ControlTargetBase.h
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1 /*
2  * This file is part of ArmarX.
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9  * WITHOUT ANY WARRANTY; without even the implied warranty of
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11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @package RobotAPI::ArmarXObjects::ControlTargetBase
17  * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
18  * @date 2017
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #pragma once
24 
25 #include <map>
26 #include <memory>
27 #include <string>
28 
29 #include <Ice/Handle.h>
30 #include <IceUtil/Time.h>
31 
32 #include <RobotAPI/components/units/RobotUnit/util/HeterogenousContinuousContainerMacros.h>
33 #include <RobotAPI/components/units/RobotUnit/ControlModes.h>
34 #include <RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h>
35 
36 namespace armarx
37 {
38  typedef ::IceInternal::Handle<class VariantBase> VariantBasePtr;
39 
40  /**
41  * @class ControlTargetBase
42  * @ingroup Library-RobotUnit
43  * @brief Brief description of class JointControlTargetBase.
44  *
45  * Detailed description of class ControlTargetBase.
46  */
47  class ControlTargetBase
48  {
49  public:
50  ////use this class as parameter to functions that only should be called by control devices
51  class ControlDeviceAccessToken
52  {
53  friend class ControlDevice;
54  ControlDeviceAccessToken() = default;
55  };
56 
57  template <class DerivedClass>
58  using ControlTargetInfo = introspection::ClassMemberInfo<ControlTargetBase, DerivedClass>;
59 
60  virtual ~ControlTargetBase() = default;
61 
62  virtual std::string getControlTargetType(bool withoutNamespaceSpecifier = false) const = 0;
63  virtual const std::string& getControlMode() const = 0;
64  virtual void reset() = 0;
65  virtual bool isValid() const = 0;
66 
67  template <class T>
68  bool
69  isA() const
70  {
71  return asA<T>();
72  }
73 
74  template <class T>
75  const T*
76  asA() const
77  {
78  return dynamic_cast<const T*>(this);
79  }
80 
81  template <class T>
82  T*
83  asA()
84  {
85  return dynamic_cast<T*>(this);
86  }
87 
88  //logging functions
89  /// @brief used to send the data to the DebugObserverTopic and to other Components (e.g. GUI widgets)
90  virtual std::map<std::string, VariantBasePtr>
91  toVariants(const IceUtil::Time& timestamp) const = 0;
92 
93  virtual std::size_t getNumberOfDataFields() const = 0;
94  virtual std::vector<std::string> getDataFieldNames() const = 0;
95  virtual void getDataFieldAs(std::size_t i, bool& out) const = 0;
96  virtual void getDataFieldAs(std::size_t i, Ice::Byte& out) const = 0;
97  virtual void getDataFieldAs(std::size_t i, Ice::Short& out) const = 0;
98  virtual void getDataFieldAs(std::size_t i, Ice::Int& out) const = 0;
99  virtual void getDataFieldAs(std::size_t i, Ice::Long& out) const = 0;
100  virtual void getDataFieldAs(std::size_t i, Ice::Float& out) const = 0;
101  virtual void getDataFieldAs(std::size_t i, Ice::Double& out) const = 0;
102  virtual void getDataFieldAs(std::size_t i, std::string& out) const = 0;
103  virtual const std::type_info& getDataFieldType(std::size_t i) const = 0;
104 
105  //management functions
106  template <
107  class T,
108  class = typename std::enable_if<std::is_base_of<ControlTargetBase, T>::value>::type>
109  void
110  _copyTo(std::unique_ptr<T>& target) const
111  {
112  _copyTo(target.get());
113  }
114 
115  ARMARX_META_MAKE_HAS_MEMBER_FNC_CHECK(ControlTargetHasGetClassMemberInfo,
116  GetClassMemberInfo,
117  ControlTargetInfo<T> (*)(void));
118 
119  ARMARX_PLACEMENT_CONSTRUCTION_HELPER_BASE(ControlTargetBase)
120  };
121 
122 #define DETAIL_ControlTargetBase_DEFAULT_METHOD_IMPLEMENTATION \
123  ARMARX_PLACEMENT_CONSTRUCTION_HELPER \
124  using ControlTargetBase = ::armarx::ControlTargetBase; \
125  using VariantBasePtr = ::armarx::VariantBasePtr; \
126  std::string getControlTargetType(bool withoutNamespaceSpecifier = false) const override \
127  { \
128  return armarx::GetTypeString(*this, withoutNamespaceSpecifier); \
129  } \
130  void _check_for_static_GetClassMemberInfo_overload() \
131  { \
132  static_assert( \
133  ControlTargetHasGetClassMemberInfo<std::decay<decltype(*this)>::type>::value, \
134  "This class has to implement GetClassMemberInfo() returning " \
135  "an instance of ControlTargetInfo<THIS_CLASS_TYPE>"); \
136  } \
137  std::map<std::string, VariantBasePtr> toVariants(const IceUtil::Time& timestamp) \
138  const override \
139  { \
140  return ControlTargetInfo<std::decay<decltype(*this)>::type>::ToVariants(timestamp, this); \
141  } \
142  std::size_t getNumberOfDataFields() const override \
143  { \
144  return ControlTargetInfo<std::decay<decltype(*this)>::type>::GetNumberOfDataFields(); \
145  } \
146  void getDataFieldAs(std::size_t i, bool& out) const override \
147  { \
148  ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAs(this, i, out); \
149  } \
150  void getDataFieldAs(std::size_t i, Ice::Byte& out) const override \
151  { \
152  ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAs(this, i, out); \
153  } \
154  void getDataFieldAs(std::size_t i, Ice::Short& out) const override \
155  { \
156  ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAs(this, i, out); \
157  } \
158  void getDataFieldAs(std::size_t i, Ice::Int& out) const override \
159  { \
160  ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAs(this, i, out); \
161  } \
162  void getDataFieldAs(std::size_t i, Ice::Long& out) const override \
163  { \
164  ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAs(this, i, out); \
165  } \
166  void getDataFieldAs(std::size_t i, Ice::Float& out) const override \
167  { \
168  ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAs(this, i, out); \
169  } \
170  void getDataFieldAs(std::size_t i, Ice::Double& out) const override \
171  { \
172  ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAs(this, i, out); \
173  } \
174  void getDataFieldAs(std::size_t i, std::string& out) const override \
175  { \
176  ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldAs(this, i, out); \
177  } \
178  const std::type_info& getDataFieldType(std::size_t i) const override \
179  { \
180  return ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldType(i); \
181  } \
182  std::vector<std::string> getDataFieldNames() const override \
183  { \
184  return ControlTargetInfo<std::decay<decltype(*this)>::type>::GetDataFieldNames(); \
185  }
186 
187 #define make_DummyControlTarget(Suffix, ControlMode) \
188  class DummyControlTarget##Suffix : public ControlTargetBase \
189  { \
190  public: \
191  virtual const std::string& \
192  getControlMode() const override \
193  { \
194  return ControlMode; \
195  } \
196  virtual void \
197  reset() override \
198  { \
199  } \
200  virtual bool \
201  isValid() const override \
202  { \
203  return true; \
204  } \
205  DETAIL_ControlTargetBase_DEFAULT_METHOD_IMPLEMENTATION static ControlTargetInfo< \
206  DummyControlTarget##Suffix> \
207  GetClassMemberInfo() \
208  { \
209  return ControlTargetInfo<DummyControlTarget##Suffix>{}; \
210  } \
211  }
212  make_DummyControlTarget(EmergencyStop, ControlModes::EmergencyStop);
213  make_DummyControlTarget(StopMovement, ControlModes::StopMovement);
214 #undef make_DummyControlTarget
215 } // namespace armarx
armarx::ControlTargetBase::asA
const T * asA() const
Definition: ControlTargetBase.h:76
armarx::VariantType::Float
const VariantTypeId Float
Definition: Variant.h:918
armarx::ControlTargetBase
Brief description of class JointControlTargetBase.
Definition: ControlTargetBase.h:47
armarx::ControlDevice
The ControlDevice class represents a logical unit accepting commands via its JointControllers.
Definition: ControlDevice.h:63
armarx::VariantBasePtr
::IceInternal::Handle<::armarx::VariantBase > VariantBasePtr
Definition: ManagedIceObject.h:109
boost::target
Vertex target(const detail::edge_base< Directed, Vertex > &e, const PCG &)
Definition: point_cloud_graph.h:688
ClassMemberInfo.h
armarx::introspection::ClassMemberInfo
Definition: ClassMemberInfo.h:34
armarx::ControlTargetBase::getDataFieldType
virtual const std::type_info & getDataFieldType(std::size_t i) const =0
armarx::make_DummyControlTarget
make_DummyControlTarget(EmergencyStop, ControlModes::EmergencyStop)
armarx::ControlTargetBase::ControlDeviceAccessToken
Definition: ControlTargetBase.h:51
armarx::ControlTargetBase::~ControlTargetBase
virtual ~ControlTargetBase()=default
armarx::ControlTargetBase::getControlMode
virtual const std::string & getControlMode() const =0
armarx::VariantType::Double
const VariantTypeId Double
Definition: Variant.h:919
armarx::ControlTargetBase::ARMARX_META_MAKE_HAS_MEMBER_FNC_CHECK
ARMARX_META_MAKE_HAS_MEMBER_FNC_CHECK(ControlTargetHasGetClassMemberInfo, GetClassMemberInfo, ControlTargetInfo< T >(*)(void))
cxxopts::value
std::shared_ptr< Value > value()
Definition: cxxopts.hpp:926
armarx::ControlTargetBase::reset
virtual void reset()=0
armarx::ControlTargetBase::isValid
virtual bool isValid() const =0
ControlModes.h
armarx::ControlTargetBase::asA
T * asA()
Definition: ControlTargetBase.h:83
armarx::VariantType::Long
const VariantTypeId Long
Definition: Variant.h:917
armarx::ControlTargetBase::getDataFieldAs
virtual void getDataFieldAs(std::size_t i, bool &out) const =0
armarx::armem::Time
armarx::core::time::DateTime Time
Definition: forward_declarations.h:13
ARMARX_PLACEMENT_CONSTRUCTION_HELPER_BASE
#define ARMARX_PLACEMENT_CONSTRUCTION_HELPER_BASE(CommonBaseType)
Definition: HeterogenousContinuousContainerMacros.h:38
armarx::ControlTargetBase::getControlTargetType
virtual std::string getControlTargetType(bool withoutNamespaceSpecifier=false) const =0
armarx::ControlTargetBase::toVariants
virtual std::map< std::string, VariantBasePtr > toVariants(const IceUtil::Time &timestamp) const =0
used to send the data to the DebugObserverTopic and to other Components (e.g. GUI widgets)
armarx::ControlTargetBase::getDataFieldNames
virtual std::vector< std::string > getDataFieldNames() const =0
armarx::ControlTargetBase::isA
bool isA() const
Definition: ControlTargetBase.h:69
armarx::ControlTargetBase::_copyTo
void _copyTo(std::unique_ptr< T > &target) const
Definition: ControlTargetBase.h:110
armarx::VariantType::Int
const VariantTypeId Int
Definition: Variant.h:916
T
float T
Definition: UnscentedKalmanFilterTest.cpp:35
HeterogenousContinuousContainerMacros.h
armarx::ControlTargetBase::getNumberOfDataFields
virtual std::size_t getNumberOfDataFields() const =0
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28