A controller that has the capability of managing multiple controllers. More...

#include <Multicontroller.h>

Public Member Functions
	Multicontroller (size_t num_controllers=1, const ControllerSettings &settings=ControllerSettings())
	Constructor. More...

virtual	~Multicontroller ()
	Destructor. More...

void	add_algorithm_factory (const std::vector< std::string > &aliases, algorithms::AlgorithmFactory *factory)
	Adds an aliased algorithm factory. More...

void	add_platform_factory (const std::vector< std::string > &aliases, platforms::PlatformFactory *factory)
	Adds an aliased platform factory. More...

void	add_transports (const madara::transport::QoSTransportSettings &source_settings)
	Add transports to the knowledge bases that are being used by each controller. More...

void	clear_accents (size_t controller_index=0)
	Clears all accent algorithms. More...

void	clear_knowledge (void)
	Clears all controller knowledge bases. More...

void	evaluate (const std::string &logic, const madara::knowledge::EvalSettings &settings=madara::knowledge::EvalSettings::DELAY)
	Evaluates a karl logic across all controllers and knowledge bases. More...

void	evaluate (size_t controller_index, const std::string &logic, const madara::knowledge::EvalSettings &settings=madara::knowledge::EvalSettings::DELAY)
	Evaluates a karl logic across all controllers and knowledge bases. More...

algorithms::BaseAlgorithm *	get_algorithm (size_t controller_index=0)
	Gets the current algorithm at the controller index. More...

madara::knowledge::KnowledgeBase	get_kb (size_t controller_index)
	Returns the kb that is being used by the internal controller. More...

size_t	get_num_controllers (void)
	Returns the number of controllers being managed. More...

platforms::BasePlatform *	get_platform (size_t controller_index=0)
	Gets the current platform at the controller index. More...

void	init_accent (const std::string &algorithm, const madara::knowledge::KnowledgeMap &args=madara::knowledge::KnowledgeMap())
	Initializes all managed controllers with an accent algorithm. More...

void	init_accent (size_t controller_index, const std::string &algorithm, const madara::knowledge::KnowledgeMap &args=madara::knowledge::KnowledgeMap())
	Adds an accent algorithm. More...

void	init_algorithm (const std::string &algorithm, const madara::knowledge::KnowledgeMap &args=madara::knowledge::KnowledgeMap())
	Initializes all managed controllers with an algorithm. More...

void	init_algorithm (size_t controller_index, algorithms::BaseAlgorithm *algorithm)
	Initializes the controller with a user-provided algorithm. More...

void	init_algorithm (size_t controller_index, const std::string &algorithm, const madara::knowledge::KnowledgeMap &args=madara::knowledge::KnowledgeMap())
	Initializes a specific controller with an algorithm. More...

void	init_platform (const std::string &platform, const madara::knowledge::KnowledgeMap &args=madara::knowledge::KnowledgeMap())
	Initializes all managed controllers with the platform. More...

void	init_platform (size_t controller_index, const std::string &platform, const madara::knowledge::KnowledgeMap &args=madara::knowledge::KnowledgeMap())
	Initializes the platform. More...

void	init_platform (size_t controller_index, platforms::BasePlatform *platform)
	Initializes the controller with a user-provided platform. More...

void	init_vars (const madara::knowledge::KnowledgeRecord::Integer &id=0, const madara::knowledge::KnowledgeRecord::Integer &processes=-1)
	Initializes global variable containers. More...

void	init_vars (size_t controller_index, algorithms::BaseAlgorithm &algorithm)
	Initializes containers and knowledge base in an algorithm. More...

void	init_vars (size_t controller_index, platforms::BasePlatform &platform)
	Initializes containers and knowledge base in a platform This is usually the first thing a developer should do with a user-defined platform. More...

void	refresh_vars (bool init_non_self_vars=false)
	Calls init_vars for each controller. More...

void	resize (size_t num_controllers, bool init_non_self_vars=false)
	Resizes the number of controllers and knowledge bases. More...

int	run (double loop_period, double max_runtime=-1, double send_period=-1.0)
	Runs iterations of the MAPE loop with specified periods. More...

int	run (void)
	Runs iterations of the MAPE loop with configured settings. More...

int	run_hz (double loop_hz=0.0, double max_runtime=-1, double send_hz=-1.0)
	Runs iterations of the MAPE loop with specified hertz. More...

int	run_once (void)
	Runs a single iteration of the MAPE loop Always sends updates after the iteration. More...

Protected Attributes
std::vector< BaseController * >	controllers_
	Controllers that need to be instrumented. More...

std::vector< madara::knowledge::KnowledgeBase >	kbs_
	Knowledge base. More...

ControllerSettings	settings_
	Settings for controller management and qos. More...

int	sim_step_ = 0
	used explicitly by the scrimmage platform. Will be moved More...

std::vector< madara::transport::SharedMemoryPush * >	transports_
	transports meant for fast memory transport within the controller More...

Detailed Description

A controller that has the capability of managing multiple controllers.

Definition at line 89 of file Multicontroller.h.

Constructor & Destructor Documentation

◆ Multicontroller()

gams::controllers::Multicontroller::Multicontroller	(	size_t	num_controllers = `1`,
		const ControllerSettings &	settings = `ControllerSettings()`
	)

Constructor.

Parameters

num_controllers	the number of controllers to manage
settings	settings to use

◆ ~Multicontroller()

virtual gams::controllers::Multicontroller::~Multicontroller ( )

virtual

Destructor.

Member Function Documentation

◆ add_algorithm_factory()

void gams::controllers::Multicontroller::add_algorithm_factory	(	const std::vector< std::string > &	aliases,
		algorithms::AlgorithmFactory *	factory
	)

Adds an aliased algorithm factory.

This factory will be initialized with all appropriate variables in the AlgorithmFactory class by the Multicontroller.

Parameters

aliases	the named aliases for the factory. All aliases will be converted to lower case
factory	the factory for creating an algorithm

◆ add_platform_factory()

void gams::controllers::Multicontroller::add_platform_factory	(	const std::vector< std::string > &	aliases,
		platforms::PlatformFactory *	factory
	)

Adds an aliased platform factory.

This factory will be initialized with all appropriate variables in the PlatformFactory class by the Multicontroller.

Parameters

aliases	the named aliases for the factory. All aliases will be converted to lower case
factory	the factory for creating a platform

◆ add_transports()

void gams::controllers::Multicontroller::add_transports ( const madara::transport::QoSTransportSettings & source_settings )

Add transports to the knowledge bases that are being used by each controller.

If multicast or broadcast transports, the hosts are simply copied. If using unicast-based connections, then the first host in the settings is used and ports are added in an ascending order for each subsequent KB. This latter functionality is meant to aid in the expected use case of the Multicontroller managing colocated agents that need to communicate with each other. Note that you should resize the Multicontroller to the appropriate number of controllers BEFORE calling this function. Changes made here are not retroactive for all future resizes.

Parameters

source_settings base transport settings to copy from

◆ clear_accents()

void gams::controllers::Multicontroller::clear_accents ( size_t controller_index = 0 )

Clears all accent algorithms.

Parameters

controller_index the index of the managed controllers

◆ clear_knowledge()

void gams::controllers::Multicontroller::clear_knowledge ( void )

Clears all controller knowledge bases.

◆ evaluate() [1/2]

void gams::controllers::Multicontroller::evaluate	(	const std::string &	logic,
		const madara::knowledge::EvalSettings &	settings = `madara::knowledge::EvalSettings::DELAY`
	)

Evaluates a karl logic across all controllers and knowledge bases.

Parameters

logic	karl logic to evaluate
settings	evaluation settings for the logic evaluation

◆ evaluate() [2/2]

void gams::controllers::Multicontroller::evaluate	(	size_t	controller_index,
		const std::string &	logic,
		const madara::knowledge::EvalSettings &	settings = `madara::knowledge::EvalSettings::DELAY`
	)

Evaluates a karl logic across all controllers and knowledge bases.

Parameters

controller_index	the index of the managed controllers
logic	karl logic to evaluate
settings	evaluation settings for the logic evaluation

◆ get_algorithm()

algorithms::BaseAlgorithm* gams::controllers::Multicontroller::get_algorithm ( size_t controller_index = 0 )

Gets the current algorithm at the controller index.

Parameters

controller_index the index of the managed controllers

Returns: the algorithm

◆ get_kb()

madara::knowledge::KnowledgeBase gams::controllers::Multicontroller::get_kb ( size_t controller_index )

Returns the kb that is being used by the internal controller.

Parameters

controller_index the index of the managed controllers

Returns: the knowledge base that is being referenced

◆ get_num_controllers()

size_t gams::controllers::Multicontroller::get_num_controllers ( void )

Returns the number of controllers being managed.

Returns: the number of controllers managed by the multicontroller

◆ get_platform()

platforms::BasePlatform* gams::controllers::Multicontroller::get_platform ( size_t controller_index = 0 )

Gets the current platform at the controller index.

Parameters

controller_index the index of the managed controllers

Returns: the platform

◆ init_accent() [1/2]

void gams::controllers::Multicontroller::init_accent	(	const std::string &	algorithm,
		const madara::knowledge::KnowledgeMap &	args = `madara::knowledge::KnowledgeMap()`
	)

Initializes all managed controllers with an accent algorithm.

Parameters

algorithm	the name of the accent algorithm to add
args	vector of knowledge record arguments

◆ init_accent() [2/2]

void gams::controllers::Multicontroller::init_accent	(	size_t	controller_index,
		const std::string &	algorithm,
		const madara::knowledge::KnowledgeMap &	args = `madara::knowledge::KnowledgeMap()`
	)

Adds an accent algorithm.

Parameters

controller_index	the index of the managed controllers
algorithm	the name of the accent algorithm to add
args	vector of knowledge record arguments

◆ init_algorithm() [1/3]

void gams::controllers::Multicontroller::init_algorithm	(	const std::string &	algorithm,
		const madara::knowledge::KnowledgeMap &	args = `madara::knowledge::KnowledgeMap()`
	)

Initializes all managed controllers with an algorithm.

Parameters

algorithm	the name of the algorithm to run
args	vector of knowledge record arguments

◆ init_algorithm() [2/3]

void gams::controllers::Multicontroller::init_algorithm	(	size_t	controller_index,
		algorithms::BaseAlgorithm *	algorithm
	)

Initializes the controller with a user-provided algorithm.

This algorithm's memory will be maintained by the controller. DO NOT DELETE THIS POINTER.

Parameters

controller_index	the index of the managed controllers
algorithm	the algorithm to use

◆ init_algorithm() [3/3]

void gams::controllers::Multicontroller::init_algorithm	(	size_t	controller_index,
		const std::string &	algorithm,
		const madara::knowledge::KnowledgeMap &	args = `madara::knowledge::KnowledgeMap()`
	)

Initializes a specific controller with an algorithm.

Parameters

controller_index	the index of the managed controllers
algorithm	the name of the algorithm to run
args	vector of knowledge record arguments

◆ init_platform() [1/3]

void gams::controllers::Multicontroller::init_platform	(	const std::string &	platform,
		const madara::knowledge::KnowledgeMap &	args = `madara::knowledge::KnowledgeMap()`
	)

Initializes all managed controllers with the platform.

Parameters

platform	the name of the platform the controller is using
args	vector of knowledge record arguments

◆ init_platform() [2/3]

void gams::controllers::Multicontroller::init_platform	(	size_t	controller_index,
		const std::string &	platform,
		const madara::knowledge::KnowledgeMap &	args = `madara::knowledge::KnowledgeMap()`
	)

Initializes the platform.

Parameters

controller_index	the index of the managed controllers
platform	the name of the platform the controller is using
args	vector of knowledge record arguments

◆ init_platform() [3/3]

void gams::controllers::Multicontroller::init_platform	(	size_t	controller_index,
		platforms::BasePlatform *	platform
	)

Initializes the controller with a user-provided platform.

This platform's memory will be maintained by the controller. DO NOT DELETE THIS POINTER.

Parameters

controller_index	the index of the managed controllers
platform	the platform to use

◆ init_vars() [1/3]

void gams::controllers::Multicontroller::init_vars	(	const madara::knowledge::KnowledgeRecord::Integer &	id = `0`,
		const madara::knowledge::KnowledgeRecord::Integer &	processes = `-1`
	)

Initializes global variable containers.

Parameters

id	node identifier
processes	processes

◆ init_vars() [2/3]

void gams::controllers::Multicontroller::init_vars	(	size_t	controller_index,
		algorithms::BaseAlgorithm &	algorithm
	)

Initializes containers and knowledge base in an algorithm.

This is usually the first thing a developer should do with a user-defined algorithm.

Parameters

controller_index	the index of the managed controllers
algorithm	the algorithm to initialize

◆ init_vars() [3/3]

void gams::controllers::Multicontroller::init_vars	(	size_t	controller_index,
		platforms::BasePlatform &	platform
	)

Initializes containers and knowledge base in a platform This is usually the first thing a developer should do with a user-defined platform.

Parameters

controller_index	the index of the managed controllers
platform	the platform to initialize

◆ refresh_vars()

void gams::controllers::Multicontroller::refresh_vars ( bool init_non_self_vars = false )

Calls init_vars for each controller.

Useful after clearing knowledge to repopulate the self identifying variables

Parameters

init_non_self_vars if true, populate agent vars for swarm, which is very memory expensive with 400+

◆ resize()

void gams::controllers::Multicontroller::resize	(	size_t	num_controllers,
		bool	init_non_self_vars = `false`
	)

Resizes the number of controllers and knowledge bases.

Parameters

num_controllers	the number of controllers to manage
init_non_self_vars	if true, populate agent vars for swarm, which is very memory expensive with 400+

◆ run() [1/2]

int gams::controllers::Multicontroller::run	(	double	loop_period,
		double	max_runtime = `-1`,
		double	send_period = `-1.0`
	)

Runs iterations of the MAPE loop with specified periods.

Parameters

loop_period	time(in seconds) between executions of the loop. 0 period is meant to run loop iterations as fast as possible. Negative loop periods are invalid.
max_runtime	maximum total runtime to execute the MAPE loops
send_period	time(in seconds) between sending data. If send_period <= 0, send period will use the loop period.

Returns: the result of the MAPE loop

◆ run() [2/2]

int gams::controllers::Multicontroller::run ( void )

Runs iterations of the MAPE loop with configured settings.

Returns: the result of the MAPE loop

◆ run_hz()

int gams::controllers::Multicontroller::run_hz	(	double	loop_hz = `0.0`,
		double	max_runtime = `-1`,
		double	send_hz = `-1.0`
	)

inline

Runs iterations of the MAPE loop with specified hertz.

Parameters

loop_hz	the intended hz at which the loop should execute. anything non-negative is valid. 0hz is treated as as infinite hertz
max_runtime	maximum total runtime to execute the MAPE loops
send_hz	the intended hz at which updates should be sent. If non-positive, loop_hz is used.

Returns: the result of the MAPE loop

Definition at line 381 of file Multicontroller.h.

◆ run_once()

int gams::controllers::Multicontroller::run_once ( void )

Runs a single iteration of the MAPE loop Always sends updates after the iteration.

Returns: the result of the MAPE loop iteration

Member Data Documentation

◆ controllers_

std::vector<BaseController *> gams::controllers::Multicontroller::controllers_

protected

Controllers that need to be instrumented.

Definition at line 407 of file Multicontroller.h.

◆ kbs_

std::vector<madara::knowledge::KnowledgeBase> gams::controllers::Multicontroller::kbs_

protected

Knowledge base.

Definition at line 410 of file Multicontroller.h.

◆ settings_

ControllerSettings gams::controllers::Multicontroller::settings_

protected

Settings for controller management and qos.

Definition at line 416 of file Multicontroller.h.

◆ sim_step_

int gams::controllers::Multicontroller::sim_step_ = 0

protected

used explicitly by the scrimmage platform. Will be moved

Definition at line 419 of file Multicontroller.h.

◆ transports_

std::vector<madara::transport::SharedMemoryPush *> gams::controllers::Multicontroller::transports_

protected

transports meant for fast memory transport within the controller

Definition at line 413 of file Multicontroller.h.

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

src/gams/controllers/Multicontroller.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Multicontroller()

◆ ~Multicontroller()

Member Function Documentation

◆ add_algorithm_factory()

◆ add_platform_factory()

◆ add_transports()

◆ clear_accents()

◆ clear_knowledge()

◆ evaluate() [1/2]

◆ evaluate() [2/2]

◆ get_algorithm()

◆ get_kb()

◆ get_num_controllers()

◆ get_platform()

◆ init_accent() [1/2]

◆ init_accent() [2/2]

◆ init_algorithm() [1/3]

◆ init_algorithm() [2/3]

◆ init_algorithm() [3/3]

◆ init_platform() [1/3]

◆ init_platform() [2/3]

◆ init_platform() [3/3]

◆ init_vars() [1/3]

◆ init_vars() [2/3]

◆ init_vars() [3/3]

◆ refresh_vars()

◆ resize()

◆ run() [1/2]

◆ run() [2/2]

◆ run_hz()

◆ run_once()

Member Data Documentation

◆ controllers_

◆ kbs_

◆ settings_

◆ sim_step_

◆ transports_