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

CopperContext

Just a simple struct to hold the various bits needed to run a Copper application.

CopperListsManager

Manages the lifecycle of the copper lists and logging.

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.

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.

RuntimeLifecycleRecord

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

RuntimeLifecycleStackInfo

Build-time stack identification metadata.

Enums

CuExecutionUnit

This structure represents a step in the execution plan.

CuTaskType

Copper tasks can be of 3 types:

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