SharedGlobals Class Reference

A class to hold various simulator parameters which need to be accessed from multiple processes. More...

#include <SharedGlobals.h>

Detailed Description

A class to hold various simulator parameters which need to be accessed from multiple processes.

Definition at line 14 of file SharedGlobals.h.

Classes
class	MotionSimConfig
	holds configuration parameters for the motion process More...
class	StreamSimConfig
Public Member Functions
	SharedGlobals ()
	constructor
	~SharedGlobals ()
	destructor
bool	setNextTimer (unsigned int t)
	sets nextTimer, returns true if the new value differs from previous value
unsigned int	getNextTimer ()
	gets nextTimer
void	setNextMotion (unsigned int t)
	sets nextMotion
unsigned int	getNextMotion ()
	gets nextMotion
void	setNextSensorUpdate (unsigned int t)
	sets nextSensorUpdate
unsigned int	getNextSensorUpdate ()
	gets nextSensorUpdate
void	resetBootTime ()
Shutdown Control

void	signalShutdown ()
	call this to cause "system shutdown" -- clean halt of the simulator (not actually the host system)
bool	isShutdown () const
	test to see if the shutdown flag has been set (non-blocking)
bool	waitShutdown ()
	blocks until shutdown flag has been set
bool	hadFault () const
	access to semgr, returns SemaphoreManager::hadFault()
void	faultShutdown ()
	access to semgr's SemaphoreManager::faultShutdown() -- call this after a fault has occured from the signal handler; doesn't signal the fault itself
Public Attributes
MutexLock < ProcessID::NumProcesses >	lock
	allows mutually exclusive access to the fields of SharedObject
pid_t	pids [ProcessID::NumProcesses]
	holds the host system's process ID for each simulator process
char	processNames [ProcessID::NumProcesses][MAX_PROCESS_NAME_LEN]
	each process should set a string version of its name for user feedback
SensorState	sensorState
Configuration Parameters

SharedGlobals::MotionSimConfig	motion
	holds configuration parameters for the motion process
StreamSimConfig	sensors
	holds configuration parameters for the motion process
StreamSimConfig	vision
	holds configuration parameters for the motion process
Static Public Attributes
static const unsigned int	MAX_PROCESS_NAME_LEN = 32
	maximum storage size of strings in processNames
Protected Member Functions
unsigned int	get_real_time (double scale) const
	this returns time since boot (bootTime), scaled by scale, relative to timeOffset
Protected Attributes
unsigned int	nextTimer
	set by setNextTimer, called with the current value of EventRouter::getNextTimer() after each user code section, indicates time of next timer event
unsigned int	nextMotion
	updated by Motion process after each motion update
unsigned int	nextSensorUpdate
	updated by Main process after each sensor update
TimeET	bootTime
	real time since simulator startup (or, at least, since SharedGlobals was constructed... close enough)
double	timeOffset
	the scaled value of bootTime at which isRealTime was last activated, allows you to start and stop realtime fluidly
double	lastTimeScale
	updated by each call to get_time(), if timeScale differs, allows timeOffset to be updated fluidly
unsigned int	autoPauseTime
	if simulatorTime is about to move past this value, timeScale is set to 0 instead, and simulatorTime is set to this
SemaphoreManager	semgr
	a semaphore set, only used for running and sensorValid
SemaphoreManager::semid_t	running
	the semaphore within semgr to communicate shutdown status between processes -- when the semaphore is set to 0, shutdown is requested
SemaphoreManager::semid_t	sensorValid
	the semaphore within semgr to notify processes when the first sensor frame is available
Runlevel Communication

enum	runlevel_t { CREATED = 0, CONSTRUCTING, STARTING, RUNNING, STOPPING, DESTRUCTING, DESTRUCTED }
	defines the runlevels that each process passes through; runlevels should monotonically increase (can't go backwards) More...
unsigned int	level_count [NUM_RUNLEVELS]
	a count of the number of processes which have passed through each runlevel
static const unsigned int	NUM_RUNLEVELS = DESTRUCTED+1
	symbolic access to the total number of runlevel stages
static const char *const	runlevel_names [NUM_RUNLEVELS+1]
	string versions of runlevel_t for runtime user-feedback
Startup Control

plist::Primitive< bool >	waitForSensors
	Controls whether to wait for initial sensor readings before triggering the startup behavior or starting the motion polling thread.
void	signalHaveSensors ()
	Called by Main when the first sensorEGID event is generated.
bool	haveSensors () const
	test to see if the initial sensor event has been generated
void	waitSensors ()
	blocks until the initial sensor event has been generated
Time Control

unsigned int	simulatorTime
	the current time within the simulation, only applicable when timeScale is negative (non-realtime)
plist::Primitive< double >	timeScale
	Controls the speed at which time from get_time() will move.
unsigned int	get_time ()
	returns the current simulator time, in milliseconds since startup
float	getTimeScale () const
	returns the current simulator timeScale (speed factor), as a ratio of real time (e.g. '2' means simulation is running two times wall clock)
void	setAutoPauseTime (unsigned int t)
	sets autoPauseTime
unsigned int	getAutoPauseTime () const
	returns autoPauseTime

Member Enumeration Documentation

enum runlevel_t

defines the runlevels that each process passes through; runlevels should monotonically increase (can't go backwards)

Enumerator:

CREATED	corresponding element of level_count is incremented prior to each fork -- not strictly a runlevel per se
CONSTRUCTING	currently initializing
STARTING	setting up shared memory regions with other processes
RUNNING	full activity, stay here until the running semaphore is set to 0
STOPPING	dereferencing shared regions, waiting for threads to finish
DESTRUCTING	destructors are in progress
DESTRUCTED	destruction has completed, corresponding element of level_count is incremented immediately prior to process completion

Definition at line 133 of file SharedGlobals.h.

Constructor & Destructor Documentation

SharedGlobals ( )

constructor

Definition at line 17 of file SharedGlobals.h.

~SharedGlobals ( )

destructor

Definition at line 29 of file SharedGlobals.h.

Member Function Documentation

void faultShutdown ( )

access to semgr's SemaphoreManager::faultShutdown() -- call this *after* a fault has occured from the signal handler; doesn't signal the fault itself

Definition at line 82 of file SharedGlobals.h.

Referenced by sim::badExitCleanup().

unsigned int get_real_time ( double scale ) const [protected]

this returns time since boot (bootTime), scaled by scale, relative to timeOffset

Definition at line 244 of file SharedGlobals.h.

Referenced by get_time().

unsigned int get_time ( )

returns the current simulator time, in milliseconds since startup

the simulator should set project_get_time::get_time_callback to call this, so calls to get_time() will be forwarded here. That wall all processes will share the same time

Definition at line 18 of file SharedGlobals.cc.

Referenced by sim::sim_get_time().

unsigned int getAutoPauseTime ( ) const

returns autoPauseTime

Definition at line 123 of file SharedGlobals.h.

Referenced by Simulator::incrementTime().

unsigned int getNextMotion ( )

gets nextMotion

Definition at line 233 of file SharedGlobals.h.

Referenced by Simulator::cmdStatus(), Simulator::getNextFrame(), Motion::gotWakeup(), MotionExecThread::interrupted(), and MotionExecThread::poll().

unsigned int getNextSensorUpdate ( )

gets nextSensorUpdate

Definition at line 236 of file SharedGlobals.h.

unsigned int getNextTimer ( )

gets nextTimer

Definition at line 230 of file SharedGlobals.h.

Referenced by TimerExecThread::calcSleepTime(), Simulator::cmdStatus(), Simulator::getNextFrame(), TimerExecThread::poll(), and TimerExecThread::reset().

float getTimeScale ( ) const

returns the current simulator timeScale (speed factor), as a ratio of real time (e.g. '2' means simulation is running two times wall clock)

the simulator should set project_get_time::get_timeScale_callback to call this, so calls to getTimeScale() will be forwarded here.

Definition at line 56 of file SharedGlobals.cc.

Referenced by sim::sim_getTimeScale().

bool hadFault ( ) const

access to semgr, returns SemaphoreManager::hadFault()

Definition at line 79 of file SharedGlobals.h.

Referenced by sim::badExitCleanup().

bool haveSensors ( ) const

test to see if the initial sensor event has been generated

Definition at line 48 of file SharedGlobals.h.

Referenced by Simulator::run(), Main::run(), and signalShutdown().

bool isShutdown ( ) const

test to see if the shutdown flag has been set (non-blocking)

Definition at line 70 of file SharedGlobals.h.

Referenced by Simulator::processRunlevel(), Simulator::run(), Motion::run(), and Main::run().

void resetBootTime ( )

Definition at line 238 of file SharedGlobals.h.

Referenced by Simulator::Simulator().

void setAutoPauseTime ( unsigned int t )

sets autoPauseTime

Definition at line 121 of file SharedGlobals.h.

Referenced by Simulator::cmdRun(), Simulator::incrementTime(), and Simulator::resetSpeedMode().

void setNextMotion ( unsigned int t )

sets nextMotion

Definition at line 232 of file SharedGlobals.h.

Referenced by MotionExecThread::launched(), MotionExecThread::poll(), and MotionExecThread::reset().

void setNextSensorUpdate ( unsigned int t )

sets nextSensorUpdate

Definition at line 235 of file SharedGlobals.h.

bool setNextTimer ( unsigned int t )

sets nextTimer, returns true if the new value differs from previous value

Definition at line 229 of file SharedGlobals.h.

Referenced by Main::gotCamera(), Main::gotEvent(), Main::gotSensors(), Main::gotThreadedEvent(), Main::gotTimer(), TimerExecThread::poll(), and Main::run().

void signalHaveSensors ( )

Called by Main when the first sensorEGID event is generated.

When the waitForSensors setting is enabled, the startupBehavior is not activated until this occurs

Definition at line 44 of file SharedGlobals.h.

Referenced by Simulator::plistValueChanged(), Main::processEvent(), Simulator::run(), and signalShutdown().

void signalShutdown ( )

call this to cause "system shutdown" -- clean halt of the simulator (not actually the host system)

Definition at line 64 of file SharedGlobals.h.

Referenced by sim::badExitCleanup(), Simulator::cmdQuit(), Simulator::cmdRunlevel(), Simulator::run(), and Simulator::Simulator().

void waitSensors ( )

blocks until the initial sensor event has been generated

Definition at line 52 of file SharedGlobals.h.

Referenced by Simulator::run(), Motion::run(), and Main::run().

bool waitShutdown ( )

blocks until shutdown flag has been set

Definition at line 74 of file SharedGlobals.h.

Referenced by Process::run().

Member Data Documentation

unsigned int autoPauseTime [protected]

if simulatorTime is about to move past this value, timeScale is set to 0 instead, and simulatorTime is set to this

Definition at line 267 of file SharedGlobals.h.

Referenced by get_time(), getAutoPauseTime(), and setAutoPauseTime().

TimeET bootTime [protected]

real time since simulator startup (or, at least, since SharedGlobals was constructed... close enough)

Definition at line 258 of file SharedGlobals.h.

Referenced by get_real_time(), get_time(), and resetBootTime().

double lastTimeScale [protected]

updated by each call to get_time(), if timeScale differs, allows timeOffset to be updated fluidly

Definition at line 264 of file SharedGlobals.h.

Referenced by get_time().

unsigned int level_count[NUM_RUNLEVELS]

a count of the number of processes which have passed through each runlevel

Definition at line 148 of file SharedGlobals.h.

Referenced by sim::badExitCleanup(), sim::fork_process(), sim::manage_process(), sim::run(), SharedGlobals(), and sim::wait_runlevel().

MutexLock<ProcessID::NumProcesses> lock

allows mutually exclusive access to the fields of SharedObject

Definition at line 218 of file SharedGlobals.h.

Referenced by sim::badExitCleanup(), sim::manage_process(), Process::statusReport(), and sim::wait_runlevel().

const unsigned int MAX_PROCESS_NAME_LEN = 32 [static]

maximum storage size of strings in processNames

Definition at line 224 of file SharedGlobals.h.

Referenced by Process::Process().

SharedGlobals::MotionSimConfig motion

holds configuration parameters for the motion process

Referenced by MotionExecThread::applyPostureFeedback(), Simulator::cmdStatus(), Motion::doStart(), Main::doStart(), FrameCounter::filterSendRequest(), Simulator::plistCollectionEntriesChanged(), Simulator::plistCollectionEntryAdded(), Simulator::plistValueChanged(), MotionExecThread::poll(), SharedGlobals(), sim::sim(), Simulator::Simulator(), and Simulator::~Simulator().

unsigned int nextMotion [protected]

updated by Motion process after each motion update

Definition at line 252 of file SharedGlobals.h.

Referenced by getNextMotion(), and setNextMotion().

unsigned int nextSensorUpdate [protected]

updated by Main process after each sensor update

Definition at line 255 of file SharedGlobals.h.

Referenced by getNextSensorUpdate(), and setNextSensorUpdate().

unsigned int nextTimer [protected]

set by setNextTimer, called with the current value of EventRouter::getNextTimer() after each user code section, indicates time of next timer event

Definition at line 249 of file SharedGlobals.h.

Referenced by getNextTimer(), and setNextTimer().

const unsigned int NUM_RUNLEVELS = DESTRUCTED+1 [static]

symbolic access to the total number of runlevel stages

Definition at line 142 of file SharedGlobals.h.

Referenced by Simulator::cmdHelp(), Simulator::cmdRunlevel(), and SharedGlobals().

pid_t pids[ProcessID::NumProcesses]

holds the host system's process ID for each simulator process

Definition at line 221 of file SharedGlobals.h.

Referenced by Process::Process(), and Simulator::run().

char processNames[ProcessID::NumProcesses][MAX_PROCESS_NAME_LEN]

each process should set a string version of its name for user feedback

Definition at line 227 of file SharedGlobals.h.

Referenced by Process::Process(), and Simulator::run().

const char *const runlevel_names [static]

Initial value:

 {
  "CREATED",
  "CONSTRUCTING",
  "STARTING",
  "RUNNING",
  "STOPPING",
  "DESTRUCTING",
  "DESTRUCTED",
  NULL
}

string versions of runlevel_t for runtime user-feedback

Definition at line 145 of file SharedGlobals.h.

Referenced by Simulator::cmdHelp(), Simulator::cmdRunlevel(), and sim::wait_runlevel().

SemaphoreManager::semid_t running [protected]

the semaphore within semgr to communicate shutdown status between processes -- when the semaphore is set to 0, shutdown is requested

Definition at line 270 of file SharedGlobals.h.

Referenced by isShutdown(), SharedGlobals(), signalShutdown(), waitShutdown(), and ~SharedGlobals().

SemaphoreManager semgr [protected]

a semaphore set, only used for running and sensorValid

Definition at line 269 of file SharedGlobals.h.

Referenced by faultShutdown(), hadFault(), haveSensors(), isShutdown(), SharedGlobals(), signalHaveSensors(), signalShutdown(), waitSensors(), waitShutdown(), and ~SharedGlobals().

StreamSimConfig sensors

holds configuration parameters for the motion process

Definition at line 212 of file SharedGlobals.h.

Referenced by SyncDataThread::cancelled(), Main::gotSensors(), SyncDataThread::interrupted(), SyncDataThread::launched(), Simulator::nextSensorTime(), Simulator::plistCollectionEntriesChanged(), Simulator::plistCollectionEntryAdded(), Simulator::plistCollectionEntryRemoved(), Simulator::plistValueChanged(), Simulator::run(), Simulator::sendSensor(), sim::sim(), Simulator::Simulator(), and Simulator::~Simulator().

SensorState sensorState

Definition at line 240 of file SharedGlobals.h.

Referenced by MotionExecThread::applyPostureFeedback(), Simulator::cmdStatus(), Motion::doStart(), Main::doStart(), Main::gotSensors(), MotionExecThread::poll(), Simulator::sendSensor(), Simulator::setMotionEnteringRealtime(), Simulator::setMotionLeavingRealtime(), SharedGlobals(), sim::sim(), Simulator::Simulator(), and Simulator::~Simulator().

SemaphoreManager::semid_t sensorValid [protected]

the semaphore within semgr to notify processes when the first sensor frame is available

Definition at line 271 of file SharedGlobals.h.

Referenced by haveSensors(), SharedGlobals(), signalHaveSensors(), waitSensors(), and ~SharedGlobals().

unsigned int simulatorTime

the current time within the simulation, only applicable when timeScale is negative (non-realtime)

Definition at line 103 of file SharedGlobals.h.

Referenced by Simulator::cmdStatus(), get_time(), Simulator::incrementTime(), resetBootTime(), Simulator::resetSpeedMode(), and sim::sim().

double timeOffset [protected]

the scaled value of bootTime at which isRealTime was last activated, allows you to start and stop realtime fluidly

Definition at line 261 of file SharedGlobals.h.

Referenced by get_real_time(), get_time(), and resetBootTime().

plist::Primitive<double> timeScale

Controls the speed at which time from get_time() will move.

You can use this to pretend your hardware is faster or slower than it actually is. For instance, a value of .5 means time will move at half speed (pretending your hardware is twice as fast) This can be useful for "slow motion" analysis, or you can speed up time to simulate a more processor-restrictive platform.

Negative values indicate full-speed processing -- time will be incremented only as quickly as it can be without dropping any video or sensor frames. (may be faster or slower than realtime) in this case, simulatorTime is used by calls to get_time()

A value of zero halts time.

Definition at line 118 of file SharedGlobals.h.

Referenced by TimerExecThread::calcSleepTime(), SyncDataThread::cancelled(), Simulator::cmdAdvance(), Simulator::cmdPause(), Simulator::cmdRun(), Simulator::cmdStatus(), Simulator::cmdStep(), Motion::doStart(), Motion::doStop(), get_time(), getTimeScale(), Main::gotTimer(), Motion::gotWakeup(), Simulator::incrementTime(), SyncDataThread::interrupted(), MotionExecThread::interrupted(), TimerExecThread::launched(), SyncDataThread::launched(), MotionExecThread::launched(), Simulator::messagesRead(), Simulator::plistCollectionEntriesChanged(), Simulator::plistCollectionEntryAdded(), Simulator::plistCollectionEntryRemoved(), Simulator::plistValueChanged(), TimerExecThread::reset(), MotionExecThread::reset(), resetBootTime(), Simulator::resetSpeedMode(), Simulator::run(), Simulator::setMotionEnteringRealtime(), sim::sim(), Simulator::Simulator(), and Simulator::updateDataSources().