Struct CuRuntime

pub struct CuRuntime<CT, P, M, const NBCL: usize>
where
    P: CopperListTuple,
    M: CuMonitor,
{
    pub tasks: CT,
    pub monitor: M,
    pub copper_lists_manager: CuListsManager<P, NBCL>,
    pub clock: RobotClock,
    /* private fields */
}

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

tasks: CT

The tuple of all the tasks in order of execution.

monitor: M

copper_lists_manager: CuListsManager<P, NBCL>

Copper lists hold in order all the input/output messages for all the tasks.

clock: RobotClock

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

Implementations

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

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

pub fn new( clock: RobotClock, config: &CuConfig, tasks_instanciator: impl Fn(Vec<Option<&ComponentConfig>>) -> Result<CT, CuError>, monitor_instanciator: impl Fn(&CuConfig) -> M, logger: impl WriteStream<CopperList<P>> + 'static, ) -> Result<CuRuntime<CT, P, M, NBCL>, CuError>

pub fn available_copper_lists(&self) -> usize

pub fn end_of_processing(&mut self, culistid: u32)

Trait Implementations

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

where P: CopperListTuple, M: CuMonitor,

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

fn get_clock(&self) -> RobotClock