MotionPlanningServer Class Reference

#include <RobotComponents/components/MotionPlanning/MotionPlanningServer.h>

+ Inheritance diagram for MotionPlanningServer:

Classes

struct  TaskAndRemoteHandle
 

Public Member Functions

armarx::PropertyDefinitionsPtr createPropertyDefinitions () override
 
armarx::ClientSideRemoteHandleControlBlockBasePtr enqueueTask (const MotionPlanningTaskBasePtr &task, const Ice::Current &=Ice::emptyCurrent) override
 Enqueues a task. More...
 
TaskInfoSeq getAllTaskInfo (const Ice::Current &=Ice::emptyCurrent) const override
 Returns information about all tasks. More...
 
ClientSideRemoteHandleControlBlockBasePtr getCurrentTaskHandle (const Ice::Current &) override
 
std::string getDefaultName () const override
 Returns the server's default name. More...
 
Ice::Long getNumberOfQueuedTasks (const Ice::Current &) const override
 Returns the number of queued tasks. More...
 
Ice::Long getNumberOfTasks (const Ice::Current &=Ice::emptyCurrent) const override
 Returns the number of tasks. More...
 
CSpaceAndPaths getTaskCSpaceAndPathsById (Ice::Long id, const Ice::Current &=Ice::emptyCurrent) override
 Returns a task's cspace and all found paths. More...
 
bool loadLibFromPackage (const std::string &package, const std::string &lib, const Ice::Current &=Ice::emptyCurrent) override
 
bool loadLibFromPath (const std::string &path, const Ice::Current &=Ice::emptyCurrent) override
 
 MotionPlanningServer ()=default
 ctor More...
 
void onConnectComponent () override
 Connects to the used RemoteObjectNodes. More...
 
void onDisconnectComponent () override
 noop More...
 
void onExitComponent () override
 cleans up and joins the dispatcher More...
 
void onInitComponent () override
 Initializes the server and starts the dispatcher thread. More...
 
 ~MotionPlanningServer () override
 dtor More...
 
- 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
 

Protected Types

using TaskMap = std::unordered_map< Ice::Long, TaskAndRemoteHandle >
 The type of the map of tasks. More...
 

Protected Member Functions

bool deleteTaskById (Ice::Long id)
 
void dispatcherTask ()
 the dispatcher task. More...
 
Ice::Long getNewTaskId ()
 Returns a new task id. More...
 
- 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

SimoxCSpacePtr cacheCSpace
 
TaskAndRemoteHandle currentTask
 currentTask stores a handle to the currently dispatched planning task. More...
 
std::atomic_bool dispatcherKillRequest {false}
 Whether the dispatcher should shut down. More...
 
std::thread dispatcherThread
 The dispatcher's thread. More...
 
std::map< std::string, DynamicLibraryPtrloadedLibs
 
RemoteObjectNodePtr localNode
 
float localNodePercent
 Percentage of cores used by the local ron (if started). More...
 
std::atomic< Ice::Long > nextTaskId {std::numeric_limits<Ice::Long>::min()}
 the next task id. More...
 
std::recursive_mutex queueMutex
 mutex protecting the task queue More...
 
std::vector< std::string > remoteObjectNodeNames
 The used remote object nodes' names. More...
 
std::vector< armarx::RemoteObjectNodeInterfacePrx > remoteObjectNodes
 The used remote object nodes. More...
 
bool startLocalNode
 Whether a local node should be started, if no rons were provided. More...
 
std::set< Ice::Long > taskQueue
 Contains the queue of task ids to execute. More...
 
TaskMap tasks
 The map of tasks. More...
 
std::condition_variable_any waitForTaskOrDispatcherKill
 The dispatcher's cv. More...
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

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)
 
- 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...
 

Detailed Description

Definition at line 85 of file MotionPlanningServer.h.

Member Typedef Documentation

◆ TaskMap

using TaskMap = std::unordered_map<Ice::Long, TaskAndRemoteHandle>
protected

The type of the map of tasks.

Definition at line 231 of file MotionPlanningServer.h.

Constructor & Destructor Documentation

◆ MotionPlanningServer()

MotionPlanningServer ( )
default

ctor

◆ ~MotionPlanningServer()

~MotionPlanningServer ( )
inlineoverride

dtor

Definition at line 98 of file MotionPlanningServer.h.

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )
inlineoverridevirtual
See also
PropertyUser::createPropertyDefinitions()
Returns
The planning server's PropertyDefinitions

Reimplemented from Component.

Definition at line 140 of file MotionPlanningServer.h.

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◆ deleteTaskById()

bool deleteTaskById ( Ice::Long  id)
protected

Definition at line 256 of file MotionPlanningServer.cpp.

◆ dispatcherTask()

void dispatcherTask ( )
protected

the dispatcher task.

(executed by the dispatcherThread)

Definition at line 140 of file MotionPlanningServer.cpp.

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◆ enqueueTask()

armarx::ClientSideRemoteHandleControlBlockBasePtr enqueueTask ( const MotionPlanningTaskBasePtr &  task,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Enqueues a task.

Parameters
taskThe task.
Returns
The task's proxy.

Definition at line 278 of file MotionPlanningServer.cpp.

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◆ getAllTaskInfo()

TaskInfoSeq getAllTaskInfo ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns information about all tasks.

Returns
Information about all tasks.

Definition at line 338 of file MotionPlanningServer.cpp.

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◆ getCurrentTaskHandle()

ClientSideRemoteHandleControlBlockBasePtr getCurrentTaskHandle ( const Ice::Current &  )
override

Definition at line 361 of file MotionPlanningServer.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const
inlineoverridevirtual

Returns the server's default name.

Returns
The server's default name.

Implements ManagedIceObject.

Definition at line 113 of file MotionPlanningServer.h.

◆ getNewTaskId()

Ice::Long getNewTaskId ( )
inlineprotected

Returns a new task id.

Returns
A new task id.

Definition at line 197 of file MotionPlanningServer.h.

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◆ getNumberOfQueuedTasks()

Ice::Long getNumberOfQueuedTasks ( const Ice::Current &  ) const
override

Returns the number of queued tasks.

Returns
The number of queued tasks.

Definition at line 332 of file MotionPlanningServer.cpp.

◆ getNumberOfTasks()

Ice::Long getNumberOfTasks ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns the number of tasks.

Returns
The number of tasks.

Definition at line 326 of file MotionPlanningServer.cpp.

◆ getTaskCSpaceAndPathsById()

CSpaceAndPaths getTaskCSpaceAndPathsById ( Ice::Long  id,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Returns a task's cspace and all found paths.

Parameters
idThe id.
Returns
The task's cspace and all found paths.

Definition at line 371 of file MotionPlanningServer.cpp.

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◆ loadLibFromPackage()

bool loadLibFromPackage ( const std::string &  package,
const std::string &  lib,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 444 of file MotionPlanningServer.cpp.

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◆ loadLibFromPath()

bool loadLibFromPath ( const std::string &  path,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 430 of file MotionPlanningServer.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )
overridevirtual

Connects to the used RemoteObjectNodes.

Implements ManagedIceObject.

Definition at line 73 of file MotionPlanningServer.cpp.

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◆ onDisconnectComponent()

void onDisconnectComponent ( )
inlineoverridevirtual

noop

Reimplemented from ManagedIceObject.

Definition at line 128 of file MotionPlanningServer.h.

◆ onExitComponent()

void onExitComponent ( )
overridevirtual

cleans up and joins the dispatcher

Reimplemented from ManagedIceObject.

Definition at line 106 of file MotionPlanningServer.cpp.

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◆ onInitComponent()

void onInitComponent ( )
overridevirtual

Initializes the server and starts the dispatcher thread.

Implements ManagedIceObject.

Definition at line 43 of file MotionPlanningServer.cpp.

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Member Data Documentation

◆ cacheCSpace

SimoxCSpacePtr cacheCSpace
protected

Definition at line 276 of file MotionPlanningServer.h.

◆ currentTask

TaskAndRemoteHandle currentTask
protected

currentTask stores a handle to the currently dispatched planning task.

Definition at line 240 of file MotionPlanningServer.h.

◆ dispatcherKillRequest

std::atomic_bool dispatcherKillRequest {false}
protected

Whether the dispatcher should shut down.

Definition at line 272 of file MotionPlanningServer.h.

◆ dispatcherThread

std::thread dispatcherThread
protected

The dispatcher's thread.

Definition at line 268 of file MotionPlanningServer.h.

◆ loadedLibs

std::map<std::string, DynamicLibraryPtr> loadedLibs
protected

Definition at line 274 of file MotionPlanningServer.h.

◆ localNode

RemoteObjectNodePtr localNode
protected

Definition at line 220 of file MotionPlanningServer.h.

◆ localNodePercent

float localNodePercent
protected

Percentage of cores used by the local ron (if started).

Definition at line 218 of file MotionPlanningServer.h.

◆ nextTaskId

std::atomic<Ice::Long> nextTaskId {std::numeric_limits<Ice::Long>::min()}
protected

the next task id.

Definition at line 192 of file MotionPlanningServer.h.

◆ queueMutex

std::recursive_mutex queueMutex
mutableprotected

mutex protecting the task queue

Definition at line 254 of file MotionPlanningServer.h.

◆ remoteObjectNodeNames

std::vector<std::string> remoteObjectNodeNames
protected

The used remote object nodes' names.

Definition at line 205 of file MotionPlanningServer.h.

◆ remoteObjectNodes

std::vector<armarx::RemoteObjectNodeInterfacePrx> remoteObjectNodes
protected

The used remote object nodes.

Definition at line 209 of file MotionPlanningServer.h.

◆ startLocalNode

bool startLocalNode
protected

Whether a local node should be started, if no rons were provided.

Definition at line 214 of file MotionPlanningServer.h.

◆ taskQueue

std::set<Ice::Long> taskQueue
protected

Contains the queue of task ids to execute.

If not empty the first id is the next task to execute A set is used since the queue lacks an erase function and ids are added in ascending order.

Definition at line 249 of file MotionPlanningServer.h.

◆ tasks

TaskMap tasks
protected

The map of tasks.

Definition at line 235 of file MotionPlanningServer.h.

◆ waitForTaskOrDispatcherKill

std::condition_variable_any waitForTaskOrDispatcherKill
protected

The dispatcher's cv.

Definition at line 264 of file MotionPlanningServer.h.


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