Struct CuRuntime 

pub struct CuRuntime<CT, CB, P, M, const NBCL: usize>
where
    P: CopperListTuple,
    M: CuMonitor,
{
    pub clock: RobotClock,
    pub tasks: CT,
    pub bridges: CB,
    pub resources: ResourceManager,
    pub monitor: M,
    pub execution_probe: Arc<RuntimeExecutionProbe>,
    pub copperlists_manager: CopperListsManager<P, NBCL>,
    pub keyframes_manager: KeyFramesManager,
    pub runtime_config: RuntimeConfig,
}

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.

Fields

clock: RobotClock

The base clock the runtime will be using to record time.

tasks: CT

The tuple of all the tasks in order of execution.

bridges: CB

Tuple of all instantiated bridges.

resources: ResourceManager

Resource registry kept alive for tasks borrowing shared handles.

monitor: M

The runtime monitoring.

execution_probe: Arc<RuntimeExecutionProbe>

Runtime-side execution progress probe for watchdog/diagnostic monitors.

This probe is written from the generated execution plan before each component step. Monitors consume it asynchronously (typically from watchdog threads) to report the last known component/step/culist when the runtime appears stalled.

copperlists_manager: CopperListsManager<P, NBCL>

The logger for the copper lists (messages between tasks)

keyframes_manager: KeyFramesManager

The logger for the state of the tasks (frozen tasks)

runtime_config: RuntimeConfig

The runtime configuration controlling the behavior of the run loop

Implementations

impl<CT, CB, P, M, const NBCL: usize> CuRuntime<CT, CB, P, M, NBCL>

where P: CopperListTuple + CuListZeroedInit + Default + 'static, M: CuMonitor,

Helper methods injected for simulation-only builds.

pub fn set_forced_keyframe_timestamp(&mut self, ts: CuDuration)

pub fn lock_keyframe(&mut self, keyframe: &KeyFrame)

Reuse a recorded keyframe verbatim (used during deterministic replay).

impl<CT, CB, P, M, const NBCL: usize> CuRuntime<CT, CB, P, M, NBCL>

where P: CopperListTuple + CuListZeroedInit + Default + 'static, M: CuMonitor,

pub fn record_execution_marker(&self, marker: ExecutionMarker)

Records runtime execution progress in the shared probe.

This is intentionally lightweight and does not call monitor callbacks.

pub fn new( clock: RobotClock, config: &CuConfig, mission: Option<&str>, resources_instanciator: impl Fn(&CuConfig) -> Result<ResourceManager, CuError>, tasks_instanciator: impl for<'c> Fn(Vec<Option<&'c ComponentConfig>>, &mut ResourceManager) -> Result<CT, CuError>, monitor_instanciator: impl Fn(&CuConfig) -> M, bridges_instanciator: impl Fn(&CuConfig, &mut ResourceManager) -> Result<CB, CuError>, copperlists_logger: impl WriteStream<CopperList<P>> + 'static, keyframes_logger: impl WriteStream<KeyFrame> + 'static, ) -> Result<CuRuntime<CT, CB, P, M, NBCL>, CuError>

pub fn new_with_resources( clock: RobotClock, config: &CuConfig, mission: Option<&str>, resources: ResourceManager, tasks_instanciator: impl for<'c> Fn(Vec<Option<&'c ComponentConfig>>, &mut ResourceManager) -> Result<CT, CuError>, monitor_instanciator: impl Fn(&CuConfig) -> M, bridges_instanciator: impl Fn(&CuConfig, &mut ResourceManager) -> Result<CB, CuError>, copperlists_logger: impl WriteStream<CopperList<P>> + 'static, keyframes_logger: impl WriteStream<KeyFrame> + 'static, ) -> Result<CuRuntime<CT, CB, P, M, NBCL>, CuError>

Trait Implementations

impl<CT, CB, P, M, const NBCL: usize> ClockProvider for CuRuntime<CT, CB, P, M, NBCL>

where P: CopperListTuple + CuListZeroedInit + Default, M: CuMonitor,

To be able to share the clock we make the runtime a clock provider.

fn get_clock(&self) -> RobotClock