#include <BipedalLocomotion/System/AdvanceableRunner.h>
template<class _Advanceable>
BipedalLocomotion::System::AdvanceableRunner class

AdvanceableRunner is an helper class that can be used to run a advanceable at a given period.

Different AdvanceableRunners can communicate trough the SharedResource class. The AdvanceableRunner can be used only with Advanceable. Do not try to use if with a class that does not inherit from advanceable, a compile time assert will be thrown. This is a visual example of usage

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Here we want to run two advanceables in parallel with a different sampling time. The AdvanceableRunner is a class that helps you in creating a periodic thread. The SharedResource is the way that can be used to communicate between two advanceables running in separate threads (i.e. the wired between two AdvanceableRunners)

Public types

using Input = typename _Advanceable::Input
using Output = typename _Advanceable::Output

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool
Initialize the AdvanceableRunner class.
auto setAdvanceable(std::unique_ptr<_Advanceable> advanceable) -> bool
Set the advanceable inside the runner.
auto setInputResource(std::shared_ptr<SharedResource<Input>> resource) -> bool
Set the input resource.
auto setOutputResource(std::shared_ptr<SharedResource<Output>> resource) -> bool
Set the output resource.
auto getInfo() -> Info
Get some info of the runner,.
auto run(std::optional<std::reference_wrapper<Barrier>> barrier = {}) -> std::thread
Run the advanceable runner.
void stop()
Stop the thread.
auto isRunning() const -> bool
Check if the AdvanceableRunner is running.

Function documentation

template<class _Advanceable>
bool BipedalLocomotion::System::AdvanceableRunner<_Advanceable>::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler)

Initialize the AdvanceableRunner class.

Parameters
handler pointer to a parameter handler
Returns true in case of success, false otherwise.

template<class _Advanceable>
bool BipedalLocomotion::System::AdvanceableRunner<_Advanceable>::setAdvanceable(std::unique_ptr<_Advanceable> advanceable)

Set the advanceable inside the runner.

Parameters
advanceable an unique pointer representing the advanceable
Returns true in case of success, false otherwise

template<class _Advanceable>
bool BipedalLocomotion::System::AdvanceableRunner<_Advanceable>::setInputResource(std::shared_ptr<SharedResource<Input>> resource)

Set the input resource.

Parameters
resource pointer representing the input resource
Returns true in case of success, false otherwise

template<class _Advanceable>
bool BipedalLocomotion::System::AdvanceableRunner<_Advanceable>::setOutputResource(std::shared_ptr<SharedResource<Output>> resource)

Set the output resource.

Parameters
resource pointer representing the output resource
Returns true in case of success, false otherwise

template<class _Advanceable>
Info BipedalLocomotion::System::AdvanceableRunner<_Advanceable>::getInfo()

Get some info of the runner,.

Returns A copy of the Info struct

template<class _Advanceable>
std::thread BipedalLocomotion::System::AdvanceableRunner<_Advanceable>::run(std::optional<std::reference_wrapper<Barrier>> barrier = {})

Run the advanceable runner.

Parameters
barrier is an optional parameter that can be used to synchronize the startup of all the AdvanceableRunner spawned by the process.
Returns a thread of containing the running process. If the runner was not correctly initialized the thread is invalid.

The function create a periodic thread running with a period of m_dT seconds.

template<class _Advanceable>
void BipedalLocomotion::System::AdvanceableRunner<_Advanceable>::stop()

Stop the thread.

Returns true in case of success, false otherwise

template<class _Advanceable>
bool BipedalLocomotion::System::AdvanceableRunner<_Advanceable>::isRunning() const

Check if the AdvanceableRunner is running.

Returns true if the thread is running, false otherwise.