This is the base implementation of the task class. More...

#include <Tasks.h>

Inheritance diagram for clockwerk::Task:

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Collaboration diagram for clockwerk::Task:

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Public Member Functions
	Task ()
	Default constructor for the task object for simplicity. Note: Masks some functionality and should not be used for production deployment.

	Task (Task &pnt, const std::string &m_name="Unnamed")
	Task-based constructor for the task. Auto-assigns executive.

	Task (Executive &executive, const std::string &m_name="Unnamed")
	Executive-based constructor for the task.

	Task (Task &pnt, int slot, const std::string &m_name="Unnamed")
	Task-based constructor for the task. Auto-assigns executive.

	Task (Executive &executive, int slot, const std::string &m_name="Unnamed")
	Executive-based constructor for the task.

virtual	~Task ()
	Desrtuctor. Doesn't really do anything.

int	startup ()
	Function to perform startup activities (step once at start after creation). Should not be modified in derived task.

virtual int	step ()
	Function to step the task. This will be called every step.

virtual int	activate ()
	Function to activate the task.

virtual int	deactivate ()
	Function to deactivate the task.

void	recordTiming ()
	Function to command this task to record timing information.

void	logLevel (log_level_e new_level)
	Function to set the local model log level.

GraphTreeObject *	parent ()
	Functions to get object's parent/children.

int	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer.

int	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference.

std::vector< GraphTreeObject * > &	children ()

unsigned int	nChildren ()
	Getters for number of children and descendants.

unsigned int	nDescendants ()

std::string	name () const
	Getter and setter for object name.

int	name (const std::string &new_name)

int	rank ()
	Getter for the object rank.

virtual int	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.

std::string	address ()
	Getter for object's string address.

std::vector< std::string >	search (const std::string &address)
	Function to search through the graph tree by string address.

GraphTreeObject *	getByAddress (const std::string &address)
	Function to get an object from the graph tree by string address.

void	dump (bool recursive=false)
	Function to dump the graph node, optionally including descendents.

void	graphNodeInfo ()
	Function to return all info associated with a given graph node.

void	recurseGraphNodeInfo (unsigned int counter)
	Function to recurse through graph tree and print all node info.

virtual int	header (void *logger)
	Function to pass headers for this object to the logger.

virtual std::vector< std::string >	header_info () const

void	findLoggable (std::vector< GraphTreeObject * > &matches)
	Function to find all loggable parameters in this node and its children.

virtual int	log (void *logger)
	Function to log data to a logger.

void	lock (bool recursive=true)
	Function to lock the graph tree object and its children to changes.

void	unlock (bool recursive=true)
	Function to unlock the graph tree and its children for changes.

bool	locked ()
	Function to return whether graph tree object is locked.

Public Attributes
DataIO< bool >	active = DataIO<bool>(this, "active", true)
	The active flag for the task – set to true by default.

DataIO< int >	schedule_slot = DataIO<int>(this, "schedule_slot", 0)
	The schedule slot this task will step in – set to 0 by default.

DataIO< Time >	entry_time = DataIO<Time>(this, "entry_time", Time())
	Time of entry (per wallClockTimer) of the last step of this task.

DataIO< Time >	exit_time = DataIO<Time>(this, "exit_time", Time())
	Time of exit (per wallClockTimer) of the last step of this task.

Protected Member Functions
virtual int	start ()
	Function to perform task startup activities (step once after creation)

virtual int	execute ()
	Function to execute the task. All math and calculations should be here.

int	rangeCheck (double min, double max, DataIO< double > signal)
	Overloaded function to check range on a parameter.

int	rangeCheck (float min, float max, DataIO< float > signal)

int	rangeCheck (int min, int max, DataIO< int > signal)

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.

std::vector< std::string >	decomposeAddress (std::string address)
	Function to decompose a string into a series of substrings via indexing.

void	findMatches (const std::vector< std::string > &subaddresses, const unsigned int &num_subaddresses, unsigned int index, bool match_found, std::vector< GraphTreeObject * > &matches)
	Function to find all addresses mathcing the set of substrings @parem subaddresses A vector of subaddresses to match.

std::vector< GraphTreeObject * >	searchNodes (const std::string &address)
	Function to search through the graph tree by string address.

int	addChild (GraphTreeObject *child)
	Function to add a child to the graph tree object.

int	removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children.

Protected Attributes
log_level_e	_local_log_level = NONE
	Our local log level – allows a higher log level locally than the overall system.

int	_error = 0
	Simple variable to track error in task.

bool	_record_timing = false
	Variable to enable or disable timing.

Executive *	exc = nullptr
	Pointer to the executive object.

GraphTreeObject *	_parent = nullptr
	Pointer to the object's parent – should be null if the object is the root. Is set to null by default.

std::vector< GraphTreeObject * >	_children
	Pointers to the object's children – automatically set to an empty vector, and can be increased to any size.

std::string	_name = DEFAULT_NAME
	String name for object.

uint16_t	_num_descendants = 0
	Total number of descendants (includes children of children) of the tree, again not including the tree itself.

uint8_t	_num_children = 0
	Number of direct children of the tree (not including the tree itself)

uint8_t	_rank = 0
	Rank for how far down on the graph tree the object is – starts at zero and maxes out at 256 via variable size.

uint8_t	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type.

bool	_locked = false
	Variable to lock the graph tree object and prevent structural updates.

bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default.

Detailed Description

This is the base implementation of the task class.

This class defines the base task from which other tasks are inherited. Tasks are simple events which execute every step, or as scheduled, with their step function.

The task class has two key step functions called by the Scheduler class – startup, which should be called once on step start, and the step function, which is called every time the event may step. These functions should not be implemented in derived classes. Instead, derived events should implement the start and execute functions, which are designed for that purpose. The eventStartup is called from within startup, and should implement event- specific setup functionality. The execute function will be called every step step, and should contain all event-specific code.

The task class has parameters, inputs, and outputs which correspond to the following definitions:

PARAMETERS: Configuration flags which should be carefully controlled and only modified at few, select events (i.e. not every timestep) INPUTS: Input parameters to the model which may, but do not have to, change often. These will often be connected to the outputs of other models. OUTPUTS: Output parameters from the model which are the result of an internal calculation in the model.

This class should not be used on its own, and must be derived in a child class.

Constructor & Destructor Documentation

◆ Task() [1/4]

clockwerk::Task::Task	(	Task &	pnt,
		const std::string &	m_name = `"Unnamed"`
	)

Task-based constructor for the task. Auto-assigns executive.

Parameters

pnt	The task to assign as parent of this task
nme	Name of the task

◆ Task() [2/4]

clockwerk::Task::Task	(	Executive &	executive,
		const std::string &	m_name = `"Unnamed"`
	)

Executive-based constructor for the task.

Parameters

executive	The executive to set
m_name	The name for the task

◆ Task() [3/4]

clockwerk::Task::Task	(	Task &	pnt,
		int	slot,
		const std::string &	m_name = `"Unnamed"`
	)

Task-based constructor for the task. Auto-assigns executive.

Parameters

pnt	The task to assign as parent of this task
nme	Name of the task
slot	The slot to which the task should be scheduled. Negative indicates it should not be scheduled.

◆ Task() [4/4]

clockwerk::Task::Task	(	Executive &	executive,
		int	slot,
		const std::string &	m_name = `"Unnamed"`
	)

Executive-based constructor for the task.

Parameters

executive	The executive to set
m_name	The name for the task
slot	The slot to which the task should be scheduled. Negative indicates it should not be scheduled.

Member Function Documentation

◆ activate()

virtual int clockwerk::Task::activate ( )

inlinevirtual

Function to activate the task.

Returns: Error code corresponding to success/failure

Note: This is an inherited function that should be overwritten in inherited task class, if implemented. If it is not implemented in the inherited class, step() function will do nothing

◆ addChild()

int clockwerk::GraphTreeObject::addChild ( GraphTreeObject * child )

protectedinherited

Function to add a child to the graph tree object.

Parameters

child A pointer to the graph tree object to add to the tree

Returns: An error code corresponding to success/failure

◆ address()

std::string clockwerk::GraphTreeObject::address ( )

inherited

Getter for object's string address.

Returns: Returns the string address for the object

◆ deactivate()

virtual int clockwerk::Task::deactivate ( )

inlinevirtual

Function to deactivate the task.

Returns: Error code corresponding to success/failure

Note: This is an inherited function that should be overwritten in inherited task class, if implemented. If it is not implemented in the inherited class, step() function will do nothing

◆ decomposeAddress()

std::vector< std::string > clockwerk::GraphTreeObject::decomposeAddress ( std::string address )

protectedinherited

Function to decompose a string into a series of substrings via indexing.

Parameters

address The address to be decomposed

Returns: A vector of strings containing each delimeter-separated substring

◆ dump()

void clockwerk::GraphTreeObject::dump ( bool recursive = false )

inherited

Function to dump the graph node, optionally including descendents.

Parameters

recursive Parameter indicating whether to dump only one node (default/false) or the entire tree (true)

Note: Recursive dumps the whole tree... be careful what you wish for

◆ execute()

virtual int clockwerk::Task::execute ( )

inlineprotectedvirtual

Function to execute the task. All math and calculations should be here.

Returns: Error code corresponding to success/failure

Note: This is an inherited function that should be overwritten in inherited task class, if implemented. If it is not implemented in the inherited class, it will do nothing.

Reimplemented in clockwerk::PidAttitudeControl, clockwerk::PidTranslationalControl, clockwerk::IterativeLambertTargetTask, clockwerk::LambertTargetTask, clockwerk::TriadGuidance, clockwerk::EkfFocalAnglesMeasUpdate, clockwerk::EkfOrbitJ2J3Update, clockwerk::EkfOrbitStateRelState, clockwerk::EkfRangeRangerateMeasUpdate, clockwerk::SimpleDiscreteProcessNoise, modelspace::LogEvent, modelspace::SimTerminationEvent, modelspace::CR3BPDynamicsModel, modelspace::FlatPlateDragModel, modelspace::ImpulseModel, modelspace::SimpleThrusterModel, modelspace::TimedImpulsiveBurnModel, modelspace::SpicePlanet, modelspace::AsphericalGravityModel, modelspace::GravityGradientModel, modelspace::PointMassGravityModel, modelspace::SolarRadiationPressureModel, modelspace::SphericalHarmonicsGravityModel, modelspace::SolarPanelPowerModel, modelspace::Accelerometer, modelspace::GroundStationSensor, modelspace::Gyro, modelspace::SimpleCameraSensor, modelspace::StarTracker, modelspace::FrameStateSensorModel, modelspace::GroundStationModel, modelspace::LvcStateSensorModel, modelspace::OrbitalElementsSensorModel, modelspace::PlanetRelativeStatesModel, modelspace::RangeAzElSensorModel, modelspace::BiasNoiseModel, modelspace::EffectiveSolarAreaModel, modelspace::LvlhFrameManagerModel, modelspace::SixDOFDynamicsModel, modelspace::SynodicFrameManagerModel, modelspace::ProximityMonitor, modelspace::RateMonitor, modelspace::TimeTriggerMonitor, and modelspace::VisualsModel.

◆ findLoggable()

void clockwerk::GraphTreeObject::findLoggable ( std::vector< GraphTreeObject * > & matches )

inherited

Function to find all loggable parameters in this node and its children.

Parameters

matches Expandable vector to hold all matches in the tree

◆ findMatches()

void clockwerk::GraphTreeObject::findMatches	(	const std::vector< std::string > &	subaddresses,
		const unsigned int &	num_subaddresses,
		unsigned int	index,
		bool	match_found,
		std::vector< GraphTreeObject * > &	matches
	)

protectedinherited

Function to find all addresses mathcing the set of substrings @parem subaddresses A vector of subaddresses to match.

Parameters

num_subaddresses	The number of subaddresses to match
index	The index of subaddresses to search in
match_found	Variable indicating whether a match was found higher in the tree
matches	Implicit return of all matches to the specified address

◆ getByAddress()

GraphTreeObject * clockwerk::GraphTreeObject::getByAddress ( const std::string & address )

inherited

Function to get an object from the graph tree by string address.

Parameters

address The exact string address to access the variable with

Returns: Pointer to the graph tree object at the address, or nullptr if address is not valid or returns

◆ header()

virtual int clockwerk::GraphTreeObject::header ( void * logger )

inlinevirtualinherited

Function to pass headers for this object to the logger.

Parameters

logger Pointer to logger

Returns: Error code corresponding to success/failure

◆ header_info()

virtual std::vector< std::string > clockwerk::GraphTreeObject::header_info ( ) const

inlinevirtualinherited

Reimplemented in clockwerk::Time.

◆ lock()

void clockwerk::GraphTreeObject::lock ( bool recursive = true )

inherited

Function to lock the graph tree object and its children to changes.

Parameters

recursive Flag to indicate whether lock should be recursive

◆ log()

virtual int clockwerk::GraphTreeObject::log ( void * logger )

inlinevirtualinherited

Function to log data to a logger.

Parameters

logger Pointer to logger

Returns: Error code corresponding to success/failure

◆ logLevel()

void clockwerk::Task::logLevel ( log_level_e new_level )

inline

Function to set the local model log level.

Parameters

new_level The new level to set logging to

◆ parent() [1/2]

int clockwerk::GraphTreeObject::parent ( GraphTreeObject & new_parent )

inherited

Function to assign the node's parent via reference.

Parameters

new_parent The new parent to assign the node to

Returns: Error code corresponding to success/failure

Note: This function is the only method to ADD or REMOVE a node from a tree. To add, pass the address to a GraphTreeObject to this function. To remove, pass a nullptr. Note that parents for objects on an existing tree can be reassigned

◆ parent() [2/2]

int clockwerk::GraphTreeObject::parent ( GraphTreeObject * new_parent )

inherited

Function to assign the node's parent via pointer.

Parameters

new_parent The new parent to assign the node to

Returns: Error code corresponding to success/failure

Note: This function is the only method to ADD or REMOVE a node from a tree. To add, pass the address to a GraphTreeObject to this function. To remove, pass a nullptr. Note that parents for objects on an existing tree can be reassigned

◆ rangeCheck()

int clockwerk::Task::rangeCheck	(	double	min,
		double	max,
		DataIO< double >	signal
	)

protected

Overloaded function to check range on a parameter.

General utility functions for models

Parameters

min	The minimum acceptable value
max	The maximum acceptable value
signal	The signal to be evaluated

Returns: Error code corresponding to value validity

◆ recurseGraphNodeInfo()

void clockwerk::GraphTreeObject::recurseGraphNodeInfo ( unsigned int counter )

inherited

Function to recurse through graph tree and print all node info.

Returns: String containing all recursive graph node information in tab cascade format

◆ removeChild()

int clockwerk::GraphTreeObject::removeChild ( GraphTreeObject * child )

protectedinherited

Function to remove a child from the graph node's children.

Parameters

child The child to remove

Returns: Success/fail error code based on whether the child is present

◆ search()

std::vector< std::string > clockwerk::GraphTreeObject::search ( const std::string & address )

inherited

Function to search through the graph tree by string address.

Parameters

address `The address or address chunk to search for

Returns: A vector of string addresses meeting the criteria specified by address

◆ searchNodes()

std::vector< GraphTreeObject * > clockwerk::GraphTreeObject::searchNodes ( const std::string & address )

protectedinherited

Function to search through the graph tree by string address.

Parameters

address `The address or address chunk to search for

Returns: A vector of objects addresses meeting the criteria specified by address

◆ start()

virtual int clockwerk::Task::start ( )

inlineprotectedvirtual

Function to perform task startup activities (step once after creation)

Returns: Error code corresponding to success/failure

Note: This is an inherited function that should be overwritten in inherited task class, if implemented. If it is not implemented in the inherited class, it will do nothing.

Reimplemented in clockwerk::EkfFocalAnglesMeasUpdate, clockwerk::EkfOrbitJ2J3Update, clockwerk::EkfOrbitStateRelState, clockwerk::EkfRangeRangerateMeasUpdate, modelspace::LogEvent, modelspace::CR3BPDynamicsModel, modelspace::SimpleThrusterModel, modelspace::TimedImpulsiveBurnModel, modelspace::PlanetInfo, modelspace::SimplePlanet, modelspace::SimpleSpacecraft, modelspace::SpicePlanet, modelspace::AsphericalGravityModel, modelspace::SphericalHarmonicsGravityModel, modelspace::Accelerometer, modelspace::GroundStationSensor, modelspace::Gyro, modelspace::IMU, modelspace::SimpleCameraSensor, modelspace::StarTracker, modelspace::FrameStateSensorModel, modelspace::GroundStationModel, modelspace::OrbitalElementsStateInit, modelspace::PlanetRelativeStatesModel, modelspace::BiasNoiseModel, modelspace::LvlhFrameManagerModel, modelspace::SixDOFDynamicsModel, modelspace::SynodicFrameManagerModel, and modelspace::VisualsModel.

◆ startup()

int clockwerk::Task::startup ( )

Function to perform startup activities (step once at start after creation). Should not be modified in derived task.

Returns: Error code corresponding to success/failure

Note: This is the master task function, which calls start internally and performs other tasks before and after

◆ step()

int clockwerk::Task::step ( )

virtual

Function to step the task. This will be called every step.

Returns: Error code corresponding to success/failure

Note: Inherited in derived monitor/event for special cases but should not be implemented directly in inherited classes

Reimplemented in clockwerk::Monitor, and clockwerk::Event.

◆ type()

virtual int clockwerk::GraphTreeObject::type ( )

inlinevirtualinherited

Function to indicate type – -1 by default unless implemented downstream.

Returns: Int indicating frame type – unimplemented always -1

◆ unlock()

void clockwerk::GraphTreeObject::unlock ( bool recursive = true )

inherited

Function to unlock the graph tree and its children for changes.

Parameters

recursive Flag to indicate whether unlock should be recursive

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

/home/mickey/modelspace/clockwerk/src/architecture/Tasks.h
/home/mickey/modelspace/clockwerk/src/architecture/Tasks.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Task() [1/4]

◆ Task() [2/4]

◆ Task() [3/4]

◆ Task() [4/4]

Member Function Documentation

◆ activate()

◆ addChild()

◆ address()

◆ deactivate()

◆ decomposeAddress()

◆ dump()

◆ execute()

◆ findLoggable()

◆ findMatches()

◆ getByAddress()

◆ header()

◆ header_info()

◆ lock()

◆ log()

◆ logLevel()

◆ parent() [1/2]

◆ parent() [2/2]

◆ rangeCheck()

General utility functions for models

◆ recurseGraphNodeInfo()

◆ removeChild()

◆ search()

◆ searchNodes()

◆ start()

◆ startup()

◆ step()

◆ type()

◆ unlock()