Simple implementation of the scheduler class. More...

#include <SimScheduler.h>

Inheritance diagram for modelspace::SimScheduler:

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Collaboration diagram for modelspace::SimScheduler:

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Classes
struct	Inputs

struct	Outputs

struct	Params
	Signal name Type Default. More...

Public Member Functions
	SimScheduler (clockwerk::Executive &executive)
	Constructor for the scheduler.

int	startup ()
	Function to start and configure the scheduler prior to run.

int	step (const clockwerk::Time &step_size=clockwerk::Time(0, 999999999+1))
	Function to step the scheduler by a single step.

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

virtual int	registerTask (clockwerk::Task *task) override
	Function to register tasks with the scheduler. Depending on the scheduler implementation these may be unused.

void	terminate ()
	Function to set the scheduler for termination.

virtual bool	isTerminated ()
	Function to indicate whether the scheduler is terminated.

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

void	create ()
	Function to set up our scheduler.

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
Params	params = Params(this, "params")

Inputs	inputs = Inputs(this, "inputs")

Outputs	outputs = Outputs(this, "outputs")

modelspace::SimTimeManager	time
	Time manager to handle all time in the scheduler.

Executive *	exc
	Event logger for debugging and key events.

Protected Member Functions
int	_executeTaskThread (std::vector< clockwerk::Task * > &task_thread)
	Function to execute a single task thread.

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
std::vector< clockwerk::Task * >	_all_tasks
	Vectors to store the sequences for each element of the simulation scheduler.

std::vector< clockwerk::Task * >	_startup

std::vector< std::vector< clockwerk::Task * > >	_start_step

std::vector< std::vector< clockwerk::Task * > >	_derivative

std::vector< std::vector< clockwerk::Task * > >	_end_step

bool	_is_terminated
	Variable to terminate the simulation. The simulation run function terminates when this flag is set.

int	_error
	Variable to catch errors from stuff.

SixDOFDynamicsModel	_dynamics
	Our 6-DOF dynamics model.

bool	_is_first_step = true

clockwerk::Time	_sim_time_step

clockwerk::Time	_real_time_step

clockwerk::Time	_next_time

log_level_e	_local_log_level = NONE

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

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 models, tasks, monitors, and events 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()

modelspace::SimScheduler::SimScheduler ( clockwerk::Executive & executive )

Constructor for the scheduler.

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

Member Function Documentation

◆ _executeTaskThread()

int modelspace::SimScheduler::_executeTaskThread ( std::vector< clockwerk::Task * > & task_thread )

protected

Function to execute a single task thread.

Parameters

task_thread The task thread to execute

Returns: Error code corresponding to success/failure

◆ 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

◆ 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

◆ 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.

◆ isTerminated()

virtual bool modelspace::SimScheduler::isTerminated ( )

inlinevirtual

Function to indicate whether the scheduler is terminated.

Returns: The termination flag status

Reimplemented from clockwerk::Scheduler.

◆ 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 modelspace::SimScheduler::logLevel ( clockwerk::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

◆ 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

◆ registerTask()

int modelspace::SimScheduler::registerTask ( clockwerk::Task * task )

overridevirtual

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

Parameters

task	The task to register

Returns: Error code corresponding to success/failure

Reimplemented from clockwerk::Scheduler.

◆ 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

◆ run()

int modelspace::SimScheduler::run ( )

virtual

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 clockwerk::Scheduler.

◆ 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

◆ startup()

int modelspace::SimScheduler::startup ( )

virtual

Function to start and configure the scheduler prior to run.

Returns: Error code corresponding to success/failure

Reimplemented from clockwerk::Scheduler.

◆ step()

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

virtual

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 clockwerk::Scheduler.

◆ terminate()

void modelspace::SimScheduler::terminate ( )

inlinevirtual

Function to set the scheduler for termination.

Reimplemented from clockwerk::Scheduler.

◆ 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/cpp/src/simulation/SimScheduler.h
/home/mickey/modelspace/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

◆ _executeTaskThread()

◆ addChild()

◆ address()

◆ decomposeAddress()

◆ dump()

◆ findLoggable()

◆ findMatches()

◆ getByAddress()

◆ header()

◆ header_info()

◆ isTerminated()

◆ lock()

◆ log()

◆ logLevel()

◆ parent() [1/2]

◆ parent() [2/2]

◆ recurseGraphNodeInfo()

◆ registerTask()

◆ removeChild()

◆ run()

◆ search()

◆ searchNodes()

◆ startup()

◆ step()

◆ terminate()

◆ type()

◆ unlock()