Module curuntime 

CuRuntime is the heart of what copper is running on the robot. It is exposed to the user via the copper_runtime macro injecting it as a field in their application struct.

Structs

CuExecutionLoop

This structure represents a loop in the execution plan. It is used to represent a sequence of Execution units (loop or steps) that are executed multiple times. if loop_count is None, the loop is infinite.

CuExecutionStep

This structure represents a step in the execution plan.

CuInputMsg

CuOutputPack

CuRuntime

This is the main structure that will be injected as a member of the Application struct. CT is the tuple of all the tasks in order of execution. CL is the type of the copper list, representing the input/output messages for all the tasks.

CuRuntimeBuilder

CuRuntimeParts

KeyFrame

A KeyFrame is recording a snapshot of the tasks state before a given copperlist. It is a double encapsulation: this one recording the culistid and another even in bincode in the serialized_tasks.

KeyFramesManager

Manages the frozen tasks state and logging.

LoopRateLimiter

Runtime loop limiter that preserves phase with absolute deadlines.

RuntimeLifecycleRecord

One event record persisted in the UnifiedLogType::RuntimeLifecycle section.

RuntimeLifecycleStackInfo

Stack and process identification metadata persisted in the runtime lifecycle log.

SyncCopperListsManager

Manages the lifecycle of the copper lists and logging on the synchronous path.

Enums

CuExecutionUnit

This structure represents a step in the execution plan.

CuTaskType

Copper tasks can be of 3 types:

OwnedCopperListSubmission

Result of handing an owned boxed CopperList to the runtime-side CL I/O path.

ProcessStepOutcome

Control-flow result returned by one generated process stage.

RuntimeLifecycleConfigSource

Identifies where the effective runtime configuration came from.

RuntimeLifecycleEvent

Runtime lifecycle events emitted in the dedicated lifecycle section.

Functions

compute_runtime_plan

This is the main heuristics to compute an execution plan at compilation time. TODO(gbin): Make that heuristic pluggable.

find_task_type_for_id

perf_now

Returns a monotonic instant used for local runtime performance timing.

rate_target_period

Convert a configured runtime rate target to an integer-nanosecond period.

Type Aliases

BridgesInstantiator

CopperListsManager

MonitorInstantiator

ProcessStepResult

Result type used by generated process-step functions.

TasksInstantiator