Base class for Data Task computations. More...

#include <rtctk/dataTask/computationBase.hpp>

Public Types
enum class	State : uint8_t { RUNNING , IDLE , ERROR , OFF }
	Current state of the worker thread. More...

using	TopicType = TopicTypeX

using	ServiceContainer = rtctk::componentFramework::ServiceContainer

using	ComponentMetricsIf = rtctk::componentFramework::ComponentMetricsIf

Public Member Functions
	ComputationBase (ServiceContainer &services, const std::string &shm_name, size_t to_read, size_t to_skip, std::chrono::milliseconds sample_timeout, std::optional< numapp::NumaPolicies > thread_policies)
	Constructor.

virtual	~ComputationBase ()=default
	Destructor.

void	SetSamplesToRead (size_t value)
	Sets the number of samples to read.

size_t	GetSamplesToRead () const
	Gets the number of samples to read.

void	SetSamplesToSkip (size_t value)
	Sets the number of samples to skip.

size_t	GetSamplesToSkip () const
	Gets the number of samples to skip.

void	Spawn ()
	Spawns the worker thread (sync method).

void	Join ()
	Terminates the worker thread (sync method).

void	Run (std::optional< size_t > cycles=std::nullopt)
	Commands the worker thread to perform number of computation cycles (async method).

void	RunOnceSync (std::optional< std::chrono::milliseconds > poll_interval=std::nullopt)
	Commands the worker thread to perform a single computation cycle (sync method).

void	Idle ()
	Commands the worker thread to stop performing computation cycles (async method).

State	GetState () const
	Returns the current state of the worker thread.

size_t	GetCycles () const
	Retrieves number of computation cycles performed since running.

void	CheckErrors ()
	Checks for errors in the worker thread and rethrows them to the caller.

Protected Member Functions
virtual void	OnThreadStart ()
	Optional user-hook called after worker thread started and reader was created.

virtual void	OnCycleStart (size_t to_read)
	Optional user-hook called immediately before a read-cycle from SHM starts.

virtual void	CopyData (size_t sample_idx, const TopicType &sample) noexcept=0
	User-hook used to copy data of a single computation cycle into user-owned sample buffer.

virtual void	Compute ()=0
	User-hook to perform a computation cycle.

virtual void	Publish ()=0
	User-hook to publish a computation result.

Detailed Description

template<typename TopicTypeX, typename ReaderType = ipcq::Reader<TopicTypeX>>
class rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >

Base class for Data Task computations.

This class will take care of reading data from shared memory and then invoking user-defined methods to accumulate data and then perform a computation.

Both continuous and on-demand computations are supported.

Template Parameters

TopicTypeX	The shared memory queue topic.
ReaderType	Type of IPCQ reader to be used defaults to ipcq::Reader<TopicTypeX>.

Member Typedef Documentation

◆ ComponentMetricsIf

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

using rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::ComponentMetricsIf = rtctk::componentFramework::ComponentMetricsIf

◆ ServiceContainer

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

using rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::ServiceContainer = rtctk::componentFramework::ServiceContainer

◆ TopicType

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

using rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::TopicType = TopicTypeX

Member Enumeration Documentation

◆ State

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

enum class rtctk::dataTask::ComputationBase::State : uint8_t

strong

Current state of the worker thread.

Enumerator
RUNNING
IDLE
ERROR
OFF

Constructor & Destructor Documentation

◆ ComputationBase()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::ComputationBase	(	ServiceContainer &	services,
		const std::string &	shm_name,
		size_t	to_read,
		size_t	to_skip,
		std::chrono::milliseconds	sample_timeout,
		std::optional< numapp::NumaPolicies >	thread_policies )

inline

Constructor.

Parameters

services	Service container object to get access to monitoring metrics or OLDB.
shm_name	Name of the shared memory queue.
to_read	Number of samples to read per cycle.
to_skip	Number of samples to skip per cycle.
sample_timeout	Maximum time to wait for a single cycle until error.
thread_policies	Used to set CPU or memory policy.

◆ ~ComputationBase()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

virtual rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::~ComputationBase ( )

virtualdefault

Destructor.

Note, we cannot call Join in here since this will result in virtual methods being called when the derived class has already been destroyed. Therefore, do not forget to call Join() in your derived class destructor in oder to properly terminate the worker thread.

Member Function Documentation

◆ CheckErrors()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::CheckErrors ( )

inline

Checks for errors in the worker thread and rethrows them to the caller.

Useful for detecting async errors in states RUNNING or IDLE.

◆ Compute()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

virtual void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::Compute ( )

protectedpure virtual

User-hook to perform a computation cycle.

Duration is automatically measured and published via ComponentMetrics service.

◆ CopyData()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

virtual void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::CopyData	(	size_t	sample_idx,
		const TopicType &	sample )

protectedpure virtualnoexcept

User-hook used to copy data of a single computation cycle into user-owned sample buffer.

Duration is automatically measured and published via ComponentMetrics service.

◆ GetCycles()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

size_t rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::GetCycles ( ) const

inline

Retrieves number of computation cycles performed since running.

Useful for waiting after async command methods (Run, Idle).

Returns: cycles

◆ GetSamplesToRead()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

size_t rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::GetSamplesToRead ( ) const

inline

Gets the number of samples to read.

◆ GetSamplesToSkip()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

size_t rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::GetSamplesToSkip ( ) const

inline

Gets the number of samples to skip.

◆ GetState()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

State rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::GetState ( ) const

inline

Returns the current state of the worker thread.

Useful for waiting after async command methods (Run, Idle).

Returns: State

◆ Idle()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::Idle ( )

inline

Commands the worker thread to stop performing computation cycles (async method).

State IDLE is entered where the shared memory queue is continuously being reset.

◆ Join()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::Join ( )

inline

Terminates the worker thread (sync method).

Once joined the worker thread will be in the OFF state.

◆ OnCycleStart()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

virtual void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::OnCycleStart ( size_t to_read )

inlineprotectedvirtual

Optional user-hook called immediately before a read-cycle from SHM starts.

Useful for resizing the sample buffer in case it can change dynamically.

◆ OnThreadStart()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

virtual void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::OnThreadStart ( )

inlineprotectedvirtual

Optional user-hook called after worker thread started and reader was created.

Useful for GPU computations to initialise the GPU in the worker thread.

◆ Publish()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

virtual void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::Publish ( )

protectedpure virtual

User-hook to publish a computation result.

Duration is automatically measured and published via ComponentMetrics service.

◆ Run()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::Run ( std::optional< size_t > cycles = std::nullopt )

inline

Commands the worker thread to perform number of computation cycles (async method).

State RUNNING is entered and the shared memory queue is read and computations are invoked. Once the requested number of cycles are performed the worker thread auto-transitions to state IDLE.

Parameters

cycles Number of computation cycles to perform (default no limit on cycles).

◆ RunOnceSync()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::RunOnceSync ( std::optional< std::chrono::milliseconds > poll_interval = std::nullopt )

inline

Commands the worker thread to perform a single computation cycle (sync method).

This method will unblock once one cycle has been completed or an error occurs.

Parameters

poll_interval Time to wait between checking for completion.

◆ SetSamplesToRead()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::SetSamplesToRead ( size_t value )

inline

Sets the number of samples to read.

This is useful if samples to read is a dynamic configuration parameter that can change after class construction.

◆ SetSamplesToSkip()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::SetSamplesToSkip ( size_t value )

inline

Sets the number of samples to skip.

This is useful if samples to skip is a dynamic configuration parameter that can change after class construction.

◆ Spawn()

template<typename TopicTypeX , typename ReaderType = ipcq::Reader<TopicTypeX>>

void rtctk::dataTask::ComputationBase< TopicTypeX, ReaderType >::Spawn ( )

inline

Spawns the worker thread (sync method).

Once spawned the worker thread will be in the IDLE state.

The documentation for this class was generated from the following file:

reusableComponents/dataTask/src/include/rtctk/dataTask/computationBase.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ ComponentMetricsIf

◆ ServiceContainer

◆ TopicType

Member Enumeration Documentation

◆ State

Constructor & Destructor Documentation

◆ ComputationBase()

◆ ~ComputationBase()

Member Function Documentation

◆ CheckErrors()

◆ Compute()

◆ CopyData()

◆ GetCycles()

◆ GetSamplesToRead()

◆ GetSamplesToSkip()

◆ GetState()

◆ Idle()

◆ Join()

◆ OnCycleStart()

◆ OnThreadStart()

◆ Publish()

◆ Run()

◆ RunOnceSync()

◆ SetSamplesToRead()

◆ SetSamplesToSkip()

◆ Spawn()