Class simulation_framework::core::lifecycle::BaseActivity

Definition: core/lifecycle/activity/base_activity.h (line 77)

This is the basic implementation of IActivity interface. Inheriting classes, i.e. a concrete simulation activity, should implement their logic in ExecuteStep() and add needed pub/sub in AddPublisherAndSubscriber() method.

To join the simulation, an activity is basic component which can publish/subscribe message through communication channel and be scheduled by user config as desired. This class is the base class for any other customized activity.

Example of creating inherited 'MyActivity' using 'MyLogic' library This activity is listening to the Topic 'TopicSubscribingOn' and providing Topic 'TopicToBePublished', with corresponding underlying message type MyMessageType_Sub and MyMessageType_Pub.

#include "core/lifecycle/activity/base_activity.h"
#include "my_logic.h"
class MyActivity : public BaseActivity
{
  public:
    MyActivity(const std::string& name,
               std::shared_ptr<CommunicationManager> communication_manager_ptr,
               SchedulerClientPtr scheduler_client,
               MyLogic my_logic) : core::lifecycle::BaseActivity(name, communication_manager_ptr, std::move(scheduler_client)),
                                   my_logic_(my_logic)

    ~MyActivity = default;

    void AddPublisherAndSubscriber() override
    {
        AddPublisher<core::Topic<MyMessageType_Pub>>(
            "TopicToBePublished", [&]() { return msg_pub_; }
        );
        AddSubscriber<core::Topic<MyMessageType_Sub>>(
            "TopicSubscribingOn", [&](const MyMessageType_Sub& msg) { msg_sub_ = msg; }
        );
    }
    void ExecuteStep() override
    {
        my_logic_.DoSomething();
        msg_pub_ = my_logic_.GetUpdatedMsg(msg_sub_);
    }

  private:
    MyLogic my_logic_;
    MyMessageType_Sub msg_sub_{};
    MyMessageType_Pub msg_pub_{};
};

Inherits from:

• simulation_framework::core::lifecycle::IActivity

Inherited by:

• simulation_framework::core::lifecycle::FmuBaseActivity

Members

• AddPublisher
• AddPublisherAndSubscriber
• AddSubscriber
• BaseActivity
• BaseActivity
• BaseActivity
• BaseActivity
• ExecuteStep
• Finalize
• GetCurrentTimestamp
• GetCustomizedParameters
• GetCycleTime
• GetName
• GetSimulationOutputDirectory
• Init
• SetSimulationSettings
• SetUpCommunication
• Shutdown
• Step
• WaitForPubSubConnection
• ~BaseActivity
• ~IActivity

Public functions

Function BaseActivity

simulation_framework::core::lifecycle::BaseActivity::BaseActivity(const std::string &activity_name, std::shared_ptr< core::CommunicationManager > communication_manager_ptr, std::unique_ptr< scheduling::ISchedulerClient > scheduler_client)

Construct an BaseActivity to join simulation.

Parameters:

• activity_name: a unique name of activity in string, which is used as identifier for connections
• communication_manager_ptr: communication manager interface to enable activity join in the com-channel
• scheduler_client: the client which receives event from scheduler server

Parameters:

• const std::string & activity_name
• std::shared_ptr< core::CommunicationManager > communication_manager_ptr
• std::unique_ptr< scheduling::ISchedulerClient > scheduler_client

Return type:

Function BaseActivity

simulation_framework::core::lifecycle::BaseActivity::BaseActivity(const std::string &activity_name, std::shared_ptr< core::CommunicationManager > communication_manager_ptr, std::unique_ptr< scheduling::ISchedulerClient > scheduler_client, std::chrono::milliseconds timeout)

Construct an BaseActivity to join simulation.

Parameters:

• activity_name: a unique name of activity in string, which is used as identifier for connections
• communication_manager_ptr: communication manager interface to enable activity join in the com-channel
• scheduler_client: the client which receives event from scheduler server
• timeout: timeout in milliseconds for event handling

Parameters:

• const std::string & activity_name
• std::shared_ptr< core::CommunicationManager > communication_manager_ptr
• std::unique_ptr< scheduling::ISchedulerClient > scheduler_client
• std::chrono::milliseconds timeout

Return type:

Function BaseActivity

simulation_framework::core::lifecycle::BaseActivity::BaseActivity(const std::string &activity_name, const Topics &topics)

Construct an BaseActivity using RTIDDS communication to join simulation.

Parameters:

• activity_name: A unique name of activity in string, which is used as identifier for connections
• topics: Topics which this activity want to interact with, i.e. subscribe on or publish to

Parameters:

• const std::string & activity_name
• const Topics & topics

Return type:

Function BaseActivity

simulation_framework::core::lifecycle::BaseActivity::BaseActivity(const std::string &activity_name, const Topics &topics, std::chrono::milliseconds timeout)

Construct an BaseActivity using RTIDDS communication to join simulation.

Parameters:

• activity_name: A unique name of activity in string, which is used as identifier for connections
• topics: Topics which this activity want to interact with, i.e. subscribe on or publish to
• timeout: Timeout in millisecond to wait until an event successfully received or sent

Parameters:

• const std::string & activity_name
• const Topics & topics
• std::chrono::milliseconds timeout

Return type:

Function ~BaseActivity

virtual simulation_framework::core::lifecycle::BaseActivity::~BaseActivity()

Destructor of an BaseActivity class.

Return type:

Function GetName

std::string simulation_framework::core::lifecycle::BaseActivity::GetName() const override

Returns:

the name of this activity

Return type: std::string

Reimplements: GetName

Function SetUpCommunication

void simulation_framework::core::lifecycle::BaseActivity::SetUpCommunication() final

Register this activity's bounding communications, managed by higher level. Modifying by inheriting classes is NOT allowed.

Return type: void

Reimplements: SetUpCommunication

Function Step

void simulation_framework::core::lifecycle::BaseActivity::Step() final

Calls the ExecuteStep() for internal logic and send/receive message from corresponding pub/sub, managed by higher level. Modifying by inheriting classes is NOT allowed.

Return type: void

Reimplements: Step

Function Shutdown

void simulation_framework::core::lifecycle::BaseActivity::Shutdown() final

Active shutdown the simulation. Simulation will finish planned events before this and shutdown gracefully

Return type: void

Reimplements: Shutdown

Function GetCurrentTimestamp

time::Timestamp simulation_framework::core::lifecycle::BaseActivity::GetCurrentTimestamp() const final

Get current simulation timestamp.

Returns:

The current simulation timestamp

Return type: time::Timestamp

Reimplements: GetCurrentTimestamp

Function GetCycleTime

std::chrono::milliseconds simulation_framework::core::lifecycle::BaseActivity::GetCycleTime() const final

Return cycle time of this activity as duration in milliseconds.

Returns:

The cycle time of this activity as duration in milliseconds

Return type: std::chrono::milliseconds

Reimplements: GetCycleTime

Function GetSimulationOutputDirectory

std::string simulation_framework::core::lifecycle::BaseActivity::GetSimulationOutputDirectory() const final

Return output directory of simulation as string.

Returns:

The output directory of simulation

Return type: std::string

Reimplements: GetSimulationOutputDirectory

Function GetCustomizedParameters

const SimulationParameters::CustomizedParameters & simulation_framework::core::lifecycle::BaseActivity::GetCustomizedParameters() const final

Retrieves the customized parameters for the activity.

Returns:

A map of customized parameters. key is the name of the customized parameter, value is the value of the customized parameter in type of std::string.

Return type: const SimulationParameters::CustomizedParameters &

Reimplements: GetCustomizedParameters

Function SetSimulationSettings

void simulation_framework::core::lifecycle::BaseActivity::SetSimulationSettings(const scheduling::SimulationSettings &sim_settings) final

Set the simulation settings for this activity.

Parameters:

• sim_settings: The simulation settings struct

Parameters:

• const scheduling::SimulationSettings & sim_settings

Return type: void

Reimplements: SetSimulationSettings

Protected functions

Function Init

void simulation_framework::core::lifecycle::BaseActivity::Init() override

Initialize this activity with customized action.

Return type: void

Reimplements: Init

Reimplemented by:

• Init

Function Finalize

void simulation_framework::core::lifecycle::BaseActivity::Finalize() override

Finalize this activity with customized action.

Return type: void

Reimplements: Finalize

Function ExecuteStep

virtual void simulation_framework::core::lifecycle::BaseActivity::ExecuteStep()=0

Core operation of customer logic in a concrete activity.

Return type: void

Reimplemented by:

• ExecuteStep

Function AddPublisherAndSubscriber

virtual void simulation_framework::core::lifecycle::BaseActivity::AddPublisherAndSubscriber()=0

Addition of Pub/Sub into a concrete activity.

Return type: void

Reimplemented by:

• AddPublisherAndSubscriber

Function AddPublisher

void simulation_framework::core::lifecycle::BaseActivity::AddPublisher(const core::TopicId &topic_id, typename Topic::PublisherCallback callback)

Template method which allows user to add one publisher pushing message to the given Topic.

Parameters:

• topic_id: the name of Topic in string
• callback: publisher callback function

Parameters:

• const core::TopicId & topic_id
• typename Topic::PublisherCallback callback

Return type: void

Function AddSubscriber

void simulation_framework::core::lifecycle::BaseActivity::AddSubscriber(const core::TopicId &topic_id, typename Topic::SubscriberMessageCallback callback)

Template method which allows user to add one subscriber receiving message to the given Topic.

Parameters:

• topic_id: the name of Topic in string
• callback: subscriber callback function

Parameters:

• const core::TopicId & topic_id
• typename Topic::SubscriberMessageCallback callback

Return type: void