impl

add test

precommit

comment fixup

Author: Marcus Huang

alica_engine/include/engine/AlicaContext.h

@@ -245,7 +245,7 @@ class AlicaContext
      *
      * @see AlicaCreators
      */
-    int init(AlicaCreators&& creatorCtx, bool delayStart = false);
+    int init(AlicaCreators&& creatorCtx, bool delayStart = false, bool singleThreaded = false);
 
     /**
      * Terminate alica framework and related modules. This function must be called for safe termination before
@@ -397,10 +397,15 @@ class AlicaContext
     AgentId getLocalAgentId() const;
 
     /**
-     * Execute one step of engine synchronously
+     * Signal to execute one step of engine in multi-threaded mode.
      */
     void stepEngine();
 
+    /**
+     * Execute one step of engine in single-threaded mode.
+     */
+    void stepEngineSync();
+
     /**
      * Getter for the agents configuration.
      *

alica_engine/include/engine/AlicaEngine.h

@@ -44,9 +44,10 @@ class AlicaEngine
 
     // State modifiers:
     bool init(AlicaCreators&& creatorCtx);
-    void start();
+    void start(bool singleThreaded = false);
     void terminate();
     void stepNotify();
+    void step();
 
     // Parameter Access:
     // bool getStepEngine() const;

alica_engine/include/engine/PlanBase.h

@@ -12,6 +12,7 @@
 #include <math.h>
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <queue>
 #include <stdio.h>
 #include <thread>
@@ -57,7 +58,8 @@ class PlanBase
     const AlicaTime getLoopInterval() const;
     void setLoopInterval(AlicaTime loopInterval);
     void stop();
-    void start(const Plan* masterPlan);
+    void start(const Plan* masterPlan, bool singleThreaded = false);
+    void tick(const Plan* masterPlan, AlicaTime beginTime = AlicaTime::zero());
     void addFastPathEvent(RunningPlan* p);
     bool isWaiting() const { return _isWaiting; }
 

alica_engine/src/engine/AlicaContext.cpp

@@ -76,7 +76,7 @@ int AlicaContext::init(AlicaCreators& creatorCtx)
     return init(std::move(creators));
 }
 
-int AlicaContext::init(AlicaCreators&& creatorCtx, bool delayStart)
+int AlicaContext::init(AlicaCreators&& creatorCtx, bool delayStart, bool singleThreaded)
 {
     if (_initialized) {
         Logging::logWarn(LOGNAME) << "Context already initialized.";
@@ -99,7 +99,7 @@ int AlicaContext::init(AlicaCreators&& creatorCtx, bool delayStart)
         gbb.set("agentName", _engine->getLocalAgentName());
         gbb.set("agentId", _engine->getTeamManager().getLocalAgentID());
         if (!delayStart) {
-            _engine->start();
+            _engine->start(singleThreaded);
         } else {
             Logging::logInfo(LOGNAME) << "engine start delayed";
         }
@@ -150,6 +150,11 @@ void AlicaContext::stepEngine()
     } while (!_engine->editPlanBase().isWaiting());
 }
 
+void AlicaContext::stepEngineSync()
+{
+    _engine->step();
+}
+
 AgentId AlicaContext::getLocalAgentId() const
 {
     return _engine->getTeamManager().getLocalAgentID();

alica_engine/src/engine/AlicaEngine.cpp

@@ -106,10 +106,10 @@ bool AlicaEngine::init(AlicaCreators&& creatorCtx)
     return true;
 }
 
-void AlicaEngine::start()
+void AlicaEngine::start(bool singleThreaded)
 {
     // TODO: Removing this api need major refactoring of unit tests.
-    _planBase.start(_masterPlan);
+    _planBase.start(_masterPlan, singleThreaded);
     Logging::logInfo(LOGNAME) << "Engine started!";
 }
 /**
@@ -194,6 +194,11 @@ void AlicaEngine::stepNotify()
     _planBase.stepNotify();
 }
 
+void AlicaEngine::step()
+{
+    _planBase.tick(_masterPlan, getAlicaClock().now());
+}
+
 void AlicaEngine::reloadConfig(const YAML::Node& config)
 {
     _configChangeListener.reloadConfig(config);