Class o80::Controller¶
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template<class STATE>
class Controller¶ Public Functions
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Controller()¶
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void set_completed_commands(CompletedCommandsTimeSeries &completed_commands)¶
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void set_starting_commands(CompletedCommandsTimeSeries &starting_commands)¶
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void set_backend_period(double backend_period_us)¶
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bool stop_current(const STATE ¤t_state, Microseconds control_iteration)¶
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void stop_all(const STATE ¤t_state, Microseconds control_iteration)¶
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int running(const STATE ¤t_state, Microseconds control_iteration)¶
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void purge()¶
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int size() const¶
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const STATE &get_desired_state(long int current_iteration, const STATE ¤t_state, const STATE &previous_desired_state, const TimePoint &time_now)¶
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int get_current_command_id() const¶
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void get_newly_executed_commands(std::queue<int> &q)¶
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bool reapplied_desired_state() const¶
Private Types
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typedef time_series::MultiprocessTimeSeries<int> CompletedCommandsTimeSeries¶
Private Functions
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Command<STATE> *get_current_command(long int current_iteration, const STATE ¤t_state, const STATE &previously_desired_state, const TimePoint &time_now)¶
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void reset()¶
Private Members
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CompletedCommandsTimeSeries *completed_commands_¶
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CompletedCommandsTimeSeries *starting_commands_¶
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bool reapplied_desired_state_¶
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double backend_period_us_¶
Private Static Attributes
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static std::mutex mutex_¶
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Controller()¶