RTTaskManager

PREMIUM FEATURE BETA

🔹 RPCs

  rpc RTTaskManager (RTTaskManagerRequest) returns (RTTaskManagerResponse) {};
  rpc RTTaskManagerBatch(RTTaskManagerBatchRequest) returns (RTTaskManagerBatchResponse) {};

🔹 Request

message RTTaskManagerRequest {
  // Common request header.
  RSI.RapidServer.RequestHeader header = 1;
 
  // RTTaskManager id.
  optional int32 id = 2; // Required for all actions except Create and Discover.
 
  optional RTTaskManagerConfig config = 3;
  optional RTTaskManagerAction action = 4;
}

🔹 Response

message RTTaskManagerResponse {
  // Common response header. Always check the response header for errors.  
  RSI.RapidServer.ResponseHeader header = 1;
 
  // RTTaskManager id.
  optional int32 id = 2; // When creating a RTTaskManager, this will be the new RTTaskManager's id.
 
  optional RTTaskManagerConfig config = 3;
  optional RTTaskManagerAction action = 4;
  optional RTTaskManagerInfo info = 5;
  optional RTTaskManagerStatus status = 6;
}

🔹 Batch Request and Response

message RTTaskManagerBatchRequest {
  // Common request header.
  RSI.RapidServer.RequestHeader header = 1;
 
  repeated RTTaskManagerRequest requests = 2;
}
 
message RTTaskManagerBatchResponse {
  // Common response header. Always check the response header for errors.  
  RSI.RapidServer.ResponseHeader header = 1;
 
  repeated RTTaskManagerResponse responses = 2;
}

🔹 Config

message RTTaskManagerConfig {}
 

🔹 Action

message RTTaskManagerAction {
  // Start a new task manager.
  optional Create create = 1;
 
  // Discover the task managers that are currently running.
  optional Discover discover = 2;
 
  // Shutdown the task manager.
  optional Shutdown shutdown = 3;
 
  // Submit and start a new task.
  optional TaskSubmit task_submit = 4;
 
  // Remove a task from the task manager.
  optional TaskRemove task_remove = 5;
 
  // Set the values of global variables
  repeated GlobalValueSet global_value_sets = 6;
 
  message Create {
    // The task manager's creation parameters.
    RTTaskManagerCreationParameters creation_parameters = 1;
 
    // The id of the created task manager.
    int32 id = 2; // read-only
  }
 
  message Discover {
    // The ids of all the task managers that were discoverd
    repeated int32 manager_ids = 1;  // read-only
  }
 
  message Shutdown {}
 
  message TaskSubmit {
    // The parameters for the task to create.
    RTTaskCreationParameters task_creation_parameters = 1;
 
    // The id of the created task
    optional int32 task_id = 2; // read-only
  }
 
  message TaskRemove {
    // The id of the task to remove.
    int32 task_id = 1;
  }
 
  message GlobalValueSet {
    // The value to set the global variable to. See FirmwareValue for details.
    FirmwareValue value = 1;
 
    // The name of the global variable to set.
    string name = 2;
 
    // The name and directory of the library that contains the global variable.
    // (The task functions library)
    optional string library_name = 3;
    optional string library_directory = 4;
  }
}

🔹 Info

message RTTaskManagerInfo {
  // The unique id of the task manager.
  int32 id = 1;
 
  // Constants related to the RTTaskManager class.
  Constants constants = 2;
  
  // The creation parameters that were used to create the task manager.
  RTTaskManagerCreationParameters creation_parameters = 3;
 
  message Constants {
    // The maximum number of RTTaskManagers that can be created.
    int32 rt_task_manager_count_maximum = 1;
    
    // The maximum number of RTTasks that can be created in a single RTTaskManager.
    int32 rt_task_count_maximum = 2;
 
    // The name of the RTTaskManager executable.
    string rt_task_manager_executable_name = 3;
 
    // Constants related to the RTTaskManager's creation parameters.
    CreationParameterConstants creation_parameters = 4;
 
    message CreationParameterConstants {
      // The maximum length of the RTTaskManager's directory name.
      int32 directory_length_maximum = 1;
 
      // The maximum length of the RTTaskManager's library name and user label.
      int32 name_length_maximum = 2;
 
      // The default user label for the RTTaskManager if none is specified.
      string user_label_default = 3;
    }
  }
}

🔹 Status

message RTTaskManagerStatus {
  // The ids of the tasks that are currently registered with the task manager.
  // (Includes tasks that are not running.)
  repeated int32 task_ids = 1;
 
  // The names and values of the global variables that the task manager has access to.
  map<string, FirmwareValue> global_values = 2;
 
  // The state of the RTTaskManager (dead, running, etc.) 
  optional RTTaskManagerState state = 3;
 
  // The total number of tasks that have been submitted to the task manager (even if they are no longer running).
  optional uint64 task_submission_count = 4;
 
  // The number of cycles (iterations) the task manager has run.
  optional int64 cycle_count = 5;
 
  // The time it took for the longest cycle to complete (in nanoseconds).
  optional uint64 cycle_time_max = 6;
 
  // The time it took for the shortest cycle to complete (in nanoseconds).
  optional uint64 cycle_time_min = 7;
 
  // The mean of the cycle times (in nanoseconds).
  optional double cycle_time_mean = 8;
 
  // The time it took for the last cycle to complete (in nanoseconds).
  optional uint64 cycle_time_last = 9;
 
  // The time since the last cycle started (in nanoseconds).
  optional uint64 start_time_delta_last = 10;
 
  // The maximum time difference between the start of one cycle and the next (in nanoseconds).
  optional uint64 start_time_delta_max = 11;
 
  // The mean time difference between the start of one cycle and the next (in nanoseconds).
  optional double start_time_delta_mean = 12;
}

🔹 Additional Messages

message RTTaskManagerCreationParameters {
  // Where the rttaskmanager executable is located (usually the RSI installation directory).
  optional string rt_task_directory = 1;
 
  // The platform to run the task manager on. Not needed on Linux. On Windows/INtime,
  // use INTIME for real time performance. Only use WINDOWS for debugging.
  optional PlatformType platform = 2;
 
  // For INtime managers, the name of the INtime node to run on (usually NodeA).
  optional string node_name = 3;
  
  // On Linux, the CPU core to pin the task manager to.
  optional int32 cpu_core = 4;
 
  // The task manager's user defined label.
  optional string user_label = 5;
 
  // Disable the initialization of the RMP and RapidCode objects on task manager startup and their use in synchronizing task manager cycles.
  optional bool no_rmp = 6;
}

enum PlatformType {
  PlatformTypeUNKNOWN = 0;
  PlatformTypeNATIVE = 1;
  PlatformTypeINTIME = 2;
  PlatformTypeLINUX = 3;
  PlatformTypeWINDOWS = 4;
}

enum RTTaskManagerState {
  RTTaskManagerStateUNKNOWN = 0;
  RTTaskManagerStateDEAD = 1;
  RTTaskManagerStateRUNNING = 2;
  RTTaskManagerStateSTOPPED = 3;
}

message RTTaskCreationParameters {
  // The name of the function to run in the task
  string function_name = 1;
 
  // The task functions library directory and name.
  optional string library_name = 2;
  optional string library_directory = 3;
 
  // The task's user defined label.
  optional string user_label = 4;
 
  // The task's priority. 0 is the highest priority, 255 is the lowest.
  optional TaskPriority priority = 5;
 
  // Number of times to repeat the task. -1 means infinite.
  optional int32 repeats = 6;
 
  // How frequently to run the task in samples
  optional int32 period = 7;
 
  // Offset in samples for when to run the task. For example, if the task is set
  // to run every 10 samples, and the phase is set to 3, the task will run at
  // 3, 13, 23, etc.
  optional int32 phase = 8;
 
  // Whether to record execution time metrics for the task.
  optional bool enable_timing = 9;
}

message FirmwareValue {
  oneof value {
    bool bool_value = 1;
    int32 int8_value = 2;
    uint32 uint8_value = 3;
    int32 int16_value = 4;
    uint32 uint16_value = 5;
    int32 int32_value = 6;
    uint32 uint32_value = 7;
    float float_value = 8;
    double double_value = 9;
    int64 int64_value = 10;
    uint64 uint64_value = 11;
  }
}