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CuRuntime

cu29_runtime::curuntime

Struct CuRuntime 

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pub struct CuRuntime<CT, CB, P: CopperListTuple, M: CuMonitor, const NBCL: usize> { /* private fields */ }
Expand description

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.

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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.

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

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

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

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pub fn captures_keyframe(&self, culistid: u64) -> bool

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

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pub fn clock(&self) -> RobotClock

Returns a clone of the runtime clock handle.

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pub fn subsystem_code(&self) -> u16

Returns the compile-time subsystem code for this process.

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pub fn instance_id(&self) -> u32

Returns the configured runtime instance id for this process.

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impl<CT, CB, P: CopperListTuple + CuListZeroedInit + Default + AsyncCopperListPayload + 'static, M: CuMonitor, const NBCL: usize> CuRuntime<CT, CB, P, M, NBCL>

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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.

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pub fn execution_probe_ref(&self) -> &RuntimeExecutionProbe

Returns a shared reference to the concrete runtime execution probe.

The generated runtime uses this when it needs a uniform &RuntimeExecutionProbe view across std and no_std builds.

Trait Implementations§

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impl<CT, CB, P: CopperListTuple + CuListZeroedInit + Default + AsyncCopperListPayload, M: CuMonitor, const NBCL: usize> ClockProvider for CuRuntime<CT, CB, P, M, NBCL>

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

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fn get_clock(&self) -> RobotClock

Auto Trait Implementations§

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

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

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

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

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

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

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

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> Downcast for T
where T: Any,

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fn into_any(self: Box<T>) -> Box<dyn Any>

Converts Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>, which can then be downcast into Box<dyn ConcreteType> where ConcreteType implements Trait.
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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>

Converts Rc<Trait> (where Trait: Downcast) to Rc<Any>, which can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.
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fn as_any(&self) -> &(dyn Any + 'static)

Converts &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Converts &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.
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impl<T> DowncastSend for T
where T: Any + Send,

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fn into_any_send(self: Box<T>) -> Box<dyn Any + Send>

Converts Box<Trait> (where Trait: DowncastSend) to Box<dyn Any + Send>, which can then be downcast into Box<ConcreteType> where ConcreteType implements Trait.
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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impl<A> Is for A
where A: Any,

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fn is<T>() -> bool
where T: Any,

Checks if the current type “is” another type, using a TypeId equality comparison. This is most useful in the context of generic logic. Read more
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impl<T> Pointable for T

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const ALIGN: usize

The alignment of pointer.
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type Init = T

The type for initializers.
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unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more
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unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more
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unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more
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unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.