MotionControlGroupStatechartContext Class Reference

#include <RobotSkillTemplates/statecharts/MotionControlGroup/MotionControlGroupStatechartContext.h>

+ Inheritance diagram for MotionControlGroupStatechartContext:

Public Member Functions

DebugDrawerInterfacePrx getDebugDrawerTopicProxy ()
 
DebugObserverInterfacePrx getDebugObserverProxy () const
 
std::string getDefaultName () const override
 Retrieve default name of component. More...
 
KinematicUnitInterfacePrx getKinematicUnit ()
 
KinematicUnitObserverInterfacePrx getKinematicUnitObserver ()
 
std::string getKinematicUnitObserverName ()
 
const VirtualRobot::RobotPtr getLocalCollisionRobot ()
 
const VirtualRobot::RobotPtr getLocalRobot ()
 
const VirtualRobot::RobotPtr getLocalStructureRobot ()
 
const std::shared_ptr< RemoteRobotgetRobot ()
 
const RobotPoolPtrgetRobotPool () const
 Robot Pool containing collision robots. More...
 
RobotStateComponentInterfacePrx getRobotStateComponent ()
 
TCPControlUnitInterfacePrx getTCPControlUnit ()
 
void onConnectStatechartContext () override
 onConnectStatechartContext can be implemented by subclasses More...
 
void onInitStatechartContext () override
 onInitStatechartonInitStatechartContext can be implemented by subclasses More...
 
- Public Member Functions inherited from XMLStatechartContext
const StatechartProfilePtrgetSelectedStatechartProfile () const
 
- Public Member Functions inherited from StatechartContext
ChannelRefPtr getChannelRef (const std::string &observerName, const std::string &channelName) override
 
DatafieldRefPtr getDatafieldRef (ChannelRefPtr channelRef, const std::string &datafieldName) override
 
DatafieldRefPtr getDatafieldRef (const DataFieldIdentifier &datafieldIdentifier) override
 
VariantBasePtr getDataFromObserver (const DataFieldIdentifierBasePtr &identifier) override
 
TimedVariantBaseList getDataListFromObserver (std::string observerName, const DataFieldIdentifierBaseList &identifierList) override
 
virtual void onConnectStatechart ()=0
 onConnectStatechart is called before armarx::StatechartContext::startStatechart() and after armarx::StatechartContext::onConnectStatechartContext() More...
 
virtual void onExitStatechart ()
 onExitStatechart can be implemented by subclasses More...
 
virtual void onInitStatechart ()=0
 onInitStatechart this method is called when the statechart is started. More...
 
void setAutoEnterToplevelState (bool autoEnter)
 setAutoStartStatechart controls whether the toplevelstate is automatically entered, when the statechart manager is started, More...
 
void setReportingTopic (std::string reportingTopic)
 
bool setToplevelState (const armarx::StatePtr &newToplevelState, StringVariantContainerBaseMap startParameters=StringVariantContainerBaseMap())
 setToplevelState initializes newToplevelState with the current StatechartContext and the current StatechartContext::statechartManager and sets newToplevelState as top-level state on the current StatechartContext::statechartManager. More...
 
void startStatechart ()
 startStatechart actives both, the toplevel startchart stored in the variable statechart and the StatechartManager for handling eventprocessing. More...
 
 StatechartContext ()
 
 ~StatechartContext () override
 
- Public Member Functions inherited from Component
virtual void componentPropertiesUpdated (const std::set< std::string > &changedProperties)
 Implement this function if you would like to react to changes in the properties. More...
 
void forceComponentCreatedByComponentCreateFunc ()
 forces the flag to be set to true that the object instance was created by the Component::create function More...
 
std::vector< PropertyUserPtrgetAdditionalPropertyUsers () const
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class ProxyType >
ProxyType getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Get a proxy whose name is specified by the given property. More...
 
template<class ProxyType >
void getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 
template<class TopicProxyType >
TopicProxyType getTopicFromProperty (const std::string &propertyName)
 Get a topic proxy whose name is specified by the given property. More...
 
template<class TopicProxyType >
void getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
 
void initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
 initializes the properties of this component. More...
 
void injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
 
void offeringTopicFromProperty (const std::string &propertyName)
 Offer a topic whose name is specified by the given property. More...
 
virtual void preOnConnectComponent () override
 
virtual void preOnInitComponent () override
 
bool usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
 Use a proxy whose name is specified by the given property. More...
 
void usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
 Use a topic whose name is specified by the given property. More...
 
- Public Member Functions inherited from ManagedIceObject
void enableProfiler (bool enable)
 setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...
 
std::string generateSubObjectName (const std::string &subObjectName)
 Generates a unique name for a sub object from a general name. More...
 
ArmarXManagerPtr getArmarXManager () const
 Returns the ArmarX manager used to add and remove components. More...
 
ManagedIceObjectConnectivity getConnectivity () const
 Retrieve connectivity of the object (topcis as well as proxies) More...
 
IceManagerPtr getIceManager () const
 Returns the IceManager. More...
 
VariantBasePtr getMetaInfo (const std::string &id)
 
StringVariantBaseMap getMetaInfoMap () const
 
std::string getName () const
 Retrieve name of object. More...
 
Ice::ObjectAdapterPtr getObjectAdapter () const
 Returns object's Ice adapter. More...
 
ArmarXObjectSchedulerPtr getObjectScheduler () const
 
PeriodicTaskPtr getPeriodicTask (const std::string &name)
 
Profiler::ProfilerPtr getProfiler () const
 getProfiler returns an instance of armarx::Profiler More...
 
template<class ProxyTarg , class... Args>
void getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyType >
ProxyType getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Retrieves a proxy object. More...
 
template<class ProxyTarg , class... Args>
void getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
 Assigns a proxy to proxy. More...
 
Ice::ObjectPrx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 Returns the proxy of this object (optionally it waits for the proxy) More...
 
template<class Prx >
Prx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 
template<class ProxyType >
void getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Overload to allow using string literals as name (solve ambiguous overload). More...
 
template<class Prx >
void getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
 
int getState () const
 Retrieve current state of the ManagedIceObject. More...
 
template<class TopicProxyType >
TopicProxyType getTopic (const std::string &name)
 Returns a proxy of the specified topic. More...
 
template<class TopicProxyType >
void getTopic (TopicProxyType &topicProxy, const std::string &name)
 Assigns a proxy of the specified topic to topicProxy. More...
 
std::vector< std::string > getUnresolvedDependencies () const
 returns the names of all unresolved dependencies More...
 
 ManagedIceObject (ManagedIceObject const &other)
 
void offeringTopic (const std::string &name)
 Registers a topic for retrival after initialization. More...
 
void preambleGetTopic (std::string const &name)
 
void setMetaInfo (const std::string &id, const VariantBasePtr &value)
 Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...
 
void startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
 
bool stopPeriodicTask (const std::string &name)
 
bool unsubscribeFromTopic (const std::string &name)
 Unsubscribe from a topic. More...
 
bool usingProxy (const std::string &name, const std::string &endpoints="")
 Registers a proxy for retrieval after initialization and adds it to the dependency list. More...
 
void usingTopic (const std::string &name, bool orderedPublishing=false)
 Registers a proxy for subscription after initialization. More...
 
void waitForObjectScheduler ()
 Waits until the ObjectScheduler could resolve all dependencies. More...
 
void waitForProxy (std::string const &name, bool addToDependencies)
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 
- Public Member Functions inherited from PropertyUser
std::vector< std::string > getComponentProxyNames ()
 
Ice::PropertiesPtr getIceProperties () const
 Returns the set of Ice properties. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 Property creation and retrieval. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 Hack to allow using getProperty in const-modified methods. More...
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class T >
std::vector< TgetPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
template<class ContainerT >
void getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
PropertyDefinitionsPtr getPropertyDefinitions ()
 Returns the component's property definition container. More...
 
std::vector< std::string > getSubscribedTopicNames ()
 
std::vector< std::string > getTopicProxyNames ()
 
bool hasProperty (const std::string &name)
 
 PropertyUser ()
 
virtual void setIceProperties (Ice::PropertiesPtr properties)
 Sets the Ice properties. More...
 
bool tryAddProperty (const std::string &propertyName, const std::string &value)
 
virtual void updateIceProperties (const std::map< std::string, std::string > &changes)
 
void updateProperties ()
 
void updateProxies (IceManagerPtr)
 
 ~PropertyUser () override
 
- Public Member Functions inherited from StatechartContextInterface
virtual ~StatechartContextInterface ()=default
 

Additional Inherited Members

- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
 Factory method for a component. More...
 
- Static Public Member Functions inherited from ManagedIceObject
static std::string generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
 Generates a unique name for a sub object from a general name and unique name. More...
 
static std::string GetObjectStateAsString (int state)
 
- Public Attributes inherited from StatechartContext
ConditionHandlerInterfacePrx conditionHandlerPrx
 
StatechartEventDistributorPtr eventDistributor
 The EventListenerInterface instance, that receives events from observers and redirects them to the correct states. More...
 
std::unordered_map< std::string, ObserverInterfacePrx > observerMap
 
StatechartManagerPtr statechartManager
 
SystemObserverInterfacePrx systemObserverPrx
 
- Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr NullPtr
 A nullptr to be used when a const ref to a nullptr is required. More...
 
- Protected Member Functions inherited from XMLStatechartContext
void setSelectedStatechartProfile (const StatechartProfilePtr &value)
 
- Protected Member Functions inherited from Component
void addPropertyUser (const PropertyUserPtr &subPropertyUser)
 Add additional property users here that should show up in the application help text. More...
 
 Component ()
 Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...
 
std::string getConfigDomain ()
 Retrieve config domain for this component as set in constructor. More...
 
std::string getConfigIdentifier ()
 Retrieve config identifier for this component as set in constructor. More...
 
std::string getConfigName ()
 Retrieve config name for this component as set in constructor. More...
 
virtual void icePropertiesInitialized ()
 
- Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT * addPlugin (const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)
 
Ice::CommunicatorPtr getCommunicator () const
 
std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer (std::type_info const &type, std::string const &prefix)
 
 ManagedIceObject ()
 Protected default constructor. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
bool removeProxyDependency (const std::string &name)
 This function removes the dependency of this object on the in parameter name specified object. More...
 
void setName (std::string name)
 Override name of well-known object. More...
 
void terminate ()
 Initiates termination of this IceManagedObject. More...
 
 ~ManagedIceObject () override
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 
- Protected Attributes inherited from StatechartContext
bool autoEnterToplevelState
 
std::string reportingTopic
 
Profiler::ProfilerPtr stateReporter
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

custom implementation of the StatechartContext for a statechart

Definition at line 66 of file MotionControlGroupStatechartContext.h.

Member Function Documentation

◆ getDebugDrawerTopicProxy()

DebugDrawerInterfacePrx getDebugDrawerTopicProxy ( )
inline

Definition at line 116 of file MotionControlGroupStatechartContext.h.

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◆ getDebugObserverProxy()

DebugObserverInterfacePrx getDebugObserverProxy ( ) const
inline

Definition at line 121 of file MotionControlGroupStatechartContext.h.

◆ getDefaultName()

std::string getDefaultName ( ) const
inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns
default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 71 of file MotionControlGroupStatechartContext.h.

◆ getKinematicUnit()

KinematicUnitInterfacePrx getKinematicUnit ( )
inline

Definition at line 100 of file MotionControlGroupStatechartContext.h.

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◆ getKinematicUnitObserver()

KinematicUnitObserverInterfacePrx getKinematicUnitObserver ( )
inline

Definition at line 104 of file MotionControlGroupStatechartContext.h.

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◆ getKinematicUnitObserverName()

std::string getKinematicUnitObserverName ( )
inline

Definition at line 108 of file MotionControlGroupStatechartContext.h.

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◆ getLocalCollisionRobot()

const VirtualRobot::RobotPtr getLocalCollisionRobot ( )
inline

Definition at line 87 of file MotionControlGroupStatechartContext.h.

◆ getLocalRobot()

const VirtualRobot::RobotPtr getLocalRobot ( )
inline

Definition at line 83 of file MotionControlGroupStatechartContext.h.

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◆ getLocalStructureRobot()

const VirtualRobot::RobotPtr getLocalStructureRobot ( )
inline

Definition at line 91 of file MotionControlGroupStatechartContext.h.

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◆ getRobot()

const std::shared_ptr<RemoteRobot> getRobot ( )
inline

Definition at line 79 of file MotionControlGroupStatechartContext.h.

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◆ getRobotPool()

const RobotPoolPtr& getRobotPool ( ) const
inline

Robot Pool containing collision robots.

Returns

Definition at line 130 of file MotionControlGroupStatechartContext.h.

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◆ getRobotStateComponent()

RobotStateComponentInterfacePrx getRobotStateComponent ( )
inline

Definition at line 96 of file MotionControlGroupStatechartContext.h.

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◆ getTCPControlUnit()

TCPControlUnitInterfacePrx getTCPControlUnit ( )
inline

Definition at line 112 of file MotionControlGroupStatechartContext.h.

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◆ onConnectStatechartContext()

void onConnectStatechartContext ( )
overridevirtual

onConnectStatechartContext can be implemented by subclasses

Override this method to retrieve the proxies and topics specified in armarx::StatechartContext::onInitStatechart() via armarx::Component::getProxy() and armarx::Component::getTopic().

This method is called by armarx::StatechartContext::onConnectComponent().

Reimplemented from StatechartContext.

Definition at line 57 of file MotionControlGroupStatechartContext.cpp.

◆ onInitStatechartContext()

void onInitStatechartContext ( )
overridevirtual

onInitStatechartonInitStatechartContext can be implemented by subclasses

Override this method to specify required proxies and topics via armarx::Component::usingProxy(), armarx::Component::usingTopic() and armarx::Component::offeringTopic().

This method is calle by armarx::StatechartContext::onInitComponent().

Reimplemented from StatechartContext.

Definition at line 41 of file MotionControlGroupStatechartContext.cpp.

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The documentation for this class was generated from the following files: