pub struct Controller<D, V>{ /* private fields */ }
Expand description
Controller, used to manage workers and their context
Generic parameter D
is the message type for the controller’s Hub
messages.
Generic parameter V
is the type of shared variables. If shared variables are not required, it
can be set to ()
.
Implementations§
Source§impl<D, V> Controller<D, V>
impl<D, V> Controller<D, V>
Sourcepub fn new() -> Selfwhere
V: Default,
pub fn new() -> Selfwhere
V: Default,
Creates a new controller instance, variables MUST implement Default
trait
Sourcepub fn new_with_variables(variables: V) -> Self
pub fn new_with_variables(variables: V) -> Self
Creates a new controller instance with a pre-defined variables object
Sourcepub fn spawn_worker<W: Worker<D, V> + WorkerOptions + 'static>(
&mut self,
worker: W,
) -> Result<()>
pub fn spawn_worker<W: Worker<D, V> + WorkerOptions + 'static>( &mut self, worker: W, ) -> Result<()>
Spawns a worker
Sourcepub fn spawn_task<F>(&mut self, name: &str, f: F) -> Result<()>
pub fn spawn_task<F>(&mut self, name: &str, f: F) -> Result<()>
Spawns a task thread (non-real-time) with the default options
Sourcepub fn register_signals(&mut self, shutdown_timeout: Duration) -> Result<()>
pub fn register_signals(&mut self, shutdown_timeout: Duration) -> Result<()>
Registers SIGINT, SIGTERM and SIGUSR2 signals to a thread which terminates the controller
with dummy handlers (see Controller::register_signals_with_handlers()
).
Sourcepub fn register_signals_with_handlers<SH, RH>(
&mut self,
shutdown_handler_fn: SH,
reload_handler_fn: RH,
shutdown_timeout: Duration,
) -> Result<()>
pub fn register_signals_with_handlers<SH, RH>( &mut self, shutdown_handler_fn: SH, reload_handler_fn: RH, shutdown_timeout: Duration, ) -> Result<()>
Registers SIGINT, SIGUSR2 and SIGTERM signals to a thread which terminates the controller.
The signals SIGINT and SIGTERM are used to gracefully terminate the controller. The SIGUSR2 signal is used to perform a live reload of the executable.
Note: to properly terminate all workers must either periodically check the controller state
with Context::is_online()
or be marked as blocking by overriding
WorkerOptions::worker_is_blocking()
(or setting blocking
to true
in WorkerOpts
derive macro).
Workers that listen to hub messages may also receive a custom termination message and gracefully shut themselves down. For such functionality a custom signal handler should be implemented (See https://github.com/roboplc/roboplc/blob/main/examples/shutdown.rs).
The thread is automatically spawned with FIFO scheduling and the highest priority on CPU 0 or falled back to non-realtime.
If the reload handler function returns error, the reload process is aborted. Otherwise, the
executable is reloaded (see crate::reload_executable()
).
Sourcepub fn block(&mut self)
pub fn block(&mut self)
Blocks until all non-blocking tasks/workers are finished. In case if signals are
registered, the controller is blocked until a signal is received, despite all worker tasks
are finished. Use Controller::block_while_online()
instead to let controller workers
shut down the controller.
Sourcepub fn block_while_online(&self)
pub fn block_while_online(&self)
Blocks until the controller goes into stopping/stopped
Sourcepub fn supervisor(&self) -> &Supervisor<()>
pub fn supervisor(&self) -> &Supervisor<()>
Controller Supervisor
instance
Trait Implementations§
Auto Trait Implementations§
impl<D, V> Freeze for Controller<D, V>
impl<D, V> !RefUnwindSafe for Controller<D, V>
impl<D, V> Send for Controller<D, V>
impl<D, V> Sync for Controller<D, V>
impl<D, V> Unpin for Controller<D, V>
impl<D, V> !UnwindSafe for Controller<D, V>
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