The basic controller that can be used to perform actions on platforms and algorithms. More...

#include <BaseController.h>

Public Member Functions
	BaseController (madara::knowledge::KnowledgeBase &knowledge, const ControllerSettings &settings=ControllerSettings())
	Constructor. More...

virtual	~BaseController ()
	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...

virtual int	analyze (void)
	Defines the analyze function(the A of MAPE). More...

void	clear_accents (void)
	Clears all accent algorithms. More...

void	configure (const ControllerSettings &settings)
	Configures the controller with initialization settings. More...

virtual int	execute (void)
	Defines the execute function(the E of MAPE). More...

algorithms::BaseAlgorithm *	get_algorithm (void)
	Gets the current algorithm. More...

madara::knowledge::KnowledgeBase *	get_kb (void)
	Gets the KB. More...

platforms::BasePlatform *	get_platform (void)
	Gets the current platform. More...

variables::Self *	get_self (void)
	Gets the Self. More...

variables::Sensors *	get_sensors (void)
	Gets the sensors map. More...

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

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

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

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

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

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

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

void	init_vars (const std::string &self_prefix, const groups::GroupBase *group)
	Initializes global variable containers. More...

void	init_vars (const std::string &self_prefix, const std::string &group_name="")
	Initializes global variable containers. More...

void	init_vars (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...

virtual int	monitor (void)
	Defines the monitor function(the M of MAPE). More...

virtual int	plan (void)
	Defines the plan function(the P of MAPE). 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...

void	save_checkpoint (void)
	Saves a checkpoint according to the configured settings. More...

virtual int	system_analyze (void)
	Analyzes the system to determine if platform or algorithm changes are necessary. More...

Protected Attributes
algorithms::Algorithms	accents_
	Accents on the primary algorithm. More...

variables::Agents	agents_
	Containers for agent-related variables. More...

algorithms::BaseAlgorithm *	algorithm_
	Algorithm to perform. More...

variables::Algorithms	algorithms_
	Containers for algorithm information. More...

int	checkpoint_count_
	keeps track of the checkpoints saved in the control loop More...

madara::knowledge::KnowledgeBase &	knowledge_
	Knowledge base. More...

platforms::BasePlatform *	platform_
	Platform on which the controller is running. More...

variables::Platforms	platforms_
	Containers for platform information. More...

variables::Self	self_
	Containers for self-referencing variables. More...

variables::Sensors	sensors_
	Containers for sensor information. More...

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

variables::Swarm	swarm_
	Containers for swarm-related variables. More...

Private Member Functions
int	run_once_ (void)
	Code shared between run and run_once. More...

Detailed Description

The basic controller that can be used to perform actions on platforms and algorithms.

Definition at line 87 of file BaseController.h.

Constructor & Destructor Documentation

◆ BaseController()

gams::controllers::BaseController::BaseController	(	madara::knowledge::KnowledgeBase &	knowledge,
		const ControllerSettings &	settings = `ControllerSettings()`
	)

Constructor.

Parameters

knowledge	The knowledge base to reference and mutate
settings	an initial configuration for the controller

◆ ~BaseController()

virtual gams::controllers::BaseController::~BaseController ( )

virtual

Destructor.

Member Function Documentation

◆ add_algorithm_factory()

void gams::controllers::BaseController::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 BaseController.

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::BaseController::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 BaseController.

Parameters

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

◆ analyze()

virtual int gams::controllers::BaseController::analyze ( void )

virtual

Defines the analyze function(the A of MAPE).

This function should return a 0 unless the MAPE loop should stop.

◆ clear_accents()

void gams::controllers::BaseController::clear_accents ( void )

Clears all accent algorithms.

◆ configure()

void gams::controllers::BaseController::configure ( const ControllerSettings & settings )

Configures the controller with initialization settings.

◆ execute()

virtual int gams::controllers::BaseController::execute ( void )

virtual

Defines the execute function(the E of MAPE).

This function should return a 0 unless the MAPE loop should stop.

◆ get_algorithm()

algorithms::BaseAlgorithm* gams::controllers::BaseController::get_algorithm ( void )

Gets the current algorithm.

Returns: the algorithm

◆ get_kb()

madara::knowledge::KnowledgeBase* gams::controllers::BaseController::get_kb ( void )

Gets the KB.

Returns: the KB

◆ get_platform()

platforms::BasePlatform* gams::controllers::BaseController::get_platform ( void )

Gets the current platform.

Returns: the platform

◆ get_self()

variables::Self* gams::controllers::BaseController::get_self ( void )

Gets the Self.

Returns: the Self

◆ get_sensors()

variables::Sensors* gams::controllers::BaseController::get_sensors ( void )

Gets the sensors map.

Returns: the sensors

◆ init_accent()

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

Adds an accent algorithm.

Parameters

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

◆ init_algorithm() [1/2]

void gams::controllers::BaseController::init_algorithm ( 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

algorithm the algorithm to use

◆ init_algorithm() [2/2]

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

Initializes an algorithm.

Parameters

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

◆ init_platform() [1/2]

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

Initializes the platform.

Parameters

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

◆ init_platform() [2/2]

void gams::controllers::BaseController::init_platform ( 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

platform the platform to use

◆ init_vars() [1/5]

void gams::controllers::BaseController::init_vars ( 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

algorithm the algorithm to initialize

◆ init_vars() [2/5]

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

Initializes global variable containers.

Parameters

id	node identifier
agents	number of total agents

◆ init_vars() [3/5]

void gams::controllers::BaseController::init_vars	(	const std::string &	self_prefix,
		const groups::GroupBase *	group
	)

Initializes global variable containers.

Parameters

self_prefix	the prefix of the agent in the knowledge base
group	the group that should populate agents

◆ init_vars() [4/5]

void gams::controllers::BaseController::init_vars	(	const std::string &	self_prefix,
		const std::string &	group_name = `""`
	)

Initializes global variable containers.

Parameters

self_prefix	the prefix of the agent in the knowledge base
group_name	the name of the group that the agent listing should come from

◆ init_vars() [5/5]

void gams::controllers::BaseController::init_vars ( 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

platform the platform to initialize

◆ monitor()

virtual int gams::controllers::BaseController::monitor ( void )

virtual

Defines the monitor function(the M of MAPE).

This function should return a 0 unless the MAPE loop should stop.

◆ plan()

virtual int gams::controllers::BaseController::plan ( void )

virtual

Defines the plan function(the P of MAPE).

This function should return a 0 unless the MAPE loop should stop.

◆ run() [1/2]

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

Runs iterations of the MAPE loop with configured settings.

Returns: the result of the MAPE loop

◆ run_hz()

int gams::controllers::BaseController::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 167 of file BaseController.h.

◆ run_once()

int gams::controllers::BaseController::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

◆ run_once_()

int gams::controllers::BaseController::run_once_ ( void )

private

Code shared between run and run_once.

◆ save_checkpoint()

void gams::controllers::BaseController::save_checkpoint ( void )

Saves a checkpoint according to the configured settings.

◆ system_analyze()

virtual int gams::controllers::BaseController::system_analyze ( void )

virtual

Analyzes the system to determine if platform or algorithm changes are necessary.

This function should return a 0 unless the MAPE loop should stop.

Member Data Documentation

◆ accents_

algorithms::Algorithms gams::controllers::BaseController::accents_

protected

Accents on the primary algorithm.

Definition at line 365 of file BaseController.h.

◆ agents_

variables::Agents gams::controllers::BaseController::agents_

protected

Containers for agent-related variables.

Definition at line 374 of file BaseController.h.

◆ algorithm_

algorithms::BaseAlgorithm* gams::controllers::BaseController::algorithm_

protected

Algorithm to perform.

Definition at line 368 of file BaseController.h.

◆ algorithms_

variables::Algorithms gams::controllers::BaseController::algorithms_

protected

Containers for algorithm information.

Definition at line 371 of file BaseController.h.

◆ checkpoint_count_

int gams::controllers::BaseController::checkpoint_count_

protected

keeps track of the checkpoints saved in the control loop

Definition at line 398 of file BaseController.h.

◆ knowledge_

madara::knowledge::KnowledgeBase& gams::controllers::BaseController::knowledge_

protected

Knowledge base.

Definition at line 377 of file BaseController.h.

◆ platform_

platforms::BasePlatform* gams::controllers::BaseController::platform_

protected

Platform on which the controller is running.

Definition at line 380 of file BaseController.h.

◆ platforms_

variables::Platforms gams::controllers::BaseController::platforms_

protected

Containers for platform information.

Definition at line 383 of file BaseController.h.

◆ self_

variables::Self gams::controllers::BaseController::self_

protected

Containers for self-referencing variables.

Definition at line 386 of file BaseController.h.

◆ sensors_

variables::Sensors gams::controllers::BaseController::sensors_

protected

Containers for sensor information.

Definition at line 389 of file BaseController.h.

◆ settings_

ControllerSettings gams::controllers::BaseController::settings_

protected

Settings for controller management and qos.

Definition at line 395 of file BaseController.h.

◆ swarm_

variables::Swarm gams::controllers::BaseController::swarm_

protected

Containers for swarm-related variables.

Definition at line 392 of file BaseController.h.

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

src/gams/controllers/BaseController.h

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BaseController()

◆ ~BaseController()

Member Function Documentation

◆ add_algorithm_factory()

◆ add_platform_factory()

◆ analyze()

◆ clear_accents()

◆ configure()

◆ execute()

◆ get_algorithm()

◆ get_kb()

◆ get_platform()

◆ get_self()

◆ get_sensors()

◆ init_accent()

◆ init_algorithm() [1/2]

◆ init_algorithm() [2/2]

◆ init_platform() [1/2]

◆ init_platform() [2/2]

◆ init_vars() [1/5]

◆ init_vars() [2/5]

◆ init_vars() [3/5]

◆ init_vars() [4/5]

◆ init_vars() [5/5]

◆ monitor()

◆ plan()

◆ run() [1/2]

◆ run() [2/2]

◆ run_hz()

◆ run_once()

◆ run_once_()

◆ save_checkpoint()

◆ system_analyze()

Member Data Documentation

◆ accents_

◆ agents_

◆ algorithm_

◆ algorithms_

◆ checkpoint_count_

◆ knowledge_

◆ platform_

◆ platforms_

◆ self_

◆ sensors_

◆ settings_

◆ swarm_