A class which is used for controlling one slave in an execution. More...

#include "coral/bus/slave_controller.hpp"

Public Types
typedef std::function< void(const std::error_code &)>	VoidHandler
	Basic completion handler type without any arguments aside from an error code.

typedef VoidHandler	ConnectHandler
	Completion handler type for the constructor.

typedef std::function< void(const std::error_code &, const coral::model::SlaveDescription &)>	GetDescriptionHandler
	Completion handler type for GetDescription()

typedef VoidHandler	SetVariablesHandler
	Completion handler type for SetVariables()

typedef VoidHandler	SetPeersHandler
	Completion handler type for SetPeers()

typedef VoidHandler	ResendVarsHandler
	Completion handler type for ResendVars()

typedef VoidHandler	StepHandler
	Completion handler type for Step()

typedef VoidHandler	AcceptStepHandler
	Completion handler type for AcceptStep()

Public Member Functions
	SlaveController (coral::net::Reactor &reactor, const coral::net::SlaveLocator &slaveLocator, coral::model::SlaveID slaveID, const std::string &slaveName, const SlaveSetup &setup, std::chrono::milliseconds timeout, ConnectHandler onComplete, int maxConnectionAttempts=3)
	Constructor. More...

	~SlaveController ()
	Destructor. More...

void	Close ()
	Closes the connection to the slave and cancels all pending operations. More...

SlaveState	State () const CORAL_NOEXCEPT
	Returns the current state of the slave.

void	GetDescription (std::chrono::milliseconds timeout, GetDescriptionHandler onComplete)
	Requests a description of the slave. More...

void	SetVariables (const std::vector< coral::model::VariableSetting > &settings, std::chrono::milliseconds timeout, SetVariablesHandler onComplete)
	Sets the values of, or connects, one or more of the slave's variables. More...

void	SetPeers (const std::vector< coral::net::Endpoint > &peers, std::chrono::milliseconds timeout, SetPeersHandler onComplete)
	Sets or resets the list of peers to which the slave should be connected for the purpose of subscribing to variable data. More...

void	ResendVars (std::chrono::milliseconds timeout, ResendVarsHandler onComplete)
	Makes the slave send all variable values and then wait to receive values for all connected input variables. More...

void	Step (coral::model::StepID stepID, coral::model::TimePoint currentT, coral::model::TimeDuration deltaT, std::chrono::milliseconds timeout, StepHandler onComplete)
	Makes the slave perform a time step. More...

void	AcceptStep (std::chrono::milliseconds timeout, AcceptStepHandler onComplete)
	Tells the slave that the time step is accepted and it should update its inputs with results from other slaves. More...

void	Terminate ()
	Terminates the slave and cancels all pending operations. More...

Detailed Description

A class which is used for controlling one slave in an execution.

Constructor & Destructor Documentation

coral::bus::SlaveController::SlaveController	(	coral::net::Reactor &	reactor,
		const coral::net::SlaveLocator &	slaveLocator,
		coral::model::SlaveID	slaveID,
		const std::string &	slaveName,
		const SlaveSetup &	setup,
		std::chrono::milliseconds	timeout,
		ConnectHandler	onComplete,
		int	maxConnectionAttempts = `3`
	)

Constructor.

The constructor initiates the connection to the slave and returns immediately. Whether the connection succeeds or fails is reported asynchronously via onComplete. In the meantime, it is possible to enqueue other commands (e.g. SetVariables()) pending a successful connection. If the connection fails, any pending commands will be canceled and their callbacks will be called with error code coral::error::generic_error::canceled.

If the initial connection fails (e.g. if the slave is not up and running yet), the connection may be retried automatically. The maximum number of connection attempts is given by maxConnectionAttempts.

Parameters

[in]	reactor	The reactor used for the messaging/event loop.
[in]	slaveLocator	Information about how to connect to the slave.
[in]	slaveID	The ID number assigned to the slave.
[in]	slaveName	The name given to the slave.
[in]	setup	Slave configuration parameters.
[in]	timeout	Max. allowed time for the slave to reply to each message sent to it.
[in]	onComplete	Completion handler.
[in]	maxConnectionAttempts	How many times to try the connection if it fails. This includes the first one, so the value must be at least 1. The default is 3.

Exceptions

std::invalid_argument if slaveLocator is empty, if slaveID is invalid, if timeout is less than 1 ms, if onComplete is empty, or if maxConnectionAttempts < 1.

coral::bus::SlaveController::~SlaveController ( )

Destructor.

Note that the destructor does not call Terminate() or Close(). The completion handlers for any ongoing or pending operations will therefore never get called. Use Terminate() or Close() before destruction to ensure that all callbacks are called.

Member Function Documentation

void coral::bus::SlaveController::AcceptStep	(	std::chrono::milliseconds	timeout,
		AcceptStepHandler	onComplete
	)

Tells the slave that the time step is accepted and it should update its inputs with results from other slaves.

Parameters

[in]	timeout	Max. allowed time for the operation to complete. Must be at least 1 ms.
[in]	onComplete	Completion handler.

void coral::bus::SlaveController::Close ( )

Closes the connection to the slave and cancels all pending operations.

After this, the SlaveController can no longer be used for anything.

Note that this simply closes the communication channel without notifying the slave first. This means that the slave may stay alive, waiting for a command from the master which never comes, until it times out and shuts itself down. Use Terminate() to ensure a controlled slave termination.

void coral::bus::SlaveController::GetDescription	(	std::chrono::milliseconds	timeout,
		GetDescriptionHandler	onComplete
	)

Requests a description of the slave.

Parameters

[in]	timeout	Max. allowed time for the operation to complete. Must be at least 1 ms.
[in]	onComplete	Completion handler. May not be empty.

void coral::bus::SlaveController::ResendVars	(	std::chrono::milliseconds	timeout,
		ResendVarsHandler	onComplete
	)

Makes the slave send all variable values and then wait to receive values for all connected input variables.

Parameters

[in]	timeout	Max. allowed time for the operation to complete. Must be at least 1 ms.
[in]	onComplete	Completion handler.

Exceptions

std::invalid_argument if timeout is less than 1 ms or if onComplete is empty.

Precondition: State() == SLAVE_READY

Postcondition: State() == SLAVE_BUSY.

void coral::bus::SlaveController::SetPeers	(	const std::vector< coral::net::Endpoint > &	peers,
		std::chrono::milliseconds	timeout,
		SetPeersHandler	onComplete
	)

Sets or resets the list of peers to which the slave should be connected for the purpose of subscribing to variable data.

Parameters

[in]	peers	A list of peer endpoint specifications.
[in]	timeout	Max. allowed time for the operation to complete. Must be at least 1 ms.
[in]	onComplete	Completion handler.

void coral::bus::SlaveController::SetVariables	(	const std::vector< coral::model::VariableSetting > &	settings,
		std::chrono::milliseconds	timeout,
		SetVariablesHandler	onComplete
	)

Sets the values of, or connects, one or more of the slave's variables.

Parameters

[in]	settings	A list of variable values and connections. May not be empty.
[in]	timeout	Max. allowed time for the operation to complete. Must be at least 1 ms.
[in]	onComplete	Completion handler.

void coral::bus::SlaveController::Step	(	coral::model::StepID	stepID,
		coral::model::TimePoint	currentT,
		coral::model::TimeDuration	deltaT,
		std::chrono::milliseconds	timeout,
		StepHandler	onComplete
	)

Makes the slave perform a time step.

Parameters

[in]	stepID	The ID number of the time step to be performed
[in]	currentT	The current time point.
[in]	deltaT	The step size. Must be positive.
[in]	timeout	Max. allowed time for the operation to complete. Must be at least 1 ms.
[in]	onComplete	Completion handler.

void coral::bus::SlaveController::Terminate ( )

Terminates the slave and cancels all pending operations.

After this, the SlaveController can no longer be used for anything.

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

coral/bus/slave_controller.hpp

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation