icarus::Scheduler Class Reference

Group-based execution scheduler. More...

#include <Scheduler.hpp>

Collaboration diagram for icarus::Scheduler:

Public Member Functions
void	Configure (const SchedulerConfig &config, double sim_rate_hz)
	Configure scheduler from config.
std::vector< std::string >	GetGroupsForFrame (int frame_count, int32_t current_phase=-1) const
	Get groups that should execute on this frame.
std::vector< std::string >	GetMembersForGroup (const std::string &group_name) const
	Get members for a group in execution order.
double	GetGroupDt (const std::string &group_name) const
	Get dt for a specific group.
int	GetFrameDivisor (const std::string &group_name) const
	Get frame divisor for a group.
double	GetSimulationRate () const
	Get simulation rate in Hz.
const std::vector< SchedulerGroupConfig > &	GetGroups () const
	Get the sorted groups (by priority).
const SchedulerConfig &	GetConfig () const
	Get the config.
void	LogExecutionOrder (MissionLogger *logger=nullptr) const
	Log execution order to logger or stdout.

Public Attributes
SchedulerConfig	config_
double	sim_rate_hz_ = 400.0

Detailed Description

Group-based execution scheduler.

Manages component execution order based on:

• Group priority (which group runs first)
• Member priority (which component runs first within a group)
• Frame divisors (multi-rate: group runs when frame_count % divisor == 0)

Each group has a rate_hz. The simulation runs at the fastest rate. Slower groups have divisor > 1 and run less frequently.

Member Function Documentation

Configure()

void icarus::Scheduler::Configure ( const SchedulerConfig & config, double sim_rate_hz )

inline

Configure scheduler from config.

Parameters

config	Scheduler configuration with groups
sim_rate_hz	Global simulation rate (fastest group rate)

GetConfig()

const SchedulerConfig & icarus::Scheduler::GetConfig ( ) const

inlinenodiscard

Get the config.

GetFrameDivisor()

int icarus::Scheduler::GetFrameDivisor ( const std::string & group_name ) const

inlinenodiscard

Get frame divisor for a group.

Parameters

group_name

Name of the group

Returns

Frame divisor (1 = runs every frame)

GetGroupDt()

double icarus::Scheduler::GetGroupDt ( const std::string & group_name ) const

inlinenodiscard

Get dt for a specific group.

Parameters

group_name

Name of the group

Returns

Time step for that group (global_dt * divisor)

GetGroups()

const std::vector< SchedulerGroupConfig > & icarus::Scheduler::GetGroups ( ) const

inlinenodiscard

Get the sorted groups (by priority).

GetGroupsForFrame()

std::vector< std::string > icarus::Scheduler::GetGroupsForFrame ( int frame_count, int32_t current_phase = -1 ) const

inlinenodiscard

Get groups that should execute on this frame.

Parameters

frame_count	Current frame number (0-indexed)
current_phase	Current flight phase (-1 to ignore phase filtering)

Returns

Vector of group names that should execute

GetMembersForGroup()

std::vector< std::string > icarus::Scheduler::GetMembersForGroup ( const std::string & group_name ) const

inlinenodiscard

Get members for a group in execution order.

Parameters

group_name

Name of the group

Returns

Vector of component names in execution order

GetSimulationRate()

double icarus::Scheduler::GetSimulationRate ( ) const

inlinenodiscard

Get simulation rate in Hz.

LogExecutionOrder()

void icarus::Scheduler::LogExecutionOrder ( MissionLogger * logger = nullptr ) const

inline

Log execution order to logger or stdout.

Member Data Documentation

config_

SchedulerConfig icarus::Scheduler::config_

sim_rate_hz_

double icarus::Scheduler::sim_rate_hz_ = 400.0

---

The documentation for this class was generated from the following file:

• include/icarus/sim/Scheduler.hpp