A highly extensible MAPE loop. More...

#include <MapeLoop.h>

Public Member Functions
	MapeLoop (madara::knowledge::KnowledgeBase &knowledge)
	Constructor. More...

	~MapeLoop ()
	Destructor. More...

void	define_analyze (madara::knowledge::KnowledgeRecord(*func)(madara::knowledge::FunctionArguments &, madara::knowledge::Variables &))
	Defines the analyze function (the A of MAPE). More...

void	define_execute (madara::knowledge::KnowledgeRecord(*func)(madara::knowledge::FunctionArguments &, madara::knowledge::Variables &))
	Defines the execute function (the E of MAPE). More...

void	define_mape (const std::string &loop="monitor (); analyze (); plan (); execute ()")
	Defines the MAPE loop. More...

void	define_monitor (madara::knowledge::KnowledgeRecord(*func)(madara::knowledge::FunctionArguments &, madara::knowledge::Variables &))
	Defines the monitor function (the M of MAPE). More...

void	define_plan (madara::knowledge::KnowledgeRecord(*func)(madara::knowledge::FunctionArguments &, madara::knowledge::Variables &))
	Defines the plan function (the P of MAPE). More...

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

madara::knowledge::KnowledgeRecord	run (double period=0.5, double max_runtime=-1)
	Runs one iteration of the MAPE loop. More...

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

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

madara::knowledge::CompiledExpression	mape_loop_
	Compiled MAPE MapeLoop. More...

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

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

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

Detailed Description

A highly extensible MAPE loop.

Definition at line 78 of file MapeLoop.h.

Constructor & Destructor Documentation

gams::controllers::MapeLoop::MapeLoop ( madara::knowledge::KnowledgeBase & knowledge )

Constructor.

Parameters

knowledge The knowledge base to reference and mutate

gams::controllers::MapeLoop::~MapeLoop ( )

Destructor.

Member Function Documentation

void gams::controllers::MapeLoop::define_analyze ( madara::knowledge::KnowledgeRecord(*)(madara::knowledge::FunctionArguments &, madara::knowledge::Variables &) func )

Defines the analyze function (the A of MAPE).

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

Parameters

func	the function to call

void gams::controllers::MapeLoop::define_execute ( madara::knowledge::KnowledgeRecord(*)(madara::knowledge::FunctionArguments &, madara::knowledge::Variables &) func )

Defines the execute function (the E of MAPE).

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

Parameters

func	the function to call

void gams::controllers::MapeLoop::define_mape ( const std::string & loop = "monitor (); analyze (); plan (); execute ()" )

Defines the MAPE loop.

void gams::controllers::MapeLoop::define_monitor ( madara::knowledge::KnowledgeRecord(*)(madara::knowledge::FunctionArguments &, madara::knowledge::Variables &) func )

Defines the monitor function (the M of MAPE).

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

Parameters

func	the function to call

void gams::controllers::MapeLoop::define_plan ( madara::knowledge::KnowledgeRecord(*)(madara::knowledge::FunctionArguments &, madara::knowledge::Variables &) func )

Defines the plan function (the P of MAPE).

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

Parameters

func	the function to call

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

Initializes global variable containers.

Parameters

knowledge	the knowledge base to reference
id	node identifier
processes	processes

madara::knowledge::KnowledgeRecord gams::controllers::MapeLoop::run	(	double	period = `0.5`,
		double	max_runtime = `-1`
	)

Runs one iteration of the MAPE loop.

Parameters

period	time between executions of the loop
max_runtime	maximum runtime within the MAPE loop

Returns: the result of the MAPE loop

Member Data Documentation

variables::Agents gams::controllers::MapeLoop::agents_

protected

Containers for agent-related variables.

Definition at line 160 of file MapeLoop.h.

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

protected

knowledge base

Definition at line 163 of file MapeLoop.h.

madara::knowledge::CompiledExpression gams::controllers::MapeLoop::mape_loop_

protected

Compiled MAPE MapeLoop.

Definition at line 166 of file MapeLoop.h.

variables::Self gams::controllers::MapeLoop::self_

protected

Containers for self-referencing variables.

Definition at line 169 of file MapeLoop.h.

variables::Sensors gams::controllers::MapeLoop::sensors_

protected

Containers for sensor information.

Definition at line 172 of file MapeLoop.h.

variables::Swarm gams::controllers::MapeLoop::swarm_

protected

Containers for swarm-related variables.

Definition at line 175 of file MapeLoop.h.

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

src/gams/controllers/MapeLoop.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation