSocket(clockwerk::DataIOBase& signal, std::string mode, 
                                   const std::string &ip, int port) 
            {_external_interface.connectExternalSocket(signal, mode, ip, port);}

        void connectExternalSharedMemory(clockwerk::DataIOBase& signal, std::string mode,
                                         const std::string shmem_address)
            {_external_interface.connectExternalSharedMemory(signal, mode, shmem_address);}

        int16 registerApp(warpos::App& app, int16 slot) override;

        const std::vector<warpos::App*>& allApps() {return _all_apps;}

        log_level_e logLevel() {return _local_log_level;}
        void logLevel(log_level_e log_level) {_local_log_level = log_level;}

        warptwin::SimTimeManager time;
    protected:
        int _executeAppThread(std::vector<warpos::App*> &app_thread);

        std::vector<warpos::App*> _all_apps;
        std::vector<warpos::App*> _startup;
        std::vector<std::vector<warpos::App*>> _start_step;
        std::vector<std::vector<warpos::App*>> _derivative;
        std::vector<std::vector<warpos::App*>> _end_step;

        int16 _error;

        SixDOFDynamicsModel _dynamics;

        ExternalInterfaceModel _external_interface;
 
        // Timing variables to ensure real time lock
        bool _is_first_step = true;
        clockwerk::Time _sim_time_step;
        clockwerk::Time _real_time_step;
        clockwerk::Time _next_time;
 
        // Handle to the executive for logging
        SimulationExecutive& exc;

        log_level_e _local_log_level = log_level_e::LOG_WARNING;
    private:
        GraphTreeObject* _children[20];
    };
}
 
#endif