eeros_architecture:control_system:executor
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eeros_architecture:control_system:executor [2021/02/10 11:53] – [Add More Timedomains] ursgraf | eeros_architecture:control_system:executor [2021/02/10 15:27] – [Initialize the Executor] ursgraf | ||
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In this example we have the safety system as the main task. It has the fastest execution period together with the time domain 1. The time domain 2 runs with the same period but only after time domain 1 has finished. Time domain 3 has a harmonic relationship to the main task with a ratio of 2. | In this example we have the safety system as the main task. It has the fastest execution period together with the time domain 1. The time domain 2 runs with the same period but only after time domain 1 has finished. Time domain 3 has a harmonic relationship to the main task with a ratio of 2. | ||
| | ||
- | ===== Initialize the Executor ====== | + | ===== Initialize the Executor |
First you have to define the executor. | First you have to define the executor. | ||
<code cpp> | <code cpp> | ||
Line 45: | Line 45: | ||
===== Add More Time Domains ====== | ===== Add More Time Domains ====== | ||
- | The picture at the top of this page shows another two time domains. | + | The picture at the top of this page shows another two time domains. |
+ | <code cpp> | ||
+ | eeros:: | ||
+ | eeros:: | ||
+ | eeros:: | ||
+ | eeros:: | ||
+ | per1.after.push_back(per2); | ||
+ | executor.add(per1); | ||
+ | </ | ||
+ | Time domain 3 runs concurrently to time domain 1. It can therefore be created simply with | ||
+ | <code cpp> | ||
+ | eeros:: | ||
+ | executor.add(td3); | ||
+ | </ |
eeros_architecture/control_system/executor.txt · Last modified: 2021/02/10 15:28 by ursgraf