Machine Class Reference

#include <machine.h>

Inheritance diagram for Machine:

Collaboration diagram for Machine:

Public Member Functions
void	add_message (IncomingMachineMessage &incoming_machine_message)
	Add a new incoming machine message to the queue. More...
virtual void	execute (uint64_t pending_signals)=0
	Execute the machine. More...
virtual void	abort_client_requests (const std::string &connection_id)=0
	Abort all of the requests a certain client has issues. More...
bool	command_workers_done ()
	Check if all started Command Workers are done. More...
virtual bool	done ()=0
	Check if all of the machine started processes are done (including the Command Workers) More...

Protected Member Functions
	Machine (VirtualDeviceManager &vdm, ctpl::thread_pool &thread_pool, Notifier &notifier, moodycamel::ReaderWriterQueue< OutgoingMachineMessage > &outgoing_machine_message_queue)
virtual	~Machine ()
void	start_command_worker (IncomingMachineMessage &incoming_machine_message)
void	process_command_workers (std::function< void(CommandWorker *)> process=nullptr)
	Process all of the available Command Workers. More...
void	send_response (MachineMessage::Protocol protocol, std::string connection_id, motionmaster::MotionMasterMessage &message)
	Send the response (Status protobuf message) to the proper client. More...

Protected Attributes
VirtualDeviceManager &	vdm_
ctpl::thread_pool &	thread_pool_
std::queue< IncomingMachineMessage >	incoming_message_queue_
Notifier &	notifier_

Constructor & Destructor Documentation

Machine()

Machine::Machine ( VirtualDeviceManager &  vdm, ctpl::thread_pool &  thread_pool, Notifier &  notifier, moodycamel::ReaderWriterQueue< OutgoingMachineMessage > &  outgoing_machine_message_queue  )

protected

~Machine()

Machine::~Machine ( )

protectedvirtual

Member Function Documentation

abort_client_requests()

void Machine::abort_client_requests ( const std::string &  connection_id )

pure virtual

Abort all of the requests a certain client has issues.

Parameters

connection_id

client connection ID

Implemented in DeviceProcedureMachine, EncoderCalibrationMachine, FirmwareMachine, FullAutoTuningMachine, MonitorMachine, MotionControlMachine, SignalGeneratorMachine, SystemMachine, UniversalMachine, and WatchdogMachine.

add_message()

void Machine::add_message

(

IncomingMachineMessage &

incoming_machine_message

)

Add a new incoming machine message to the queue.

Parameters

incoming_machine_message

command_workers_done()

bool Machine::command_workers_done

(

)

Check if all started Command Workers are done.

This function can be called from the outside to check if all of the threads created for Command Workers are done before cleaning up (e.g. stopping VDM - stopping of the VDM before all threads are done may cause them to try to access drives that are no longer available, thus causing segmentation faults).

Returns

true if all Command Worker threads are done, false otherwise

done()

virtual bool Machine::done ( )

pure virtual

Check if all of the machine started processes are done (including the Command Workers)

Returns

true if all of the processes are done, false otherwise

Implemented in DeviceProcedureMachine, EncoderCalibrationMachine, FirmwareMachine, FullAutoTuningMachine, MonitorMachine, MotionControlMachine, SignalGeneratorMachine, SystemMachine, UniversalMachine, and WatchdogMachine.

execute()

virtual void Machine::execute ( uint64_t  pending_signals )

pure virtual

Execute the machine.

Parameters

pending_signals

number of time intervals that passed since the last call to this function

Implemented in DeviceProcedureMachine, EncoderCalibrationMachine, FirmwareMachine, FullAutoTuningMachine, MonitorMachine, MotionControlMachine, SignalGeneratorMachine, SystemMachine, UniversalMachine, and WatchdogMachine.

process_command_workers()

void Machine::process_command_workers ( std::function< void(CommandWorker *)>  process = nullptr )

protected

Process all of the available Command Workers.

Parameters

process

a function for additional custom processing

send_response()

void Machine::send_response ( MachineMessage::Protocol  protocol, std::string  connection_id, motionmaster::MotionMasterMessage &  message  )

protected

Send the response (Status protobuf message) to the proper client.

Parameters

protocol
connection_id
message

start_command_worker()

void Machine::start_command_worker ( IncomingMachineMessage &  incoming_machine_message )

protected

\brif Start a Command Worker to process an incoming machine message

Parameters

incoming_machine_message

Member Data Documentation

incoming_message_queue_

std::queue<IncomingMachineMessage> Machine::incoming_message_queue_

protected

notifier_

Notifier& Machine::notifier_

protected

thread_pool_

ctpl::thread_pool& Machine::thread_pool_

protected

vdm_

VirtualDeviceManager& Machine::vdm_

protected

---

The documentation for this class was generated from the following files:

• apps/motion_master/machine.h
• apps/motion_master/machine.cc