A controller that has the capability of starting many different threads. More...

#include <Multicontroller.h>

Public Member Functions
	Multicontroller (madara::knowledge::KnowledgeBase &knowledge)
	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...

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

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

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

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

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

void	init_accent (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 an algorithm. More...

void	init_algorithm (algorithms::BaseAlgorithm *algorithm)
	Initializes the controller with a user-provided 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 (const madara::knowledge::KnowledgeRecord::Integer &id=0, const madara::knowledge::KnowledgeRecord::Integer &processes=-1)
	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...

void	init_vars (algorithms::BaseAlgorithm &algorithm)
	Initializes containers and knowledge base in an algorithm. 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=0.0, double max_runtime=-1, double send_period=-1.0)
	Runs iterations of the MAPE loop with specified periods. 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...

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...

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...

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

A controller that has the capability of starting many different threads.

Definition at line 83 of file Multicontroller.h.

Constructor & Destructor Documentation

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

Constructor.

Parameters

knowledge The knowledge base to reference and mutate

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

virtual

Destructor.

Member Function Documentation

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

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

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

virtual

Defines the analyze function (the A of MAPE).

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

void gams::controllers::Multicontroller::clear_accents ( void )

Clears all accent algorithms.

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

virtual

Defines the execute function (the E of MAPE).

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

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

Gets the current algorithm.

Returns: the algorithm

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

Gets the current platform.

Returns: the platform

void gams::controllers::Multicontroller::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

void gams::controllers::Multicontroller::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

void gams::controllers::Multicontroller::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

void gams::controllers::Multicontroller::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

void gams::controllers::Multicontroller::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

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

void gams::controllers::Multicontroller::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

void gams::controllers::Multicontroller::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

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

virtual

Defines the monitor function (the M of MAPE).

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

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

virtual

Defines the plan function (the P of MAPE).

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

int gams::controllers::Multicontroller::run	(	double	loop_period = `0.0`,
		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

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 161 of file Multicontroller.h.

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

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

private

Code shared between run and run_once.

virtual int gams::controllers::Multicontroller::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

algorithms::Algorithms gams::controllers::Multicontroller::accents_

protected

Accents on the primary algorithm.

Definition at line 307 of file Multicontroller.h.

variables::Agents gams::controllers::Multicontroller::agents_

protected

Containers for agent-related variables.

Definition at line 316 of file Multicontroller.h.

algorithms::BaseAlgorithm* gams::controllers::Multicontroller::algorithm_

protected

Algorithm to perform.

Definition at line 310 of file Multicontroller.h.

variables::Algorithms gams::controllers::Multicontroller::algorithms_

protected

Containers for algorithm information.

Definition at line 313 of file Multicontroller.h.

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

protected

Knowledge base.

Definition at line 319 of file Multicontroller.h.

platforms::BasePlatform* gams::controllers::Multicontroller::platform_

protected

Platform on which the controller is running.

Definition at line 322 of file Multicontroller.h.

variables::Platforms gams::controllers::Multicontroller::platforms_

protected

Containers for platform information.

Definition at line 325 of file Multicontroller.h.

variables::Self gams::controllers::Multicontroller::self_

protected

Containers for self-referencing variables.

Definition at line 328 of file Multicontroller.h.

variables::Sensors gams::controllers::Multicontroller::sensors_

protected

Containers for sensor information.

Definition at line 331 of file Multicontroller.h.

variables::Swarm gams::controllers::Multicontroller::swarm_

protected

Containers for swarm-related variables.

Definition at line 334 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

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation