RobotUnitModuleControllerManagement.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::ArmarXObjects::RobotUnit
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <thread>
 
#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
 
#include "RobotUnitModuleBase.h"
 
namespace armarx::RobotUnitModule
{
    /**
     * @ingroup Library-RobotUnit-Modules
     * @brief This \ref ModuleBase "Module" manages \ref NJointControllerBase "NJointControllers".
     *
     * @see ModuleBase
     */
    class ControllerManagement :
        virtual public ModuleBase,
        virtual public RobotUnitControllerManagementInterface
    {
        friend class ModuleBase;
 
    public:
        /**
         * @brief Returns the singleton instance of this class
         * @return The singleton instance of this class
         */
        static ControllerManagement&
        Instance()
        {
            return ModuleBase::Instance<ControllerManagement>();
        }
 
        ~ControllerManagement();
 
        // //////////////////////////////////////////////////////////////////////////////////////// //
        // ///////////////////////////////// RobotUnitModule hooks //////////////////////////////// //
        // //////////////////////////////////////////////////////////////////////////////////////// //
    private:
        /// @see ModuleBase::_preOnInitRobotUnit
        void _preOnInitRobotUnit();
        /// @see ModuleBase::_preFinishRunning
        void _preFinishRunning();
        /// @see ModuleBase::_postFinishRunning
        void _postFinishRunning();
        // //////////////////////////////////////////////////////////////////////////////////////// //
        // ///////////////////////////////////// ice interface //////////////////////////////////// //
        // //////////////////////////////////////////////////////////////////////////////////////// //
    public:
        /**
         * @brief Returns a proxy to the \ref NJointControllerBase.
         * @param name The \ref NJointControllerBase's name.
         * @return A proxy to the \ref NJointControllerBase.
         * @see getAllNJointControllers
         */
        NJointControllerInterfacePrx
        getNJointController(const std::string& name,
                            const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         * @brief Returns proxies to all \ref NJointControllerBase "NJointControllers"
         * @return Proxies to all \ref NJointControllerBase "NJointControllers"
         * @see getNJointController
         */
        StringNJointControllerPrxDictionary
        getAllNJointControllers(const Ice::Current& = Ice::emptyCurrent) const override;
 
        /**
         * @brief Returns the status of the \ref NJointControllerBase.
         * @param name The \ref NJointControllerBase's name.
         * @return The status of the \ref NJointControllerBase.
         * @see NJointControllerStatus
         * @see getNJointControllerStatuses
         * @see getNJointControllerDescriptionWithStatus
         * @see getNJointControllerDescriptionsWithStatuses
         */
        NJointControllerStatus
        getNJointControllerStatus(const std::string& name,
                                  const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         * @brief Returns the status of all \ref NJointControllerBase "NJointControllers".
         * @return The status of all \ref NJointControllerBase "NJointControllers".
         * @see NJointControllerStatus
         * @see getNJointControllerStatus
         * @see getNJointControllerDescriptionWithStatus
         * @see getNJointControllerDescriptionsWithStatuses
         */
        NJointControllerStatusSeq
        getNJointControllerStatuses(const Ice::Current& = Ice::emptyCurrent) const override;
 
        /**
         * @brief Returns the description of the \ref NJointControllerBase.
         * @param name The \ref NJointControllerBase's name.
         * @return The description of the \ref NJointControllerBase.
         * @see NJointControllerDescription
         * @see getNJointControllerDescriptions
         * @see getNJointControllerDescriptionWithStatus
         * @see getNJointControllerDescriptionsWithStatuses
         */
        NJointControllerDescription
        getNJointControllerDescription(const std::string& name,
                                       const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         * @brief Returns the description of all \ref NJointControllerBase "NJointControllers".
         * @return The description of all \ref NJointControllerBase "NJointControllers".
         * @see NJointControllerDescription
         * @see getNJointControllerDescription
         * @see getNJointControllerDescriptionWithStatus
         * @see getNJointControllerDescriptionsWithStatuses
         */
 
        NJointControllerDescriptionSeq
        getNJointControllerDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
 
        /**
         * @brief Returns the status and description of the \ref NJointControllerBase.
         * @param name The \ref NJointControllerBase's name.
         * @return The status and description of the \ref NJointControllerBase.
         * @see getNJointControllerDescriptionsWithStatuses
         * @see NJointControllerStatus
         * @see getNJointControllerStatus
         * @see getNJointControllerStatuses
         * @see NJointControllerDescription
         * @see getNJointControllerDescription
         * @see getNJointControllerDescriptions
         */
        NJointControllerDescriptionWithStatus getNJointControllerDescriptionWithStatus(
            const std::string& name,
            const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         * @brief Returns the status and description of all \ref NJointControllerBase "NJointControllers".
         * @return The status and description of all \ref NJointControllerBase "NJointControllers".
         * @see getNJointControllerDescriptionsWithStatus
         * @see NJointControllerStatus
         * @see getNJointControllerStatus
         * @see getNJointControllerStatuses
         * @see NJointControllerDescription
         * @see getNJointControllerDescription
         * @see getNJointControllerDescriptions
         */
        NJointControllerDescriptionWithStatusSeq getNJointControllerDescriptionsWithStatuses(
            const Ice::Current& = Ice::emptyCurrent) const override;
 
        /**
         * @brief getNJointControllerClassDescription
         * @param className
         * @return
         */
        NJointControllerClassDescription
        getNJointControllerClassDescription(const std::string& className,
                                            const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         * @brief getNJointControllerClassDescriptions
         * @return
         */
        NJointControllerClassDescriptionSeq getNJointControllerClassDescriptions(
            const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         * @brief Loads the given lib. (calls `getArmarXManager()->loadLibFromPath(path)`)
         * @param path Path to the lib to load.
         * @return Whether loading the lib was successful.
         * @see ArmarXManager::loadLibFromPath
         */
        bool loadLibFromPath(const std::string& path,
                             const Ice::Current& = Ice::emptyCurrent) override;
        /**
         * @brief Loads the given lib. (calls `getArmarXManager()->loadLibFromPath(package, lib)`)
         * @param package The armarx package containing the lib
         * @param lib The lib name to load.
         * @return Whether loading the lib was successful.
         * @see ArmarXManager::loadLibFromPackage
         */
        bool loadLibFromPackage(const std::string& package,
                                const std::string& lib,
                                const Ice::Current& = Ice::emptyCurrent) override;
        /**
         * @brief Returns the names of all available classes of \ref NJointControllerBase.
         * @return The names of all available classes of \ref NJointControllerBase.
         */
        Ice::StringSeq
        getNJointControllerClassNames(const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         * @brief Returns the names of all \ref NJointControllerBase "NJointControllers"
         * @return The names of all \ref NJointControllerBase "NJointControllers"
         */
        Ice::StringSeq
        getNJointControllerNames(const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         * @brief Returns the names of all requested \ref NJointControllerBase "NJointControllers"
         * @return The names of all requested \ref NJointControllerBase "NJointControllers"
         */
        Ice::StringSeq
        getRequestedNJointControllerNames(const Ice::Current& = Ice::emptyCurrent) const override;
        /**
         * @brief Returns the names of all activated \ref NJointControllerBase "NJointControllers"
         * @return The names of all activated \ref NJointControllerBase "NJointControllers"
         */
        Ice::StringSeq
        getActivatedNJointControllerNames(const Ice::Current& = Ice::emptyCurrent) const override;
 
        /**
         * @brief Queues the given \ref NJointControllerBase for deletion.
         * @param name The \ref NJointControllerBase to delete.
         * @see removeNJointControllersToBeDeleted
         * @see nJointControllersToBeDeleted
         * @see deleteNJointControllers
         */
        void deleteNJointController(const std::string& name,
                                    const Ice::Current& = Ice::emptyCurrent) override;
        /**
         * @brief Queues the given \ref NJointControllerBase "NJointControllers" for deletion.
         * @param names The \ref NJointControllerBase "NJointControllers" to delete.
         * @see removeNJointControllersToBeDeleted
         * @see nJointControllersToBeDeleted
         * @see deleteNJointController
         */
        void deleteNJointControllers(const Ice::StringSeq& names,
                                     const Ice::Current& = Ice::emptyCurrent) override;
        /**
         * @brief Queues the given \ref NJointControllerBase for deletion and deactivates it if necessary.
         * @param name The \ref NJointControllerBase to delete.
         * @see removeNJointControllersToBeDeleted
         * @see nJointControllersToBeDeleted
         * @see deleteNJointController
         * @see deleteNJointControllers
         * @see deactivateAnddeleteNJointControllers
         */
        void deactivateAndDeleteNJointController(const std::string& name,
                                                 const Ice::Current& = Ice::emptyCurrent) override;
        /**
         * @brief Queues the given \ref NJointControllerBase "NJointControllers" for deletion and deactivates them if necessary.
         * @param names The \ref NJointControllerBase "NJointControllers" to delete.
         * @see removeNJointControllersToBeDeleted
         * @see nJointControllersToBeDeleted
         * @see deleteNJointController
         * @see deleteNJointControllers
         * @see deactivateAnddeleteNJointController
         */
        void deactivateAndDeleteNJointControllers(const Ice::StringSeq& names,
                                                  const Ice::Current&) override;
 
        /**
         * @brief Requests activation for the given \ref NJointControllerBase.
         * @param name The requested \ref NJointControllerBase.
         * @see activateNJointControllers
         */
        void activateNJointController(const std::string& name,
                                      const Ice::Current& = Ice::emptyCurrent) override;
        /**
         * @brief Requests activation for the given \ref NJointControllerBase "NJointControllers".
         * @param names The requested \ref NJointControllerBase "NJointControllers".
         * @see activateNJointController
         */
        void activateNJointControllers(const Ice::StringSeq& names,
                                       const Ice::Current& = Ice::emptyCurrent) override;
 
        /**
         * @brief Requests deactivation for the given \ref NJointControllerBase.
         * @param name The \ref NJointControllerBase to be deactivated.
         * @see deactivateNJointControllers
         */
        void deactivateNJointController(const std::string& name,
                                        const Ice::Current& = Ice::emptyCurrent) override;
        /**
         * @brief Requests deactivation for the given \ref NJointControllerBase "NJointControllers".
         * @param names The \ref NJointControllerBase "NJointControllers" to be deactivated.
         * @see deactivateNJointController
         */
        void deactivateNJointControllers(const Ice::StringSeq& names,
                                         const Ice::Current& = Ice::emptyCurrent) override;
 
        /**
         * @brief Cretes a \ref NJointControllerBase.
         * @param className The \ref NJointControllerBase's class.
         * @param instanceName The \ref NJointControllerBase's name.
         * @param config A config passed to the \ref NJointControllerBase's ctor.
         * @return A proxy to the created \ref NJointControllerBase.
         */
        NJointControllerInterfacePrx
        createNJointController(const std::string& className,
                               const std::string& instanceName,
                               const NJointControllerConfigPtr& config,
                               const Ice::Current& = Ice::emptyCurrent) override;
        /**
         * @brief Cretes a \ref NJointControllerBase.
         * @param className The \ref NJointControllerBase's class.
         * @param instanceName The \ref NJointControllerBase's name.
         * @param variants A map of \ref Variant "Variants" passed to the \ref NJointControllerBase's ctor.
         * @return A proxy to the created \ref NJointControllerBase.
         */
        NJointControllerInterfacePrx
        createNJointControllerFromVariantConfig(const std::string& className,
                                                const std::string& instanceName,
                                                const StringVariantBaseMap& variants,
                                                const Ice::Current& = Ice::emptyCurrent) override;
        /**
         * @brief Deletes any \ref NJointControllerBase with the given name and creates a new one.
         * @param className The \ref NJointControllerBase's class.
         * @param instanceName The \ref NJointControllerBase's name.
         * @param config A config passed to the \ref NJointControllerBase's ctor.
         * @return A proxy to the created \ref NJointControllerBase.
         */
        NJointControllerInterfacePrx
        createOrReplaceNJointController(const std::string& className,
                                        const std::string& instanceName,
                                        const NJointControllerConfigPtr& config,
                                        const Ice::Current& = Ice::emptyCurrent) override;
 
        /**
         * @brief Changes the set of requested \ref NJointControllerBase "NJointControllers" to the given set.
         * @param newSetup The new set of requested \ref NJointControllerBase "NJointControllers"
         */
        void switchNJointControllerSetup(const Ice::StringSeq& newSetup,
                                         const Ice::Current& = Ice::emptyCurrent) override;
        // //////////////////////////////////////////////////////////////////////////////////////// //
        // /////////////////////////////////// Module interface /////////////////////////////////// //
        // //////////////////////////////////////////////////////////////////////////////////////// //
    public:
        /**
         * @brief Cretes a \ref NJointControllerBase.
         * @param className The \ref NJointControllerBase's class.
         * @param instanceName The \ref NJointControllerBase's name.
         * @param config A config passed to the \ref NJointControllerBase's ctor.
         * @param deletable Whether the \ref NJointControllerBase can be deleted.
         * @param internal Whether the \ref NJointControllerBase should be tagged as internal.
         * @return A pointer to the created \ref NJointControllerBase
         */
        const NJointControllerBasePtr&
        createNJointController(const std::string& className,
                               const std::string& instanceName,
                               const NJointControllerConfigPtr& config,
                               bool deletable,
                               bool internal);
 
        /**
         * @brief Returns pointers to the \ref NJointControllerBase "NJointControllers". (If one does not exist, an exception is thrown.)
         * @param names The \ref NJointControllerBase "NJointControllers" names.
         * @return Pointers to the \ref NJointControllerBase "NJointControllers".
         * @throw If there is no \ref NJointControllerBase for \param name
         */
        std::vector<armarx::NJointControllerBasePtr>
        getNJointControllersNotNull(const std::vector<std::string>& names) const;
        /**
         * @brief Returns a pointer to the \ref NJointControllerBase. (If it does not exist, an exception is thrown.)
         * @param name The \ref NJointControllerBase
         * @return A pointer to the \ref NJointControllerBase.
         * @throw If there is no \ref NJointControllerBase for \param name
         */
        const NJointControllerBasePtr& getNJointControllerNotNull(const std::string& name) const;
 
        /**
         * @brief Returns the names of given \ref NJointControllerBase "NJointControllers"
         * @param ctrls The \ref NJointControllerBase "NJointControllers"
         * @return The names of given \ref NJointControllerBase "NJointControllers"
         */
        std::vector<std::string>
        getNJointControllerNames(const std::vector<armarx::NJointControllerBasePtr>& ctrls) const;
 
        /**
         * @brief Queues the given \ref NJointControllerBase for deletion.
         * @param ctrl The \ref NJointControllerBase to delete.
         * @see removeNJointControllersToBeDeleted
         * @see nJointControllersToBeDeleted
         * @see deleteNJointControllers
         */
        void deleteNJointController(const NJointControllerBasePtr& ctrl);
        /**
         * @brief Queues the given \ref NJointControllerBase "NJointControllers" for deletion.
         * @param ctrls The \ref NJointControllerBase "NJointControllers" to delete.
         * @see removeNJointControllersToBeDeleted
         * @see nJointControllersToBeDeleted
         * @see deleteNJointController
         */
        void deleteNJointControllers(const std::vector<NJointControllerBasePtr>& ctrls);
        /**
         * @brief Queues the given \ref NJointControllerBase for deletion and deactivates it if necessary.
         * @param ctrl The \ref NJointControllerBase to delete.
         * @see removeNJointControllersToBeDeleted
         * @see nJointControllersToBeDeleted
         * @see deleteNJointController
         * @see deleteNJointControllers
         * @see deactivateAnddeleteNJointControllers
         */
        void deactivateAndDeleteNJointController(const NJointControllerBasePtr& ctrl);
        /**
         * @brief Queues the given \ref NJointControllerBase "NJointControllers" for deletion and deactivates them if necessary.
         * @param ctrls The \ref NJointControllerBase "NJointControllers" to delete.
         * @see removeNJointControllersToBeDeleted
         * @see nJointControllersToBeDeleted
         * @see deleteNJointController
         * @see deleteNJointControllers
         * @see deactivateAnddeleteNJointController
         */
        void
        deactivateAndDeleteNJointControllers(const std::vector<NJointControllerBasePtr>& ctrls);
 
 
        /**
         * @brief Requests activation for the given \ref NJointControllerBase.
         * @param ctrl The requested \ref NJointControllerBase.
         * @see activateNJointControllers
         */
        void activateNJointController(const NJointControllerBasePtr& ctrl);
        /**
         * @brief Requests activation for the given \ref NJointControllerBase "NJointControllers".
         * @param ctrls The requested \ref NJointControllerBase "NJointControllers".
         * @see activateNJointController
         */
        void activateNJointControllers(const std::vector<NJointControllerBasePtr>& ctrls);
 
        /**
         * @brief Requests deactivation for the given \ref NJointControllerBase.
         * @param ctrl The \ref NJointControllerBase to be deactivated.
         * @see deactivateNJointControllers
         */
        void deactivateNJointController(const NJointControllerBasePtr& ctrl);
        /**
         * @brief Requests deactivation for the given \ref NJointControllerBase "NJointControllers".
         * @param ctrls The \ref NJointControllerBase "NJointControllers" to be deactivated.
         * @see deactivateNJointController
         */
        void deactivateNJointControllers(const std::vector<NJointControllerBasePtr>& ctrls);
 
        // //////////////////////////////////////////////////////////////////////////////////////// //
        // //////////////////////////////////// implementation //////////////////////////////////// //
        // //////////////////////////////////////////////////////////////////////////////////////// //
    private:
        /**
         * @brief Deletes the given \ref NJointControllerBase "NJointControllers" and removes them
         * from the \ref ArmarXManager
         * @param ctrls \ref NJointControllerBase "NJointControllers" to delete.
         * @param blocking Whether removal from the \ref ArmarXManager should be blocking.
         * @param l Proxy to the listener topic all removal events should be sent to.
         */
        void removeNJointControllers(std::map<std::string, NJointControllerBasePtr>& ctrls,
                                     bool blocking = true,
                                     RobotUnitListenerPrx l = nullptr);
        /**
         * @brief Calls \ref removeNJointControllers for all \ref NJointControllerBase "NJointControllers"
         * queued for deletion (\ref nJointControllersToBeDeleted).
         * @param blocking Whether removal from the \ref ArmarXManager should be blocking.
         * @param l Proxy to the listener topic all removal events should be sent to.
         * @see removeNJointControllers
         * @see nJointControllersToBeDeleted
         */
        void removeNJointControllersToBeDeleted(bool blocking = true,
                                                RobotUnitListenerPrx l = nullptr);
 
        /**
         * @brief Sets the requested flag for all given \ref NJointControllerBase "NJointControllers" and unsets it for the rest.
         * @param request The \ref NJointControllerBase "NJointControllers" where the requested flag should be set.
         */
        void updateNJointControllerRequestedState(const std::set<NJointControllerBasePtr>& request);
        /**
         * @brief Throws if there is no factory for \ref NJointControllerBase "NJointControllers" for the given class name.
         * @param className The class to check for.
         * @throw If there is no factory for \ref NJointControllerBase "NJointControllers" for the given class name.
         */
        void checkNJointControllerClassName(const std::string& className) const;
 
        // //////////////////////////////////////////////////////////////////////////////////////// //
        // ///////////////////////////////////////// Data ///////////////////////////////////////// //
        // //////////////////////////////////////////////////////////////////////////////////////// //
    private:
        /// @brief Holds all currently loaded NJoint controllers (index: [instancename])(May not be accessed in rt.)
        std::map<std::string, NJointControllerBasePtr> nJointControllers;
        /// @brief These controllers will be deleted in the next iteration of publish
        std::map<std::string, NJointControllerBasePtr> nJointControllersToBeDeleted;
        /// @brief VirtualRobot used when creating controllers / calling other functions in this module
        VirtualRobot::RobotPtr controllerCreateRobot;
 
        std::recursive_mutex controllerMutex;
        // //////////////////////////////////////////////////////////////////////////////////////// //
        // /////////////////////////////////////// Attorneys ////////////////////////////////////// //
        // //////////////////////////////////////////////////////////////////////////////////////// //
    private:
        /**
        * \brief This class allows minimal access to private members of \ref ControllerManagement in a sane fashion for \ref Publisher.
        * \warning !! DO NOT ADD ADDITIONAL FRIENDS IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!
        */
        friend class ControllerManagementAttorneyForPublisher;
        /**
        * \brief This class allows minimal access to private members of \ref ControllerManagement in a sane fashion for \ref ControlThreadDataBuffer.
        * \warning !! DO NOT ADD ADDITIONAL FRIENDS IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!
        */
        friend class ControllerManagementAttorneyForControlThreadDataBuffer;
    };
} // namespace armarx::RobotUnitModule