#include <rt.hpp>

Inheritance diagram for RT::System:

Collaboration diagram for RT::System:

Public Member Functions
	System (Event::Manager em, RT::Connector rtc)

	System (const System &system)=delete

System &	operator= (const System &system)=delete

	System (System &&)=delete

System &	operator= (System &&)=delete

	~System () override

int64_t	getPeriod ()

std::vector< RT::Telemitry::Response >	getTelemitry ()

void	createTelemitryProcessor ()

void	receiveEvent (Event::Object *event) override

Public Member Functions inherited from Event::Handler
	Handler ()=default

	Handler (const Handler &)=default

	Handler (Handler &&)=delete

Handler &	operator= (const Handler &)=default

Handler &	operator= (Handler &&)=delete

virtual	~Handler ()=default

Detailed Description

Manages the RTOS as well as all objects that require realtime execution.

The System class is responsible for providing the execution context, closed real-time loop, and connection processes. Instantiation of this class automatically creates the real-time thread, and sets up communication with the Event::Manager class. Note that this does not initiate the telemitry system, and this should be created separately. The only real way to manage the real-time thread is by sending events, which system is programmed to transform into commands it can understand internally. This is designed to prevent use of non-realtime concurrency primitives that can slow down the system.

Definition at line 409 of file rt.hpp.

Constructor & Destructor Documentation

◆ System() [1/3]

RT::System::System	(	Event::Manager *	em,
		RT::Connector *	rtc
	)

explicit

Definition at line 274 of file rt.cpp.

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◆ System() [2/3]

RT::System::System ( const System & system )

delete

◆ System() [3/3]

RT::System::System ( System && )

delete

◆ ~System()

RT::System::~System ( )

override

Definition at line 296 of file rt.cpp.

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Member Function Documentation

◆ createTelemitryProcessor()

void RT::System::createTelemitryProcessor ( )

Creates a worker thread that reads telemitry from real-time thread

The passing of messages to the real-time thread using RT::System::receiveEvent is not enough to change system state as the system itself should not interact directly with concurrency primitives. The solution is to create a thread that will read telemitry struct and wakeup any sleeping threads associated with the given internal command. Without this, any caller that sends events to the system class will block indefinitely.

See also: RT::System::getTelemitry()

Definition at line 318 of file rt.cpp.

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◆ getPeriod()

int64_t RT::System::getPeriod ( )

Obtain the real-time period (in nanoseconds) of the system

Parameters

The	Period of the system in nanoseconds

Definition at line 308 of file rt.cpp.

◆ getTelemitry()

std::vector< RT::Telemitry::Response > RT::System::getTelemitry ( )

Extracts telemitry from the system running in real-time

Returns: A vector of RT::Telemitry::Response structs

Definition at line 344 of file rt.cpp.

◆ operator=() [1/2]

System& RT::System::operator= ( const System & system )

delete

◆ operator=() [2/2]

System& RT::System::operator= ( System && )

delete

◆ receiveEvent()

void RT::System::receiveEvent ( Event::Object * event )

overridevirtual

Processes Event and sends appropriate command to real-time thread

This function not only processes the event object, but it also performs computations that do not need to be run in real-time. This offloads heavy computations such as topological sort of threads or allocation of resources to non-realtime threads and allows the real-time thread to run fast fast fast.

Parameters

event An Event::Object object for the system to process