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hakoniwa-core-cpp (English)

Hakoniwa-core-cpp is the core library of the simulation hub. It uses a shared memory stack to achieve fast PDU communication and time synchronization between assets.

Documentation

Stack Overview

  1. Shared memory layer manages master data and PDU buffers.
  2. Controller interfaces (master / asset / event) provide the public API.
  3. Sample processes under sample/ demonstrate typical usage.

Simulation Flow

The following sequence diagram outlines how each component interacts during a typical run.

sequenceDiagram
    actor Cmd as HakoCommand
    participant Master as HakoMaster
    participant Asset as HakoAsset
    participant MasterData as "Master Data"
    participant PduData as "PDU Data"

    Cmd->>Master: hako::init()
    activate Master
    Master->>MasterData: create()
    activate MasterData
    note over Master,MasterData: allocate master data region

    Asset->>Master: asset_register()
    Master->>MasterData: register asset info
    Asset->>MasterData: create_pdu_lchannel()
    note left of Asset: define PDU channel

    Cmd->>Master: start()
    note right of Master: set simulation runnable
    Master->>MasterData: create_pdu_data()
    MasterData->>PduData: create()
    activate PduData
    note over MasterData,PduData: allocate PDU data region

    Master->>Asset: start_callback()
    Asset->>Master: start_feedback()

    loop while simulation running
        Asset-->>PduData: read_pdu() / write_pdu()
    end

    Cmd->>Master: stop()
    note right of Master: stop simulation
    Master->>Asset: stop_callback()
    Asset->>Master: stop_feedback()
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Required

  • If Using Google Test
    • sudo apt-get install libgtest-dev