SharedGlobals.h File Reference

A class to hold various simulator parameters which need to be accessed from multiple processes. More...

#include "IPC/MutexLock.h"
#include "IPC/SemaphoreManager.h"
#include "IPC/ProcessID.h"
#include "Shared/plist.h"
#include "Shared/TimeET.h"
#include "Shared/RobotInfo.h"
#include "local/DataSource.h"

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Classes
class	SharedGlobals
	A class to hold various simulator parameters which need to be accessed from multiple processes. More...
class	MotionSimConfig
	holds configuration parameters for the motion process More...
class	StreamSimConfig
Typedefs
typedef RegionRegistry < MAX_SUBJECTS, MAX_SUBJECT_NAME >	ipc_setup_t
	the type to use for the inter-process communication registry
Functions
float	getTimeScale ()
	a prototype for accessing current time scale without referencing globals directly
Variables
const unsigned int	MAX_SUBJECTS = 50
	maximum number of message queues the simulator can maintain
const unsigned int	MAX_SUBJECT_NAME = 50
	maximum storage capacity of subject names
ipc_setup_t *	ipc_setup
	a global pointer to the inter-process message queue registry (a RegionRegistry)
SharedGlobals *	globals
	a global pointer to the SharedGlobals instance

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Detailed Description

A class to hold various simulator parameters which need to be accessed from multiple processes.

Author:

ejt (Creator)

Definition in file SharedGlobals.h.

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Typedef Documentation

typedef RegionRegistry<MAX_SUBJECTS,MAX_SUBJECT_NAME> ipc_setup_t

the type to use for the inter-process communication registry

Definition at line 278 of file SharedGlobals.h.

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Function Documentation

float getTimeScale

(

)

a prototype for accessing current time scale without referencing globals directly

Referenced by DataStreamDriver::advance(), DataStreamDriver::connect(), SSC32Driver::motionCheck(), CreateDriver::motionCheck(), SSC32Driver::plistValueChanged(), DynamixelDriver::plistValueChanged(), CreateDriver::plistValueChanged(), FileSystemDataSource::resetPoller(), DataThread::run(), DataStreamDriver::run(), DataSource::setFrozen(), and CommThread::updateCommands().

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Variable Documentation

SharedGlobals* globals

a global pointer to the SharedGlobals instance

Definition at line 16 of file SharedGlobals.cc.

Referenced by MotionExecThread::applyPostureFeedback(), sim::badExitCleanup(), TimerExecThread::calcSleepTime(), SyncDataThread::cancelled(), Simulator::cmdAdvance(), Simulator::cmdPause(), Simulator::cmdQuit(), Simulator::cmdRun(), Simulator::cmdRunlevel(), Simulator::cmdStatus(), Simulator::cmdStep(), Motion::doStart(), Main::doStart(), Motion::doStop(), FrameCounter::filterSendRequest(), sim::fork_process(), Simulator::getNextFrame(), Main::gotCamera(), Main::gotEvent(), Main::gotSensors(), Main::gotThreadedEvent(), Main::gotTimer(), Motion::gotWakeup(), Simulator::incrementTime(), SyncDataThread::interrupted(), MotionExecThread::interrupted(), TimerExecThread::launched(), SyncDataThread::launched(), MotionExecThread::launched(), sim::manage_process(), Simulator::messagesRead(), Simulator::nextSensorTime(), Simulator::plistCollectionEntriesChanged(), Simulator::plistCollectionEntryAdded(), Simulator::plistCollectionEntryRemoved(), Simulator::plistValueChanged(), TimerExecThread::poll(), MotionExecThread::poll(), Process::Process(), Main::processEvent(), Simulator::processRunlevel(), TimerExecThread::reset(), MotionExecThread::reset(), Simulator::resetSpeedMode(), Simulator::run(), sim::run(), Process::run(), Motion::run(), Main::run(), Simulator::sendSensor(), Simulator::setMotionEnteringRealtime(), Simulator::setMotionLeavingRealtime(), sim::sim(), sim::sim_get_time(), sim::sim_getTimeScale(), Simulator::Simulator(), Process::statusReport(), Simulator::updateDataSources(), sim::wait_runlevel(), sim::~sim(), and Simulator::~Simulator().

ipc_setup_t* ipc_setup

a global pointer to the inter-process message queue registry (a RegionRegistry)

Definition at line 15 of file SharedGlobals.cc.

Referenced by Simulator::sendCommand(), sim::sim(), and sim::~sim().

const unsigned int MAX_SUBJECT_NAME = 50

maximum storage capacity of subject names

Definition at line 275 of file SharedGlobals.h.

const unsigned int MAX_SUBJECTS = 50

maximum number of message queues the simulator can maintain

Definition at line 274 of file SharedGlobals.h.