yane::NetworkedControl::ControllerThreadInput Class Reference

Class for simulating the plant and sensor in a distributed plant - sensor - controller - actuator setting.

Inheritance diagram for yane::NetworkedControl::ControllerThreadInput:

Collaboration diagram for yane::NetworkedControl::ControllerThreadInput:

List of all members.

Public Member Functions
	ControllerThreadInput (IOInterface *iface, yane::Model::Model *model, yane::Utils::DebugMaster *dm=0, yane::Utils::StatisticsMaster *sm=0)
	Constructor.
virtual void	detach ()
	Blocks until thread is finished, no return information.
virtual bool	isLocked ()
	Returns if thread is locked.
virtual bool	isRunning ()
	Returns if thread is running.
virtual void	lock ()
	Locks the thread, if already locked blocks.
void	setMPCThread (ControllerThreadMPC *thread)
	Function to set the MPC computing thread.
virtual void	start ()
	Creates the thread.
virtual void	stop ()
	Stops the thread.
virtual void	trigger ()
	Signal / Trigger the thread.
virtual bool	trylock ()
	Locks the thread but returns immediately.
virtual void	unlock ()
	Unlock the thread.
virtual void	wait ()
	Blocks until thread is finished, possible return information.
virtual	~ControllerThreadInput ()
	Destructor.
Protected Member Functions
virtual void	debugMessage (const std::string &message, int debuglevel)
	Submit a debugmessage.
virtual void	debugMessageDouble (const std::string &message, const std::string &varname, int length, double *data, int debuglevel)
	Submit a debugmessage with doublevalued data.
virtual void	debugMessageInt (const std::string &message, const std::string &varname, int length, int *data, int debuglevel)
	Submit a debugmessage with integervalued data.
virtual void	debugMessageString (const std::string &message, const std::string &varname, const char *data, int debuglevel)
	Submit a debugmessage with textstring data.
virtual void	run ()
	Function to start the sensor thread.
virtual bool	waitForTrigger (unsigned int wait_msec=0, int debuglevel=0)
	Block until triggered.
Protected Attributes
bool	_abort
ControlClipboard *	_cb
	Pointer of the control clipboard of class yane::NetworkedControl::ControlClipboard.
DebugClient *	_debugclient
yane::Model::StateEstimator *	_estimator
	Pointer of the state estimator of class yane::Model::StateEstimator.
IOInterface *	_interface
	Pointer of the network interface of class yane::NetworkedInterface::IOInterface.
int	_lastaddedcontrolcycle
	Sampling instant of the latest added control.
yane::Model::Model *	_model
	Pointer of the model of class yane::Model::Model.
ControllerThreadMPC *	_mpcthread
	Pointer of the MPC computation thread of class yane::NetworkedControl::ControllerThreadMPC.
yane::Model::Simulator *	_simulator
	Pointer of the simulator of class yane::Model::Simulator.
yane::Utils::StatisticsClientIntCounter *	_stat_read
	Statistics collector for received sensor values.

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Constructor & Destructor Documentation

yane::NetworkedControl::ControllerThreadInput::ControllerThreadInput	(	IOInterface *	iface,
		yane::Model::Model *	model,
		yane::Utils::DebugMaster *	dm = 0,
		yane::Utils::StatisticsMaster *	sm = 0
	)

Constructor

Parameters:

iface	Pointer of the input/output interface of class yane::MPC::IOInterface
model	Pointer of the class yane::Model::Model object used for optimization
dm	Pointer of the debugmanager of class yane::Utils::DebugMaster
sm	Pointer of the statistics manager of class yane::Utils::StatisticsMaster

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Member Function Documentation

LIB_EXPORT void yane::Utils::Thread::debugMessage	(	const std::string &	message,
		int	debuglevel
	)		[protected, virtual, inherited]

Added for convenient handling

Parameters:

message	Message which is debugged
debuglevel	Level with which the message is debugged.

LIB_EXPORT void yane::Utils::Thread::debugMessageDouble	(	const std::string &	message,
		const std::string &	varname,
		int	length,
		double *	data,
		int	debuglevel
	)		[protected, virtual, inherited]

Added for convenient handling

Parameters:

message	Message which is debugged
varname	Data name
length	Length of data array
data	Data which is added.
debuglevel	Level with which the message is debugged.

LIB_EXPORT void yane::Utils::Thread::debugMessageInt	(	const std::string &	message,
		const std::string &	varname,
		int	length,
		int *	data,
		int	debuglevel
	)		[protected, virtual, inherited]

Added for convenient handling

Parameters:

message	Message which is debugged
varname	Data name
length	Length of data array
data	Data which is added.
debuglevel	Level with which the message is debugged.

LIB_EXPORT void yane::Utils::Thread::debugMessageString	(	const std::string &	message,
		const std::string &	varname,
		const char *	data,
		int	debuglevel
	)		[protected, virtual, inherited]

Added for convenient handling

Parameters:

message	Message which is debugged
varname	Data name
data	Pointer to an additional nullterminated character array, that has to be stored as data
debuglevel	Level with which the message is debugged.

LIB_EXPORT void yane::Utils::Thread::detach

(

)

[virtual, inherited]

The calling thread is blocked until the thread is finished, no return information

LIB_EXPORT bool yane::Utils::Thread::isLocked

(

)

[virtual, inherited]

Returns wether the thread is locked or not.

Returns:

true if thread is locked.

LIB_EXPORT bool yane::Utils::Thread::isRunning

(

)

[virtual, inherited]

Returns wether the thread is running (_abort = false) or not.

Returns:

true if thread is running.

LIB_EXPORT void yane::Utils::Thread::lock

(

)

[virtual, inherited]

Locks the thread. If already locked the calling thread is blocked until the thread is unlocked.

void yane::NetworkedControl::ControllerThreadInput::setMPCThread

(

ControllerThreadMPC *

thread

)

Function to set the MPC computing thread

Parameters:

thread

MPC computing thread

LIB_EXPORT void yane::Utils::Thread::start

(

)

[virtual, inherited]

This function creates the thread and should be called after creating the object.

LIB_EXPORT void yane::Utils::Thread::stop

(

)

[virtual, inherited]

This function sets _abort to false, your thread should stop now.

LIB_EXPORT void yane::Utils::Thread::trigger

(

)

[virtual, inherited]

Signal a thread to resume, if it's blocked due to a call to waitForTrigger()

See also:

waitForTrigger()

LIB_EXPORT bool yane::Utils::Thread::trylock

(

)

[virtual, inherited]

Locks the thread. If already locked returns immediately.

Returns:

true if successful

LIB_EXPORT void yane::Utils::Thread::unlock

(

)

[virtual, inherited]

Unlocks the thread.

LIB_EXPORT void yane::Utils::Thread::wait

(

)

[virtual, inherited]

The calling thread is blocked until the thread is finished, possible return information

LIB_EXPORT bool yane::Utils::Thread::waitForTrigger	(	unsigned int	wait_msec = 0,
		int	debuglevel = 0
	)		[protected, virtual, inherited]

The calling function (usually the thread) is blocked until the function is triggered.

Parameters:

wait_msec	Time until waiting is aborted.
debuglevel	Debuglevel with which the abort message is stored.

Returns:

true if successful

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Member Data Documentation

bool yane::Utils::Thread::_abort [protected, inherited]

If true thread should be stopped. Value is changed by stop().

DebugClient* yane::Utils::Thread::_debugclient [protected, inherited]

Debugclient the debug messages are stored into.