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--- getting_started:tutorials:sequencer3 [2020/12/03 17:12] – [Example with several Monitors] ursgraf
+++ getting_started:tutorials:sequencer3 [2021/03/31 15:39] (current) – [Subsequence Has Timeout Monitor With Restart] ursgraf
@@ Line 1: / Line 1: @@
-====== Example with several Monitors ======
+====== Example with Nonblocking Sequence ======
+The following example all have a main sequence which calls a few steps and a another sequence. This second sequence is a nonblocking sequence. That means that the main sequence runs in parallel to the second sequence. A timeout monitor either supervises the main sequence or the second sequence.
-it will run in parallel. ''Step A'' and ''Step B'' will be called in parallel, though their waiting time is different. ''Sequence B'' has its timeout condition set to 2.5s. This causes its associated timeout monitor to interrupt the sequence and jump to an exception sequence. In the meantime the main sequence continues unhindered. After the exception sequence ''Sequence B'' is aborted, because its monitor behavior is set to ''abort''. The program stops after the main sequences has finished running its steps.
+===== Main Sequence Calls Nonblocking Sequence =====
-[{{ .:sequencerexample2.png?550 | //Flow of SequencerTest2// }}]
+In the EEROS library you will find a directory with examples. For this example see [[https://github.com/eeros-project/eeros-framework/blob/master/examples/sequencer/SequencerTest30.cpp|SequencerTest30.cpp]].
-The main sequences starts with three ''Step A'' after which the ''Sequence B'' is called. ''Sequence B'' is nonblocking, that means, it will run in parallel. ''Step A'' and ''Step B'' will be called in parallel, though their waiting time is different. ''Sequence B'' has its timeout condition set to 2.5s. This causes its associated timeout monitor to interrupt the sequence and jump to an exception sequence. In the meantime the main sequence continues unhindered. After the exception sequence ''Sequence B'' is aborted, because its monitor behavior is set to ''abort''. The program stops after the main sequences has finished running its steps.
+Open a shell in the build directory of your EEROS library and run
+<code>
+$ ./examples/sequencer/sequencerTest30
+</code>
+The main sequences starts with three ''Step A'' after which the ''Sequence B'' is called. ''Sequence B'' is nonblocking, that means both sequences run in parallel. The main sequence will do three more ''Step A'' before finishing.
+[{{ :getting_started:tutorials:sequencetest30.png?250 | //Calling a nonblocking sequence// }}]
+\\
 Please note the method //action// of the main sequence.
 <code cpp>
-int action() {
+  int action() {
-  for (int i = 0; i < 3; i++) stepA(2);
+    for (int i = 0; i < 3; i++) {
-  seqB();
+      stepA(1);
-  for (int i = 0; i < 5; i++) stepA(2);
+    }
-  seqB.waitAndTerminate();
+    seqS();
-}
+    for (int i = 0; i < 3; i++) {
+      stepA(1);
+    }
+    seqS.wait();
+    return 0;
+  }
 </code>
-At the end of the method you have to wait for the sequence B as it runs in its own thread.
+At the end of the method you have to wait for the subsequence as it runs in its own thread.
-===== Sequence with two Monitors =====
+===== Main Sequence Has Timeout Monitor =====
-In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run ''examples/sequencer/SequencerTest4''.
+The next example is [[https://github.com/eeros-project/eeros-framework/blob/master/examples/sequencer/SequencerTest31.cpp|SequencerTest31.cpp]]. It demonstrates what happens if the main sequence is interrupted by a monitor while a subsequence is called. Run
+<code>
+$ examples/sequencer/sequencerTest31
+</code>
-[{{ .:sequencerexample4.png?450 | //Flow of SequencerTest4// }}]
+The main sequence does three steps and starts the second sequence. The timeout monitor of the main sequence fires while the second sequence still runs. The monitor causes an exception sequence to run. After that the main sequence terminates immediately as the timeout behavior is set to ''abort''. The subsequence continues running in its own thread.
-This example shows a sequence with two associated monitors. The ''Main Sequence'' tries to run several steps called ''Step A''. After each step counter is incremented. A monitor checks for this count to reach a given level (''MyMonitor''). As soon as this happens an exception sequence is started. After termination of the exception sequence the original sequence resumes because the monitor property is set to ''resume''. The ''Main Sequence'' continues and is soon interrupted by its timeout monitor because its timeout limit has expired. The timeout monitor has no exception sequence assigned to it and immediately aborts the ''Main Sequence'' and with it the application because its monitor property is set to //abort//.
+[{{ :getting_started:tutorials:sequencetest31.png?500 | //Aborting the main sequence// }}]
+\\
-==== Altering the Monitor Behavior ====
+===== Main Sequence Has Timeout Monitor With Resume =====
-Change the behavior of ''My Monitor'' to ''restart'', recompile, and observe what happens. After the exception sequence the ''Main Sequence'' restarts. This causes the counter to start with 0 and the timeout will be reset as well. Hence, the timeout monitor will never fire.\\
-If you change the behavior of the timeout monitor to ''restart'', things get more complicated. ''MyMonitor'' will fire, the exception sequence will run, the ''Main Sequence'' will resume, and the timeout monitor will fire. This monitor has no exception sequence but will simply restart the whole procedure.
-===== Monitor Checking two Sequences =====
+The next example is [[https://github.com/eeros-project/eeros-framework/blob/master/examples/sequencer/SequencerTest32.cpp|SequencerTest32.cpp]]. It demonstrates what happens if the main sequence is interrupted by a monitor while a subsequence is called. Run
+<code>
+$ examples/sequencer/sequencerTest32
+</code>
+The main sequence does three steps and starts the second sequence. The timeout monitor of the main sequence fires while the second sequence still runs. The monitor causes an exception sequence to run. After that the main sequence continues where it was interrupted as the timeout behavior is set to ''resume''. The subsequence continues running in its own thread.
+[{{ :getting_started:tutorials:sequencetest32.png?500 | //Resuming the main sequence// }}]
+\\
+===== Main Sequence Has Timeout Monitor With Restart =====
+The next example is [[https://github.com/eeros-project/eeros-framework/blob/master/examples/sequencer/SequencerTest33.cpp|SequencerTest33.cpp]]. It demonstrates what happens if the main sequence is interrupted by a monitor while a subsequence is called. Run
+<code>
+$ examples/sequencer/sequencerTest33
+</code>
+The main sequence does three steps and starts the second sequence. The timeout monitor of the main sequence fires while the second sequence still runs. The monitor causes an exception sequence to run. After that the main sequence starts again as the timeout behavior is set to ''restart''. The subsequence continues running in its own thread. The main sequence will again call the subsequence and the same procedure will follow. This would continue endlessly if the behavior would not change to ''abort'' after three runs.
+[{{ :getting_started:tutorials:sequencetest33.png?500 | //Resuming the main sequence// }}]
+\\
+===== Subsequence Has Timeout Monitor =====
+The next example is [[https://github.com/eeros-project/eeros-framework/blob/master/examples/sequencer/SequencerTest34.cpp|SequencerTest34.cpp]]. It demonstrates what happens if the subsequence is interrupted by a monitor while being called from the main sequence. Run
+<code>
+$ examples/sequencer/sequencerTest34
+</code>
+The main sequence does three steps and starts the second sequence. The timeout monitor of the subsequence fires. The monitor causes an exception sequence to run. After that the subsequence terminates immediately as the timeout behavior is set to ''abort''. The main sequence continues running in its own thread.
+[{{ :getting_started:tutorials:sequencetest34.png?500 | //Aborting the subsequence// }}]
+\\
+===== Subsequence Has Timeout Monitor With Resume =====
+The next example is [[https://github.com/eeros-project/eeros-framework/blob/master/examples/sequencer/SequencerTest35.cpp|SequencerTest35.cpp]]. It demonstrates what happens if the subsequence is interrupted by a monitor while being called from the main sequence. Run
+<code>
+$ examples/sequencer/sequencerTest35
+</code>
+The main sequence does three steps and starts the second sequence. The timeout monitor of the subsequence fires. The monitor causes an exception sequence to run. After that the subsequence continues from where it was interrupted as the timeout behavior is set to ''resume''. The main sequence continues running in its own thread.
+[{{ :getting_started:tutorials:sequencetest35.png?500 | //Resuming the subsequence// }}]
+\\
+===== Subsequence Has Timeout Monitor With Restart =====
+The next example is [[https://github.com/eeros-project/eeros-framework/blob/master/examples/sequencer/SequencerTest36.cpp|SequencerTest36.cpp]]. It demonstrates what happens if the subsequence is interrupted by a monitor while being called from the main sequence. Run
+<code>
+$ examples/sequencer/sequencerTest36
+</code>
-A next example demonstrates what happens if the same monitor checks two sequences. It can be found in ''examples/sequencer/SequencerTest5''.
+The main sequence does three steps and starts the second sequence. The timeout monitor of the subsequence fires. The monitor causes an exception sequence to run. After that the subsequence restarts as the timeout behavior is set to ''restart''. The main sequence continues running in its own thread. The subsequence would restart again and again while the main sequence would have to wait for it. After three restarts the timeout behavior is set to ''abort'' and subsequence and main sequence terminate.
-[{{ .:sequencerexample5.png?550 | //Flow of SequencerTest5// }}]
+[{{ :getting_started:tutorials:sequencetest36.png?500 | //Aborting the subsequence// }}]
+\\
-The ''Main Sequence'' and ''Sequence B'' have the same monitor. The ''Main Sequence'' tries to run several steps called ''Step A''. After each step a counter is incremented. A monitor checks for this count to reach a given level (''MyMonitor''). The same monitor also checks ''Sequence B'', which runs in parallel. As soon as the monitor condition is met, both sequences will abort because the monitor property is set to //abort//.