Uses a Computation Graph to execute datapack transformation operations. More...

#include <computational_graph_handle.h>

Inheritance diagram for ComputationalGraphHandle:

Public Member Functions
	ComputationalGraphHandle (SimulationDataManager *simulationDataManager, bool slaveMode=false, bool spinROS=false)

void	init (const jsonSharedPtr &simConfig, const engine_interfaces_t &engines) override
	Initializes the handler. More...

void	updateDataPacksFromEngines (const std::vector< EngineClientInterfaceSharedPtr > &engines) override
	Request datapacks from engines. More...

void	compute (const std::vector< EngineClientInterfaceSharedPtr > &engines) override
	Perform computations on datapacks. More...

void	sendDataPacksToEngines (const std::vector< EngineClientInterfaceSharedPtr > &engines) override
	Send datapacks to engines. More...

Public Member Functions inherited from DataPackProcessor
	DataPackProcessor ()=delete

	DataPackProcessor (SimulationDataManager *simulationDataManager)

virtual	~DataPackProcessor ()=default

virtual void	postEngineInit (const std::vector< EngineClientInterfaceSharedPtr > &)
	Performs post-engine-initialization DataPack operations. More...

virtual void	preEngineReset (const std::vector< EngineClientInterfaceSharedPtr > &)
	Performs pre-engine-reset DataPack operations. More...

virtual void	postEngineReset (const std::vector< EngineClientInterfaceSharedPtr > &)
	Performs post-engine-reset DataPack operations. More...

void	datapackCycle (const std::vector< EngineClientInterfaceSharedPtr > &engines)
	Execute sequentially the update, compute and send operations. More...

void	setSimulationTime (SimulationTime simulationTime)

void	setSimulationIteration (unsigned long simulationIteration)

Public Attributes
bool	_slaveMode

bool	_spinROS

PyGILState_STATE	_pyGILState

std::map< std::string, InputEngineNode * >	_inputs
	Map containing all InputEngineNodes associated with this simulation. More...

std::map< std::string, OutputEngineNode * >	_outputs
	Map containing all OutputEngineNodes associated with this simulation. More...

InputClockNode *	_clock = nullptr
	Pointer to the clock_node of the graph. More...

InputIterationNode *	_iteration = nullptr
	Pointer to the iteration_node of the graph. More...

Additional Inherited Members
Public Types inherited from DataPackProcessor
using	engine_interfaces_t = std::vector< EngineClientInterfaceSharedPtr >

Protected Attributes inherited from DataPackProcessor
SimulationDataManager *	_simulationDataManager

SimulationTime	_simulationTime = SimulationTime::zero()

unsigned long	_simulationIteration = 0L

Detailed Description

Uses a Computation Graph to execute datapack transformation operations.

Constructor & Destructor Documentation

◆ ComputationalGraphHandle()

ComputationalGraphHandle::ComputationalGraphHandle	(	SimulationDataManager *	simulationDataManager,
		bool	slaveMode = `false`,
		bool	spinROS = `false`
	)

inline

Member Function Documentation

◆ compute()

void ComputationalGraphHandle::compute ( const std::vector< EngineClientInterfaceSharedPtr > & engines )

inlineoverridevirtual

Perform computations on datapacks.

Parameters

engines Engines that are been synchronize in the current loop

Implements DataPackProcessor.

◆ init()

void ComputationalGraphHandle::init	(	const jsonSharedPtr &	simConfig,
		const engine_interfaces_t &	engines
	)

inlineoverridevirtual

Initializes the handler.

Parameters

simConfig	json object containing configuration information to initialize the handler
engines	list of Engine clients participating in the simulation

Implements DataPackProcessor.

◆ sendDataPacksToEngines()

void ComputationalGraphHandle::sendDataPacksToEngines ( const std::vector< EngineClientInterfaceSharedPtr > & engines )

inlineoverridevirtual

Send datapacks to engines.

Parameters

engines Engines that are been synchronize in the current loop

Implements DataPackProcessor.

◆ updateDataPacksFromEngines()

void ComputationalGraphHandle::updateDataPacksFromEngines ( const std::vector< EngineClientInterfaceSharedPtr > & engines )

inlineoverridevirtual

Request datapacks from engines.

Parameters

engines Engines that are been synchronize in the current loop

Implements DataPackProcessor.

Member Data Documentation

◆ _clock

InputClockNode* ComputationalGraphHandle::_clock = nullptr

Pointer to the clock_node of the graph.

◆ _inputs

std::map<std::string, InputEngineNode*> ComputationalGraphHandle::_inputs

Map containing all InputEngineNodes associated with this simulation.

◆ _iteration

InputIterationNode* ComputationalGraphHandle::_iteration = nullptr

Pointer to the iteration_node of the graph.

◆ _outputs

std::map<std::string, OutputEngineNode*> ComputationalGraphHandle::_outputs

Map containing all OutputEngineNodes associated with this simulation.

◆ _pyGILState

PyGILState_STATE ComputationalGraphHandle::_pyGILState

◆ _slaveMode

bool ComputationalGraphHandle::_slaveMode

◆ _spinROS

bool ComputationalGraphHandle::_spinROS

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

nrp_simulation/nrp_simulation/datapack_handle/computational_graph_handle.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ComputationalGraphHandle()

Member Function Documentation

◆ compute()

◆ init()

◆ sendDataPacksToEngines()

◆ updateDataPacksFromEngines()

Member Data Documentation

◆ _clock

◆ _inputs

◆ _iteration

◆ _outputs

◆ _pyGILState

◆ _slaveMode

◆ _spinROS