Function mimir::AlgorithmCreator

Function Documentation

std::unique_ptr<mimir::IAlgorithm> mimir::AlgorithmCreator(const std::string &id, const YAML::Node &config, boost::statechart::fifo_scheduler<> &scheduler, boost::statechart::fifo_scheduler<>::processor_handle machine, dds::pub::Publisher publisher, dds::sub::Subscriber subscriber)

Function for creating an instance of the mimir::IAlgorithm.

This function uses the Factory method pattern, see e.g. [11]. When adding new algorithm, it needs to be returned by this function.

The factory function expects that input YAML config has a map key equal to the name identifier of the algorithm. This map is extracted and passed to the algorithm to be created.

Parameters

  • id – [in] Identifier string for algorithm

  • config – [in] User-provided YAML configuration

  • scheduler – [in] State machine scheduler, passed from outer context (usually main)

  • machine – [in] State machine handle, passed from outer context (usually main)

  • publisher – [in] DDS publisher for the program

  • subscriber – [in] DDS subscriber for the program

Returns

mimir::IAlgorithm pointer.