Simple implementation of the scheduler class. More...

#include <SimScheduler.h>

Inheritance diagram for warptwin::SimScheduler:

[legend]

Classes
struct	Params
	Signal name Type Default. More...
struct	Inputs
struct	Outputs

Public Member Functions
	SimScheduler (SimulationExecutive &executive)
	Constructor for the scheduler.
int16	startup () override
	Function to start and configure the scheduler prior to run.
int16	step (const clockwerk::Time &step_size=clockwerk::Time(0, 999999999+1)) override
	Function to step the scheduler by a single step.
int16	run () override
	Function to run the scheduler until pre-determined end conditions identified/calculated by the scheduler.
void	connectExternalSocket (clockwerk::DataIOBase &signal, std::string mode, const std::string &ip, int port)
	Connect a signal to an external socket.
void	connectExternalSharedMemory (clockwerk::DataIOBase &signal, std::string mode, const std::string shmem_address)
	Connect a signal to an external shared memory.
int16	registerApp (warpos::App &app, int16 slot) override
	Function to register apps with the scheduler. Depending on the scheduler implementation these may be unused.
const std::vector< warpos::App * > &	allApps ()
	Handle to acquire access to all apps.
log_level_e	logLevel ()
	Get the log level set for the executive.
void	logLevel (log_level_e log_level)
	Set the executive log level.
Public Member Functions inherited from warpos::Scheduler
	Scheduler ()
	Constructor for the scheduler.
virtual int16	unregisterApp (int16 slot)
	Function to unregister a certain schedule slot.
void	terminate ()
	Terminate the scheduler.
bool	isTerminated ()
	Get whether scheduler is terminated.
void	setExecutive (FlightExecutive *exc)
	Set the flight executive for the scheduler.
Public Member Functions inherited from clockwerk::GraphTreeObject
	GraphTreeObject (const char gt_nme="", GraphTreeObject *storage_array=nullptr, uint32 storage_size=0)
	Name-based constructor for GraphTreeObject which will have no children by default.
virtual	~GraphTreeObject ()
	Destructor.
GraphTreeObject *	parent ()
	Functions to get object's parent/children.
GraphTreeObject **	children ()
GraphTreeObject *	childAtIndex (uint8 i) const
int16	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer.
int16	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference.
uint8	nChildren () const
	Getters for number of children and descendants.
uint16	nDescendants () const
uint8	capacity () const
const char *	name () const
	Getter and setter for object name.
int16	name (const char *new_name)
uint8	rank ()
	Getter for the object rank.
int8	type ()
	Function to indicate type – -1 by default unless implemented downstream.
bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition.
GraphTreeObject *	getRootDataPointer ()
	Get the pointer to the highest object in the graph tree.
virtual int16	str (char *output, size_t size) const
	Get object represented as string.
virtual int16	fromStr (const char *val)
	Set value of graphtreeobject from string.

Public Attributes
Params	params = Params(this, "params")
Inputs	inputs = Inputs(this, "inputs")
Outputs	outputs = Outputs(this, "outputs")
warptwin::SimTimeManager	time
	Time manager to handle all time in the scheduler.

Protected Member Functions
int	_executeAppThread (std::vector< warpos::App * > &app_thread)
	Function to execute a single app thread.
Protected Member Functions inherited from clockwerk::GraphTreeObject
int16	_setStorage (GraphTreeObject **storage_array, uint8 storage_size)
	Getter for object's string address.
void	_recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree.
void	_recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree.
int16	_addChild (GraphTreeObject *child)
	Function to decompose a string into a series of substrings via indexing.
int16	_removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children.

Protected Attributes
std::vector< warpos::App * >	_all_apps
	Vectors to store the sequences for each element of the simulation scheduler.
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
	Variable to catch errors from stuff.
SixDOFDynamicsModel	_dynamics
	Our 6-DOF dynamics model.
ExternalInterfaceModel	_external_interface
	Our external interface model.
bool	_is_first_step = true
clockwerk::Time	_sim_time_step
clockwerk::Time	_real_time_step
clockwerk::Time	_next_time
SimulationExecutive &	exc
log_level_e	_local_log_level = log_level_e::LOG_WARNING
	The log level for this particular app.
Protected Attributes inherited from warpos::Scheduler
bool	_is_terminated = false
	Flag to indicate whether the scheduler is terminated.
FlightExecutive *	_exc_ptr
	Pointer to the executive which may optionally be registered with scheduler.
Protected Attributes inherited from clockwerk::GraphTreeObject
GraphTreeObject *	_parent = nullptr
GraphTreeObject **	_children_ptr = nullptr
uint32	_max_num_children = 0
uint16	_num_descendants = 0
char	_name [MAXIMUM_NAME_CHARS] = ""
	String name for object.
uint8	_num_children = 0
	Number of direct children of the tree (not including the tree itself).
uint8	_rank = 0
int8	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type.
bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default.
uint32	_index = 0
	Index pointing to the next write location for the graph tree children.

Detailed Description

Simple implementation of the scheduler class.

This class is a base implementation of scheduler. It is an empty base class and cannot be used without implementation in a derived child class. The scheduler is used to execute modelsand apps in a sequence and format as defined in the derived scheduler class. Note: This scheduler is intended for use explicitly in simulation with the 6-DOF dynamics model. It manually adds the 6-DOF dynamics and uses it internally for time and integrator calculations.

Constructor & Destructor Documentation

◆ SimScheduler()

warptwin::SimScheduler::SimScheduler ( SimulationExecutive & executive )

Constructor for the scheduler.

Note: Does note resolve all dependencies - executive needs to be set

Member Function Documentation

◆ _executeAppThread()

int warptwin::SimScheduler::_executeAppThread ( std::vector< warpos::App * > & app_thread )

protected

Function to execute a single app thread.

Parameters

app_thread The app thread to execute

Returns: Error code corresponding to success/failure

◆ allApps()

const std::vector< warpos::App * > & warptwin::SimScheduler::allApps ( )

inline

Handle to acquire access to all apps.

Returns: Vector containing all apps

◆ connectExternalSharedMemory()

void warptwin::SimScheduler::connectExternalSharedMemory	(	clockwerk::DataIOBase &	signal,
		std::string	mode,
		const std::string	shmem_address )

inline

Connect a signal to an external shared memory.

Parameters

signal	The signal to connect externally
mode	The mode (must be INPUT or OUTPUT) on which the signal is connected
shmem_address	The shared memory location on which the signal is connected

◆ connectExternalSocket()

void warptwin::SimScheduler::connectExternalSocket	(	clockwerk::DataIOBase &	signal,
		std::string	mode,
		const std::string &	ip,
		int	port )

inline

Connect a signal to an external socket.

Parameters

signal	The signal to connect externally
mode	The mode (must be INPUT or OUTPUT) on which the signal is connected
ip	The IP address of the connection
port	The port for the connection

◆ logLevel() [1/2]

log_level_e warptwin::SimScheduler::logLevel ( )

inline

Get the log level set for the executive.

Returns: Log level for the executive

◆ logLevel() [2/2]

void warptwin::SimScheduler::logLevel ( log_level_e log_level )

inline

Set the executive log level.

Parameters

log_level The level to set logging to

◆ registerApp()

int16 warptwin::SimScheduler::registerApp	(	warpos::App &	app,
		int16	slot )

overridevirtual

Function to register apps with the scheduler. Depending on the scheduler implementation these may be unused.

Parameters

app	The app to register

Returns: Error code corresponding to success/failure

Reimplemented from warpos::Scheduler.

◆ run()

int16 warptwin::SimScheduler::run ( )

overridevirtual

Function to run the scheduler until pre-determined end conditions identified/calculated by the scheduler.

Returns: Error code corresponding to success/failure

Note: The scheduler MUST define stopping conditions. Otherwise, will run indefinitely

Reimplemented from warpos::Scheduler.

◆ startup()

int16 warptwin::SimScheduler::startup ( )

overridevirtual

Function to start and configure the scheduler prior to run.

Returns: Error code corresponding to success/failure

Reimplemented from warpos::Scheduler.

◆ step()

int16 warptwin::SimScheduler::step ( const clockwerk::Time & step_size = clockwerk::Time(0, 999999999 + 1) )

overridevirtual

Function to step the scheduler by a single step.

Parameters

step_size The step size (as a time object) to step the sim by. Any nsec value greater than NSEC_MAX will cause step to take the input step size, which is the default behavior. Setting time to a valid time will step by that time rather than the input value.

Returns: Error code corresponding to success/failure

Note: Overrides input step size parameter

Reimplemented from warpos::Scheduler.

Member Data Documentation

◆ _all_apps

std::vector<warpos::App*> warptwin::SimScheduler::_all_apps

protected

Vectors to store the sequences for each element of the simulation scheduler.

◆ _derivative

std::vector<std::vector<warpos::App*> > warptwin::SimScheduler::_derivative

protected

◆ _dynamics

SixDOFDynamicsModel warptwin::SimScheduler::_dynamics

protected

Our 6-DOF dynamics model.

◆ _end_step

std::vector<std::vector<warpos::App*> > warptwin::SimScheduler::_end_step

protected

◆ _error

int16 warptwin::SimScheduler::_error

protected

Variable to catch errors from stuff.

◆ _external_interface

ExternalInterfaceModel warptwin::SimScheduler::_external_interface

protected

Our external interface model.

◆ _is_first_step

bool warptwin::SimScheduler::_is_first_step = true

protected

◆ _local_log_level

log_level_e warptwin::SimScheduler::_local_log_level = log_level_e::LOG_WARNING

protected

The log level for this particular app.

◆ _next_time

clockwerk::Time warptwin::SimScheduler::_next_time

protected

◆ _real_time_step

clockwerk::Time warptwin::SimScheduler::_real_time_step

protected

◆ _sim_time_step

clockwerk::Time warptwin::SimScheduler::_sim_time_step

protected

◆ _start_step

std::vector<std::vector<warpos::App*> > warptwin::SimScheduler::_start_step

protected

◆ _startup

std::vector<warpos::App*> warptwin::SimScheduler::_startup

protected

◆ exc

SimulationExecutive& warptwin::SimScheduler::exc

protected

◆ inputs

Inputs warptwin::SimScheduler::inputs = Inputs(this, "inputs")

◆ outputs

Outputs warptwin::SimScheduler::outputs = Outputs(this, "outputs")

◆ params

Params warptwin::SimScheduler::params = Params(this, "params")

◆ time

warptwin::SimTimeManager warptwin::SimScheduler::time

Time manager to handle all time in the scheduler.

The documentation for this class was generated from the following files:

/Users/mickey/Documents/Projects/warptwin/cpp/src/simulation/SimScheduler.h
/Users/mickey/Documents/Projects/warptwin/cpp/src/simulation/SimScheduler.cpp

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SimScheduler()

Member Function Documentation

◆ _executeAppThread()

◆ allApps()

◆ connectExternalSharedMemory()

◆ connectExternalSocket()

◆ logLevel() [1/2]

◆ logLevel() [2/2]

◆ registerApp()

◆ run()

◆ startup()

◆ step()

Member Data Documentation

◆ _all_apps

◆ _derivative

◆ _dynamics

◆ _end_step

◆ _error

◆ _external_interface

◆ _is_first_step

◆ _local_log_level

◆ _next_time

◆ _real_time_step

◆ _sim_time_step

◆ _start_step

◆ _startup

◆ exc

◆ inputs

◆ outputs

◆ params

◆ time