#
# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
from Basilisk.architecture import sim_model
from Basilisk.architecture import sys_model_task
[docs]class ProcessBaseClass(object):
"""Class for a BSK process"""
def __init__(self, procName, procPriority=-1):
self.Name = procName
self.processData = sim_model.SysProcess(procName)
self.processData.processPriority = procPriority
def addTask(self, newTask, taskPriority=-1):
self.processData.addNewTask(newTask.TaskData, taskPriority)
def addInterfaceRef(self, newInt):
self.processData.addInterfaceRef(newInt)
def discoverAllMessages(self):
self.processData.discoverAllMessages()
def disableAllTasks(self):
self.processData.disableAllTasks()
def enableAllTasks(self):
self.processData.enableAllTasks()
def selectProcess(self):
pass
def updateTaskPeriod(self, TaskName, newPeriod):
self.processData.changeTaskPeriod(TaskName, newPeriod)
class TaskBaseClass(object):
def __init__(self, TaskName, TaskRate, InputDelay=0, FirstStart=0):
self.Name = TaskName
self.TaskData = sys_model_task.SysModelTask(TaskRate, InputDelay,
FirstStart)
self.TaskData.TaskName = TaskName
self.TaskModels = []
def disable(self):
self.TaskData.disableTask()
def enable(self):
self.TaskData.enableTask()
def resetTask(self, callTime):
self.TaskData.ResetTaskList(callTime)
class PythonModelClass(object):
idCounter = 1
def __init__(self, modelName, modelActive=True, modelPriority=-1):
# The modelName is a unique identifier (unique to simulation) passed
# in to a class.
self.modelName = modelName
# The modelActive flag indicates if the model should be run or not
self.modelActive = modelActive
# The moduleID is a numeric identifier used to track message usage in
# a given simulation.
# Note: python modules get negative ID numbers
self.moduleID = -PythonModelClass.idCounter
PythonModelClass.idCounter = PythonModelClass.idCounter + 1
# The modelPriority variable is the setting for which models get run
# first. Higher priority indicates that a model will get run sooner.
self.modelPriority = modelPriority
# The selfInit method is used to initialize all of the output messages of a class.
def selfInit(self):
return
# The reset method is used to clear out any persistent variables that need to get changed
# when a task is restarted. This method is typically only called once after selfInit,
# but it should be written to allow the user to call it multiple times if necessary.
def reset(self, currentTime):
return
# The updateState method is the cyclical worker method for a given Basilisk class. It
# will get called periodically at the rate specified in the Python task that the model is
# attached to. It persists and anything can be done inside of it. If you have realtime
# requirements though, be careful about how much processing you put into a Python updateState
# method. You could easily detonate your sim's ability to run in realtime.
def updateState(self, currentTime):
return
class PythonTaskClass(object):
def __init__(self, taskName, taskRate, taskActive=True, taskPriority=-1, parentProc=None):
self.name = taskName
self.rate = taskRate
self.priority = taskPriority
self.modelList = []
self.nextTaskTime = 0
self.taskActive = taskActive
self.parentProc = parentProc
def updateParentProc(self, newParentProc):
self.parentProc = newParentProc
def selfInitTask(self):
for model in self.modelList:
model.selfInit()
def resetTask(self, currentTime):
for model in self.modelList:
model.reset(currentTime)
def addModelToTask(self, newModel, priority=None):
if priority is not None:
newModel.modelPriority = priority
i = 0
for model in self.modelList:
if newModel.modelPriority > model.modelPriority:
self.modelList.insert(i, newModel)
return
i += 1
self.modelList.append(newModel)
def executeModelList(self, currentTime):
self.nextTaskTime = currentTime + self.rate
if not self.taskActive:
return
for model in self.modelList:
model.updateState(currentTime)
[docs]class PythonProcessClass(ProcessBaseClass):
def __init__(self, procName, priority=-1):
super(PythonProcessClass, self).__init__(procName)
self.taskList = []
self.executionOrder = []
self.nextTaskTime = 0
self.pyProcPriority = priority
self.intRefs = []
def nextCallTime(self):
return self.nextTaskTime
def scheduleTask(self, newTask):
for i in range(len(self.executionOrder)):
tmpTask = self.executionOrder[i]
if (newTask.nextTaskTime < tmpTask.nextTaskTime or
newTask.nextTaskTime == tmpTask.nextTaskTime and
newTask.priority > tmpTask.priority):
self.executionOrder.insert(i, newTask)
return
self.executionOrder.append(newTask)
def createPythonTask(self, newTaskName, taskRate, taskActive=True, taskPriority=-1):
self.taskList.append(PythonTaskClass(newTaskName, taskRate, taskActive, taskPriority, self.processData))
def addPythonTask(self, newPyTask):
self.taskList.append(newPyTask)
def addModelToTask(self, taskName, newModel, priority=None):
for task in self.taskList:
if task.name == taskName:
task.addModelToTask(newModel, priority)
return
print("Attempted to add model: " + newModel.modelName)
print("to non-existent task: " + taskName)
def selfInitProcess(self):
if not self.taskList:
return
for task in self.taskList:
task.selfInitTask()
self.nextTaskTime = 0
self.scheduleTask(self.taskList[-1])
def resetProcess(self, currentTime):
self.executionOrder = []
for task in self.taskList:
task.resetTask(currentTime)
self.scheduleTask(task)
def executeTaskList(self, currentTime):
if len(self.executionOrder) == 0:
return
taskNext = self.executionOrder[0]
for intCurr in self.intRefs:
intCurr.routeInputs(self.processData.messageBuffer)
while taskNext.nextTaskTime <= currentTime:
taskNext.executeModelList(currentTime)
self.executionOrder.pop(0)
self.scheduleTask(taskNext)
taskNext = self.executionOrder[0]
self.nextTaskTime = taskNext.nextTaskTime
def addInterfaceRef(self, newInt):
self.intRefs.append(newInt)