Class TestAlgorithm¶

Defined in File TestAlgorithm.hpp

Inheritance Relationships¶

Base Type¶

public IAlgorithm

Class Documentation¶

class mimir::algorithm::TestAlgorithm : public IAlgorithm ¶

Test algorithm with first order response.

Implements a first order response \(\dat x=\frac{x-x_d}{T}\), where \(x_d\) the is desired output, given by inputs:signal:topic DDS signal in the YAML file, and \(T=5\) is the time constant in seconds. The differential equation is integrated using [17] and its output is published to outputs:response:topic every time_step_ms milliseconds.

Name	Symbol	Description	Causality	Variability
`signal`	\(u\)	Desired output.	`input`	`discrete`
`response`	\(y\)	Output response.	`output`	`continuous`

Public Functions

explicit TestAlgorithm(const YAML::Node &config, boost::statechart::fifo_scheduler<> &scheduler, boost::statechart::fifo_scheduler<>::processor_handle machine, dds::pub::Publisher publisher, dds::sub::Subscriber subscriber)¶

TestAlgorithm constructor.

The constructor parses the specification from the given YAML node. It establishes data structures and sets up DDS readers and writers according to the input/output scheme of the algorithm. The following YAML code block shows the expected layout of the TestAlgorithm map of a input config file. The inputs, outputs, and initial conditions are communicated with DDS communication. Common is their DDS topic and DDS identifier. The specification is deemed self-explanatory.

time_step_ms: 200
inputs:
  signal:                # DDS type: fkin::IdVec1d
    topic: test_signal
    id: Test
    max_age_ms: -1
outputs:                 # DDS type: fkin::IdVec1d
  response:
    topic: test_output
    id: Test

Parameters

config – [in] YAML configuration from input file.
scheduler – [in] State machine scheduler, needed to post events to state machine.
machine – [in] State machine processor handle, needed to post events to state machine.
publisher – DDS data writer to send data.
subscriber – DDS data reader to receive data.

virtual ~TestAlgorithm()¶: Destructor.

virtual void solve(const std::atomic<bool> &cancel_token)¶: See base class.

virtual void initialize(const std::atomic<bool> &cancel_token)¶: See base class.

virtual void timer(const std::atomic<bool> &cancel_token)¶: See base class.

inline virtual const char *name()¶: Name identifier of algorithm.

void event(boost::statechart::event_base *const event)¶: Helper function that queues event to state machine.

Private Functions

inline void step_time()¶: March simulation time one time step ahead.

TestAlgorithm() = delete¶

Private Members

std::unique_ptr<Impl> m_impl¶: Holds the implementation of the algorithm.

boost::statechart::fifo_scheduler &m_scheduler¶: Members for state machine.

boost::statechart::fifo_scheduler::processor_handle m_stateMachine¶: Member for state machine.

const std::chrono::milliseconds m_time_step¶: Discrete time step.

std::chrono::steady_clock::time_point m_next_step¶: Simulation time point.

const YAML::Node m_config¶: YAML configuration for algorithm.