ModuleBase

This is the base class from which all threaded modules will inherit. It implements functionality generic to all modules with a vector of pipes and scheduling based on function runtime and ideal frequency. The pure virtual functions ModuleBase::periodicInit() and ModuleBase::periodicRoutine() are where child classes will implement functionality specific to the module. The constructor is left unimplemented due to differences in module structure. Guidelines for module writing:

• Do not write a constructor, there is nothing guaranteed at the time of object construction
• Do all of your init work in periodicInit(), which includes setting up pipes and, critically, setting up msInterval
• periodicRoutine() will not be called if you don't set msInterval
• Encapsulate into periodicRoutine(), as it the only thing that is called.
• Provide specific and descriptive errors, although the module name is not required in the error message (the error module extracts a pseudo-stacktrace from pipe metadata)

The ordering of the pipe vector is important.

• YourChildClass::pipes[0] is used internally by ModuleBase::init() to report overrun errors; use this to report your custom errors as well
• Document your code; the graph constructor is responsible for figuring out how to permute pipes so that everything is connected correctly