ptolemy.domains.tdl.kernel
Class TDLModuleDirector

java.lang.Object
  ptolemy.kernel.util.NamedObj
      ptolemy.kernel.util.Attribute
          ptolemy.actor.Director
              ptolemy.domains.fsm.kernel.FSMDirector
                  ptolemy.domains.fsm.kernel.ModalDirector
                      ptolemy.domains.tdl.kernel.TDLModuleDirector

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable, Executable, Initializable, QuasiTransparentDirector, ExplicitChangeContext, Changeable, Debuggable, DebugListener, Derivable, ModelErrorHandler, MoMLExportable, Moveable, Nameable

public class TDLModuleDirector
extends ModalDirector

Director for a TDL (= Timing Definition Language) module. A TDL module consists of modes, modes consist of TDL tasks and TDL tasks are SDF actors. All actions inside a TDL module are executed periodically and the timing information is specified in parameters. This director parses the parameters and builds a schedule for all the TDL actions. The schedule is represented in a graph showing the dependencies between the TDL actions (see TDLActionsGraph).

In the initialization, output ports and actuators are initialized with values specified in the parameters of the ports. The schedule is generated and events are scheduled. Events that are safe to process at current model time are executed, then the fireAt(time) of the enclosing director is called with the time stamp of the next event. Events are processed in the order specified in the graph.

Since:

Ptolemy II 8.0

Version:

$Id: TDLModuleDirector.java 57044 2010-01-27 22:41:05Z cxh $

Author:

Patricia Derler

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class ptolemy.kernel.util.NamedObj

NamedObj.ContainedObjectsIterator

Field Summary

private double	_currentWCET Current worst case execution time, this is set when the execution of a TDL task is started
private TDLActionsGraph	_graph Current node in the TDL actions graph.
private java.util.HashMap<Node,Time>	_nextEventsTimeStamps Store time stamps from _fireAt() to detect missed executions
private java.util.HashMap<Node,java.util.List<TDLAction>>	_nodesDependentoOnPreviousActions Nodes containing actions that depend on previous actions.
private Time	_previousAdditionalScheduleTime The minimum time to be added to schedule the next action in the _fireAt() method.
private java.util.LinkedList	_receivers All receivers.

Fields inherited from class ptolemy.domains.fsm.kernel.ModalDirector

_actorsFired

Fields inherited from class ptolemy.domains.fsm.kernel.FSMDirector

_currentLocalReceiverMap, _enabledRefinements, _enabledTransition, _localReceiverMaps, controllerName

Fields inherited from class ptolemy.actor.Director

_actorsFinishedExecution, _currentTime, _finishRequested, _initializables, _stopRequested, timeResolution

Fields inherited from class ptolemy.kernel.util.NamedObj

_changeListeners, _changeLock, _changeRequests, _debugging, _debugListeners, _elementName, _isPersistent, _verbose, _workspace, ATTRIBUTES, CLASSNAME, COMPLETE, CONTENTS, DEEP, FULLNAME, LINKS

Fields inherited from interface ptolemy.actor.Executable

COMPLETED, NOT_READY, STOP_ITERATING

Constructor Summary

TDLModuleDirector(CompositeEntity container, java.lang.String name)
Construct a director in the given container with the given name.

Method Summary

private boolean	_chooseTransition(Transition transition) Check if transition (=mode switch) should be executed.
private void	_fireAt(Node node, Time additionalTime) Schedule a refiring of this actor for a TDL action.
private java.util.Collection	_getAllTasks() Get all tasks for a module.
private java.util.List<Node>	_getEventsToFire(Time scheduleTime, Time modePeriod) Return events that can be fired at current model time.
private Time	_getSmallestTimeStampInEventsToFire() Returns the smallest time stamp of the events that will be fired next.
private boolean	_guardIsTrue(NamedObj obj) Test a guard expression on an actor.
private boolean	_hasGuard(NamedObj obj) Test if an object has a guard expression.
private void	_initializeOutputPorts() Initialize output ports by reading initial value and initializing the receivers.
private void	_initializePort(IOPort port) Initialize a port with an initial token.
private void	_resetReceivers() Reset the TDL Receivers.
private void	_transferTaskInputs(Transition transition) After a mode switch, tasks that exist in the source and the target state must have the same port values.
private void	_updateActuator(IOPort port) Update actuator by transferring the outputs.
private void	_updateInputPort(IOPort port) Update input port, for TDL that means a sensor value is read.
private void	_updateInputs() Read input values and update inputMap the updated inputMap is required when guards are evaluated.
private void	_updateOutputPort(IOPort port) Update output port, for TDL this means an actuator is updated.
private void	_updateReceivers(java.util.Collection portList) Update the TDL receivers.
void	fire() Select all actions that can be fired at the current model time.
CausalityInterface	getCausalityInterface() Return a causality interface for the composite actor that contains this director.
static int	getFrequency(NamedObj obj) Get frequency of the task.
Time	getModelTime() Return the current model time which is the model time of the excecutive director.
Time	getModePeriod(NamedObj obj) Get mode period from state parameter "period".
static java.lang.String	getSlots(NamedObj obj) Get frequency of the task.
double	getWCET() Return the worst case execution time of the actor or 0 if no worst case execution time was specified.
static double	getWCETParameter(Actor actor) Return the worst case execution time of the actor or 0 if no worst case execution time was specified.
void	initialize() Initialize the director, calculate schedule and schedule first firing.
static boolean	isFast(NamedObj obj) Find out if task (=actor) or actuator (=output port) is fast task.
Receiver	newReceiver() Return a new TDLReceiver.
boolean	prefire() Check if at the current time there is something to do.
void	scheduleEventsAfterAction(Node node) Schedules actions which depend on the action specified in the given node.
boolean	transferInputs(IOPort port) Don't read inputs as this is specifically scheduled by a TDLModule.
boolean	transferOutputs(IOPort port) Outputs are only transferred when scheduled, therefore do nothing if transfer outputs is called by another actor.
void	wrapup() Clear private variables and lists.

Methods inherited from class ptolemy.domains.fsm.kernel.ModalDirector

clone, invalidateSchedule, postfire

Methods inherited from class ptolemy.domains.fsm.kernel.FSMDirector

_buildLocalReceiverMaps, _checkTransition, _chooseTransition, _currentLocalReceivers, _getLastChosenTransition, _readInputs, _readOutputsFromRefinement, _setCurrentConnectionMap, _setCurrentState, attributeChanged, defaultDependency, fireAt, getContext, getController, getModelNextIterationTime, getModifiedVariables, getParseTreeEvaluator, handleModelError, implementsStrictActorSemantics, isStrict, setContainer, setModelTime

Methods inherited from class ptolemy.actor.Director

_description, _fireContainerAt, _isEmbedded, _isTopLevel, _transferInputs, _transferOutputs, addInitializable, createSchedule, finish, fireAt, fireAtCurrentTime, getCurrentTime, getErrorTolerance, getGlobalTime, getModelStartTime, getModelStopTime, getNextIterationTime, getStartTime, getStopTime, getTimeResolution, initialize, invalidateResolvedTypes, isFireFunctional, isStopRequested, iterate, preinitialize, preinitialize, removeInitializable, requestInitialization, setCurrentTime, stop, stopFire, suggestedModalModelDirectors, supportMultirateFiring, terminate

Methods inherited from class ptolemy.kernel.util.Attribute

_checkContainer, _getContainedObject, _propagateExistence, getContainer, moveDown, moveToFirst, moveToIndex, moveToLast, moveUp, setName, updateContent

Methods inherited from class ptolemy.kernel.util.NamedObj

_addAttribute, _adjustOverride, _attachText, _cloneFixAttributeFields, _debug, _debug, _debug, _debug, _debug, _exportMoMLContents, _getIndentPrefix, _isMoMLSuppressed, _markContentsDerived, _propagateValue, _recordDecoratedAttributes, _removeAttribute, _splitName, _stripNumericSuffix, _validateSettables, addChangeListener, addDebugListener, attributeList, attributeList, attributeTypeChanged, clone, containedObjectsIterator, deepContains, depthInHierarchy, description, description, event, executeChangeRequests, exportMoML, exportMoML, exportMoML, exportMoML, exportMoML, exportMoMLPlain, getAttribute, getAttribute, getAttributes, getChangeListeners, getClassName, getDecoratorAttribute, getDecoratorAttributes, getDerivedLevel, getDerivedList, getDisplayName, getElementName, getFullName, getModelErrorHandler, getName, getName, getPrototypeList, getSource, isDeferringChangeRequests, isOverridden, isPersistent, lazyContainedObjectsIterator, message, propagateExistence, propagateValue, propagateValues, removeChangeListener, removeDebugListener, requestChange, setClassName, setDeferringChangeRequests, setDerivedLevel, setDisplayName, setModelErrorHandler, setPersistent, setSource, sortContainedObjects, toplevel, toString, uniqueName, validateSettables, workspace

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface ptolemy.kernel.util.Nameable

description, getContainer, getDisplayName, getFullName, getName, getName, setName

Field Detail

_currentWCET

private double _currentWCET

Current worst case execution time, this is set when the execution of a TDL task is started

_graph

private TDLActionsGraph _graph

Current node in the TDL actions graph.

_nextEventsTimeStamps

private java.util.HashMap<Node,Time> _nextEventsTimeStamps

Store time stamps from _fireAt() to detect missed executions

_nodesDependentoOnPreviousActions

private java.util.HashMap<Node,java.util.List<TDLAction>> _nodesDependentoOnPreviousActions

Nodes containing actions that depend on previous actions.

_previousAdditionalScheduleTime

private Time _previousAdditionalScheduleTime

The minimum time to be added to schedule the next action in the _fireAt() method.

_receivers

private java.util.LinkedList _receivers

All receivers.

Constructor Detail

TDLModuleDirector

public TDLModuleDirector(CompositeEntity container,
                         java.lang.String name)
                  throws IllegalActionException,
                         NameDuplicationException

Construct a director in the given container with the given name. The container argument must not be null, or a NullPointerException will be thrown. If the name argument is null, then the name is set to the empty string. Increment the version number of the workspace.

Parameters:

container - Container of this director.

name - Name of this director.

Throws:

IllegalActionException - If the name has a period in it, or the director is not compatible with the specified container.

NameDuplicationException - If the container not a CompositeActor and the name collides with an entity in the container.

Method Detail

fire

public void fire()
          throws IllegalActionException

Select all actions that can be fired at the current model time. After executing an action, schedule actions that are executed next according to the schedule. If an action with a WCET > 0 was started, schedule a refiring and return.

Specified by:

fire in interface Executable

Overrides:

fire in class ModalDirector

Throws:

IllegalActionException - If there is more than one transition enabled, or there is no controller, or thrown by any choice action.

getModePeriod

public Time getModePeriod(NamedObj obj)

Get mode period from state parameter "period".

Parameters:

obj - The object

Returns:

The value of the "period" parameter. If there is no period parameter or it cannot be converted to a double, then return 1.0.

getModelTime

public Time getModelTime()

Return the current model time which is the model time of the excecutive director.

Overrides:

getModelTime in class Director

Returns:

The current time.

See Also:

Director.setModelTime(Time)

getWCETParameter

public static double getWCETParameter(Actor actor)

Return the worst case execution time of the actor or 0 if no worst case execution time was specified.

Parameters:

actor - The actor for which the worst case execution time is requested.

Returns:

The worst case execution time.

getWCET

public double getWCET()
               throws IllegalActionException

Return the worst case execution time of the actor or 0 if no worst case execution time was specified.

Returns:

The worst case execution time.

Throws:

IllegalActionException

initialize

public void initialize()
                throws IllegalActionException

Initialize the director, calculate schedule and schedule first firing.

Specified by:

initialize in interface Initializable

Overrides:

initialize in class ModalDirector

Throws:

IllegalActionException - If the superclass throws it.

isFast

public static boolean isFast(NamedObj obj)

Find out if task (=actor) or actuator (=output port) is fast task.

Parameters:

obj - The object that could be a fast task or actuator.

Returns:

True if it is a fast task.

getCausalityInterface

public CausalityInterface getCausalityInterface()

Return a causality interface for the composite actor that contains this director. This class returns an instance of TDLCausalityInterface.

Overrides:

getCausalityInterface in class Director

Returns:

A representation of the dependencies between input ports and output ports of the container.

getFrequency

public static int getFrequency(NamedObj obj)

Get frequency of the task.

Parameters:

obj - The object that could be a fast task or actuator.

Returns:

True if it is a fast task.

getSlots

public static java.lang.String getSlots(NamedObj obj)

Get frequency of the task.

Parameters:

obj - The object that could be a fast task or actuator.

Returns:

True if it is a fast task.

newReceiver

public Receiver newReceiver()

Return a new TDLReceiver.

Overrides:

newReceiver in class FSMDirector

Returns:

A new TDL receiver.

prefire

public boolean prefire()
                throws IllegalActionException

Check if at the current time there is something to do.

Specified by:

prefire in interface Executable

Overrides:

prefire in class ModalDirector

Returns:

True if there is something to do now.

Throws:

IllegalActionException - Thrown if execution was missed, input ports could not be transferred or by parent class.

scheduleEventsAfterAction

public void scheduleEventsAfterAction(Node node)
                               throws IllegalActionException

Schedules actions which depend on the action specified in the given node.

Parameters:

node - Given node.

Throws:

IllegalActionException - Not thrown here but in the base class.

transferOutputs

public boolean transferOutputs(IOPort port)

Outputs are only transferred when scheduled, therefore do nothing if transfer outputs is called by another actor.

Overrides:

transferOutputs in class Director

Parameters:

port - output port.

Returns:

True.

transferInputs

public boolean transferInputs(IOPort port)
                       throws IllegalActionException

Don't read inputs as this is specifically scheduled by a TDLModule.

Overrides:

transferInputs in class FSMDirector

Parameters:

port - Input port.

Returns:

True if ports transferred inputs.

Throws:

IllegalActionException - Thrown if inputs are about to be transferred for a non opaque input port.

wrapup

public void wrapup()
            throws IllegalActionException

Clear private variables and lists.

Specified by:

wrapup in interface Initializable

Overrides:

wrapup in class Director

Throws:

IllegalActionException - If the wrapup() method of one of the associated actors throws it.

_chooseTransition

private boolean _chooseTransition(Transition transition)
                           throws IllegalActionException

Check if transition (=mode switch) should be executed.

Parameters:

transition - The mode switch.

Returns:

True if the mode switch should be done.

Throws:

IllegalActionException - If an error occurs during the transition.

_fireAt

private void _fireAt(Node node,
                     Time additionalTime)
              throws IllegalActionException

Schedule a refiring of this actor for a TDL action.

Parameters:

node - Node containing a TDL action that is scheduled to execute at the given time.

additionalTime - Time to be added to the current model time and the schedule time of the TDL action node.

Throws:

IllegalActionException - Thrown if fireAt() returns false.

_getAllTasks

private java.util.Collection _getAllTasks()

Get all tasks for a module.

Returns:

A list of all tasks.

_getEventsToFire

private java.util.List<Node> _getEventsToFire(Time scheduleTime,
                                              Time modePeriod)

Return events that can be fired at current model time.

Parameters:

scheduleTime - Time in the schedule (= between 0 and modePeriod) which is

modePeriod - Period of the current mode.

Returns:

List of events that can be fired at current model time.

_getSmallestTimeStampInEventsToFire

private Time _getSmallestTimeStampInEventsToFire()

Returns the smallest time stamp of the events that will be fired next.

Returns:

The smallest time stamp of the next events.

_guardIsTrue

private boolean _guardIsTrue(NamedObj obj)
                      throws IllegalActionException

Test a guard expression on an actor.

Parameters:

obj - The object containing a guard expression.

Returns:

True if the guard expression evaluates to true.

Throws:

IllegalActionException - Thrown if guard expression could not be read.

_hasGuard

private boolean _hasGuard(NamedObj obj)

Test if an object has a guard expression.

Parameters:

obj - Object that might have a guard expression.

Returns:

True if the object has a guard parameter.

_initializePort

private void _initializePort(IOPort port)
                      throws IllegalActionException

Initialize a port with an initial token.

Parameters:

port - Port to be initialized.

Throws:

IllegalActionException - Thrown if the initial value parameter could not be read.

_initializeOutputPorts

private void _initializeOutputPorts()
                             throws IllegalActionException

Initialize output ports by reading initial value and initializing the receivers.

Throws:

IllegalActionException - Thrown if the ports could not be initialized.

_resetReceivers

private void _resetReceivers()

Reset the TDL Receivers.

_updateActuator

private void _updateActuator(IOPort port)
                      throws IllegalActionException

Update actuator by transferring the outputs.

Parameters:

port - Actuator that should be updated.

Throws:

IllegalActionException - Thrown if outputs could not be transferred.

_updateInputPort

private void _updateInputPort(IOPort port)

Update input port, for TDL that means a sensor value is read.

Parameters:

port - Port to be updated.

_updateInputs

private void _updateInputs()
                    throws IllegalActionException

Read input values and update inputMap the updated inputMap is required when guards are evaluated.

Throws:

IllegalActionException - Thrown if the controller could not be retrieved or inputs could not be read.

_updateOutputPort

private void _updateOutputPort(IOPort port)
                        throws IllegalActionException

Update output port, for TDL this means an actuator is updated.

Parameters:

port - The output port.

Throws:

IllegalActionException - Thrown if output ports from refinement could not be read.

_updateReceivers

private void _updateReceivers(java.util.Collection portList)
                       throws InvalidStateException,
                              IllegalActionException

Update the TDL receivers. An update of a TDL receiver means that a value previously sent to this port will now be accessible too.

Parameters:

portList - Ports containing TDL receivers that should be updated.

Throws:

IllegalActionException

InvalidStateException

_transferTaskInputs

private void _transferTaskInputs(Transition transition)
                          throws IllegalActionException

After a mode switch, tasks that exist in the source and the target state must have the same port values. This method transfers input ports.

Parameters:

transition - Mode switch that has been made.

Throws:

IllegalActionException - If refinement or Controller could not be retrieved.