Scheduler is a class which provides functionality for stepped simulation. More...

#include <adore_scheduler.h>

Collaboration diagram for adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >:

Public Member Functions
void	init ()

void	updateClientUpperTimeLimit (const adore_if_ros_scheduling_msg::SchedulerNotification::ConstPtr &msg)

void	setNewTime (bool incrementalIncrease=false)

void	togglePause ()

void	limitSimulationSpeed ()

void	write ()

uint32_t	getTimeDiff (TimeKeyType subtrahend, TimeKeyType minuend)

void	printTime ()

void	saveClientName (const std_msgs::String::ConstPtr &msg)

void	printInfo ()

void	start ()

Static Public Member Functions
static Scheduler *	getInstance (ros::NodeHandle &n, int minRegisters, bool autostart, bool tcp_no_delay)

Private Types
using	ScheduleMap = std::multimap< TimeKeyType, RegistreeInfo >

Private Member Functions
void	updateSchedule (RegistreeInfo ri, TimeKeyType tk)

	Scheduler (ros::NodeHandle &n, int minRegisters, bool autostart, bool tcp_no_delay)

Private Attributes
ros::Subscriber	m_notificationReader

ros::Subscriber	m_clientNameReader

ros::Publisher	m_simulationTimeWriter

ros::Publisher	m_clockTimeWriter

SchedulerNotificationConversion	m_schedulerNotificationConversion

ClockTimeConversion	m_clockTimeConversion

bool	m_pause

int	m_minRegisters

bool	m_autostart

bool	m_started

int	m_printIntervalS

bool	m_limitSimulationSpeed

std::pair< uint32_t, uint32_t >	m_lastWallTime

std::pair< uint32_t, uint32_t >	m_lastRosTime

ScheduleMap *	m_schedule

TimeKeyType	m_now

std::pair< TimeKeyType, std::pair< uint32_t, uint32_t > >	m_lastTimeSet

std::unordered_map< RegistreeInfo, std::string >	m_clientNames

Detailed Description

template<typename RegistreeInfo, typename TimeKeyType>
class adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >

Scheduler is a class which provides functionality for stepped simulation.

Member Typedef Documentation

◆ ScheduleMap

template<typename RegistreeInfo , typename TimeKeyType >

using adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::ScheduleMap = std::multimap<TimeKeyType, RegistreeInfo>

private

Constructor & Destructor Documentation

◆ Scheduler()

template<typename RegistreeInfo , typename TimeKeyType >

adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::Scheduler	(	ros::NodeHandle &	n,
		int	minRegisters,
		bool	autostart,
		bool	tcp_no_delay
	)

inlineprivate

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Member Function Documentation

◆ getInstance()

template<typename RegistreeInfo , typename TimeKeyType >

static Scheduler* adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::getInstance	(	ros::NodeHandle &	n,
		int	minRegisters,
		bool	autostart,
		bool	tcp_no_delay
	)

inlinestatic

return instance of Scheduler class

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◆ getTimeDiff()

template<typename RegistreeInfo , typename TimeKeyType >

uint32_t adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::getTimeDiff	(	TimeKeyType	subtrahend,
		TimeKeyType	minuend
	)

inline

get time differnce in nano seconds

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◆ init()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::init ( )

inline

init

◆ limitSimulationSpeed()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::limitSimulationSpeed ( )

inline

limit the speed of simulation to the speed of ros::WallTime (inaccurate)

◆ printInfo()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::printInfo ( )

inline

print information to std::cout

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◆ printTime()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::printTime ( )

inline

print time information to std::cout

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◆ saveClientName()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::saveClientName ( const std_msgs::String::ConstPtr & msg )

inline

save name of client associated with id

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◆ setNewTime()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::setNewTime ( bool incrementalIncrease = false )

inline

set new simulation and clock time

incrementalIncrease must be used in order to trigger initial timer event in ros based python nodes

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◆ start()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::start ( )

inline

start the scheduling

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◆ togglePause()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::togglePause ( )

inline

pause and unpause the time

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◆ updateClientUpperTimeLimit()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::updateClientUpperTimeLimit ( const adore_if_ros_scheduling_msg::SchedulerNotification::ConstPtr & msg )

inline

update uppter time limit associated with certain client

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◆ updateSchedule()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::updateSchedule	(	RegistreeInfo	ri,
		TimeKeyType	tk
	)

inlineprivate

Search for the registree info in m_schedule and replace the associated time key

If the registree info is not found, it is added to the m_schedule

Parameters

ri	registree info
tk	time key

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◆ write()

template<typename RegistreeInfo , typename TimeKeyType >

void adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::write ( )

inline

publisch new time signal

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Member Data Documentation

◆ m_autostart

template<typename RegistreeInfo , typename TimeKeyType >

bool adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_autostart

private

◆ m_clientNameReader

template<typename RegistreeInfo , typename TimeKeyType >

ros::Subscriber adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_clientNameReader

private

◆ m_clientNames

template<typename RegistreeInfo , typename TimeKeyType >

std::unordered_map<RegistreeInfo, std::string> adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_clientNames

private

◆ m_clockTimeConversion

template<typename RegistreeInfo , typename TimeKeyType >

ClockTimeConversion adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_clockTimeConversion

private

◆ m_clockTimeWriter

template<typename RegistreeInfo , typename TimeKeyType >

ros::Publisher adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_clockTimeWriter

private

◆ m_lastRosTime

template<typename RegistreeInfo , typename TimeKeyType >

std::pair<uint32_t, uint32_t> adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_lastRosTime

private

◆ m_lastTimeSet

template<typename RegistreeInfo , typename TimeKeyType >

std::pair<TimeKeyType, std::pair<uint32_t, uint32_t> > adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_lastTimeSet

private

◆ m_lastWallTime

template<typename RegistreeInfo , typename TimeKeyType >

std::pair<uint32_t, uint32_t> adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_lastWallTime

private

◆ m_limitSimulationSpeed

template<typename RegistreeInfo , typename TimeKeyType >

bool adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_limitSimulationSpeed

private

◆ m_minRegisters

template<typename RegistreeInfo , typename TimeKeyType >

int adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_minRegisters

private

◆ m_notificationReader

template<typename RegistreeInfo , typename TimeKeyType >

ros::Subscriber adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_notificationReader

private

◆ m_now

template<typename RegistreeInfo , typename TimeKeyType >

TimeKeyType adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_now

private

◆ m_pause

template<typename RegistreeInfo , typename TimeKeyType >

bool adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_pause

private

◆ m_printIntervalS

template<typename RegistreeInfo , typename TimeKeyType >

int adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_printIntervalS

private

◆ m_schedule

template<typename RegistreeInfo , typename TimeKeyType >

ScheduleMap* adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_schedule

private

◆ m_schedulerNotificationConversion

template<typename RegistreeInfo , typename TimeKeyType >

SchedulerNotificationConversion adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_schedulerNotificationConversion

private

◆ m_simulationTimeWriter

template<typename RegistreeInfo , typename TimeKeyType >

ros::Publisher adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_simulationTimeWriter

private

◆ m_started

template<typename RegistreeInfo , typename TimeKeyType >

bool adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >::m_started

private

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

/home/fascar/temp/adore/adore_scheduling/adore_scheduler/adore_scheduler/include/adore_scheduler.h

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<typename RegistreeInfo, typename TimeKeyType> class adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >

Member Typedef Documentation

◆ ScheduleMap

Constructor & Destructor Documentation

◆ Scheduler()

Member Function Documentation

◆ getInstance()

◆ getTimeDiff()

◆ init()

◆ limitSimulationSpeed()

◆ printInfo()

◆ printTime()

◆ saveClientName()

◆ setNewTime()

◆ start()

◆ togglePause()

◆ updateClientUpperTimeLimit()

◆ updateSchedule()

◆ write()

Member Data Documentation

◆ m_autostart

◆ m_clientNameReader

◆ m_clientNames

◆ m_clockTimeConversion

◆ m_clockTimeWriter

◆ m_lastRosTime

◆ m_lastTimeSet

◆ m_lastWallTime

◆ m_limitSimulationSpeed

◆ m_minRegisters

◆ m_notificationReader

◆ m_now

◆ m_pause

◆ m_printIntervalS

◆ m_schedule

◆ m_schedulerNotificationConversion

◆ m_simulationTimeWriter

◆ m_started

template<typename RegistreeInfo, typename TimeKeyType>
class adore_if_ros_scheduling::Scheduler< RegistreeInfo, TimeKeyType >