A high level controller writing its results into ControlTargets. More...

#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>

Inheritance diagram for NJointControllerBase:

Public Types
using	ConfigPtrT = NJointControllerConfigPtr

using	GenerateConfigDescriptionFunctionSignature = WidgetDescription::WidgetPtr(*)(const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &controlDevices, const std::map< std::string, ConstSensorDevicePtr > &sensorDevices)

template<class ConfigPrtType >
using	GenerateConfigFromVariantsFunctionSignature = ConfigPrtType(*)(const StringVariantBaseMap &)

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Public Member Functions
void	activateController (const Ice::Current &=Ice::emptyCurrent) final override

void	callDescribedFunction (const std::string &, const StringVariantBaseMap &, const Ice::Current &=Ice::emptyCurrent) override

void	deactivateAndDeleteController (const Ice::Current &=Ice::emptyCurrent) final override

void	deactivateController (const Ice::Current &=Ice::emptyCurrent) final override

void	deleteController (const Ice::Current &=Ice::emptyCurrent) final override

std::string	getClassName (const Ice::Current &=Ice::emptyCurrent) const override=0

const std::map< std::string, const JointController * > &	getControlDevicesUsedJointController ()

const std::vector< char > &	getControlDeviceUsedBitmap () const

StringStringDictionary	getControlDeviceUsedControlModeMap (const Ice::Current &=Ice::emptyCurrent) const final override

const std::vector< std::size_t > &	getControlDeviceUsedIndices () const

NJointControllerDescription	getControllerDescription (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerDescriptionWithStatus	getControllerDescriptionWithStatus (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerStatus	getControllerStatus (const Ice::Current &=Ice::emptyCurrent) const final override

WidgetDescription::StringWidgetDictionary	getFunctionDescriptions (const Ice::Current &=Ice::emptyCurrent) const override

std::string	getInstanceName (const Ice::Current &=Ice::emptyCurrent) const final override

bool	hasControllerError (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerActive (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerRequested (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isDeletable (const Ice::Current &=Ice::emptyCurrent) const final override

std::optional< std::vector< char > >	isNotInConflictWith (const NJointControllerBasePtr &other) const

std::optional< std::vector< char > >	isNotInConflictWith (const std::vector< char > &used) const

	NJointControllerBase ()

ConstControlDevicePtr	peekControlDevice (const std::string &deviceName) const
	Get a const ptr to the given ControlDevice. More...

ConstSensorDevicePtr	peekSensorDevice (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice. More...

const std::string &	rtGetClassName () const
	Returns the class name. More...

const std::vector< std::size_t > &	rtGetControlDeviceUsedIndices () const
	Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for. More...

bool	rtGetErrorState () const
	Sets the error state to true. More...

const std::string &	rtGetInstanceName () const
	Returns the instance name. More...

std::size_t	rtGetNumberOfUsedControlDevices () const
	Returns the number of used ControlDevices. More...

const VirtualRobot::RobotPtr &	rtGetRobot ()
	TODO make protected and use attorneys. More...

const std::vector< VirtualRobot::RobotNodePtr > &	rtGetRobotNodes ()
	Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun. More...

bool	rtUsesControlDevice (std::size_t deviceIndex) const
	Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice. More...

ControlTargetBase *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...

template<class T >
T *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...

template<class T >
const T *	useSensorValue (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice's SensorValue. More...

const SensorValueBase *	useSensorValue (const std::string &sensorDeviceName) const
	Get a const ptr to the given SensorDevice's SensorValue. More...

const VirtualRobot::RobotPtr &	useSynchronizedRtRobot (bool updateCollisionModel=false)
	Requests a VirtualRobot for use in rtRun *. More...

	~NJointControllerBase () override

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 ()

Static Public Member Functions
template<class ItT >
static std::optional< std::vector< char > >	AreNotInConflict (ItT first, ItT last)

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
static const NJointControllerBasePtr	NullPtr {nullptr}

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
std::string	getDefaultName () const override

ThreadPoolPtr	getThreadPool () const

void	onConnectComponent () final

virtual void	onConnectNJointController ()

void	onDisconnectComponent () final

virtual void	onDisconnectNJointController ()

void	onExitComponent () final

virtual void	onExitNJointController ()

void	onInitComponent () final

virtual void	onInitNJointController ()

virtual void	onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	onPublishActivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	onPublishDeactivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	rtPostDeactivateController ()
	This function is called after the controller is deactivated. More...

virtual void	rtPreActivateController ()
	This function is called before the controller is activated. More...

void	rtSetErrorState ()
	Sets the error state to true. More...

template<typename Task >
void	runTask (const std::string &taskName, Task &&task)
	Executes a given task in a separate thread from the Application ThreadPool. More...

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	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

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 LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
std::map< std::string, std::shared_ptr< ThreadPool::Handle > >	threadHandles

std::mutex	threadHandlesMutex

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Friends
template<class >
class	detail::NJointControllerRegistryEntryHelper
	This is required for the factory. More...

class	RobotUnitModule::NJointControllerAttorneyForControllerManagement
	This class allows minimal access to private members of NJointControllerBase in a sane fashion for RobotUnitModule::ControllerManagement. More...

class	RobotUnitModule::NJointControllerAttorneyForControlThread
	This class allows minimal access to private members of NJointControllerBase in a sane fashion for RobotUnitModule::ControlThread. More...

class	RobotUnitModule::NJointControllerAttorneyForPublisher
	This class allows minimal access to private members of NJointControllerBase in a sane fashion for RobotUnitModule::Publisher. More...

Detailed Description

A high level controller writing its results into ControlTargets.

This is the abstract base class for all NJointControllers. It implements basic management routines required by the RobotUnit and some basic ice calls. NJointControllers are instantiated and managed by the RobotUnit.

A NJointControllerBase calculates ControlTargets for a set of ControlDevices in a specific ControlMode. This ControlMode is defined for each ControlDevice during construction.

Requested and Active

A NJointControllerBase can is requested / not requested and active / inactive. All four combinations are possible.

Requested / Not Requested

If the user wants this NJointControllerBase to be executed it is in a requested state (see isControllerRequested). Otherwise the controler is not requested.

Calling activateController sets the state to requested. Calling deactivateController sets the state to not requested. If the NJointControllerBase causes an error or a different NJointControllerBase using one or more of the same ControlDevice's is requested, this NJointControllerBase is deactivated.

Active / Inactive

Is the NJointControllerBase executed by the ControlThread it is active (see isControllerActive).

To be executed by the ControlThread, the NJointControllerBase has to be requested at some point in the past.

If a controller is active, it has to write a valid ControlTarget for each of its ControlDevicea (if it fails, it will be deactivated).

Constructor

In the Constructor, a NJointControllerBase has to declare all ControlDevices it uses.

The constructor takes a pointer to a configuration structure of the type NJointControllerBase::ConfigPtrT. If an implementation requires a special configuration structure (e.g.: SomeOtherCfg), it has to override this type by calling adding

using ConfigPtrT = SomeOtherCfgPtr;

to it's clas definition. The type SomeOtherCfg has to derive NJointControllerConfigPtr.

There is a way to generate a small gui widget for controller construction (see this section).

Using ControlTargets

A NJointControllerBase can use peekControlDevice to examine a ControlDevice before using it (e.g.: checking the supported ControlTargets).

If a ControlDevice should be used by this NJointControllerBase, it has to call useControlDevice. This sets the ControlMode for the ControlDevice and returns a pointer to the ControlTarget. This pointer has to be used to send commands in each iteration of rtRun. The ControlMode can't be changed afterwards (A new NJointControllerBase has to be created).

Using SensorValues

A NJointControllerBase can use peekSensorDevice to examine a SensorDevice before using it.

If a SensorDevice should be used by this NJointControllerBase, it has to call useSensorDevice. This returns a pointer to the SensorValue.

A synchronized Virtualrobot

If the controller needs a simox robot in rtRun, it should call useSynchronizedRtRobot. This will provide a simoxRobot via rtGetRobot. This robot is synchronized with the real robots state before calling rtRun

Rt and non Rt

Each NJointControllerBase has two parts:

The RT controll loop
The NonRT ice communication

The Rt controll loop (\ref rtRun)

Warning: This part has to satisfy realtime conditions! All realtime functions of NJointControllerBase have the 'rt' prefix.

Here the NJointControllerBase has access to the robot's current state and has to write results into ControlTargets.

It must not:

call any blocking operation
allocate ram on the heap (since this is a blocking operation)
resize any datastructure (e.g. vector::resize) (this sometimes allocates ram on the heap)
insert new datafields into datastructures (e.g. vector::push_back) (this sometimes allocates ram on the heap)
write to any stream (e.g. ARMARX_VERBOSE, std::cout, print, filestreams) (this sometimes blocks/allocates ram on the heap)
make network calls (e.g. through ice) (this blocks/allocates ram on the heap) (using begin_... end_... version of ice calls IS NO SOLUTION)
do any expensive calculations (e.g. calculate IK, run some solver, invert big matrices)

The NonRT ice communication

This part consits of any ice communication. Here the NJointControllerBase can get new controll parameters or targets from other components.

Communication between RT and NonRT

All communication between RT and NonRT has to be lockfree. The NJointControllerBase has to use constructs like atomics or TripleBuffers (See armarx::NJointControllerWithTripleBuffer).

General Dataflow in a NJointControllerBase

Dataflow in a NJointControllerBase using atomics for communication between RT and NonRT

Dataflow in a NJointControllerBase using a triple buffer for communication between RT and NonRT

Dataflow in a NJointControllerBase as a Graph of the two participating domains

The above image shows the two participating domains: one RT thread and multiple ICE threads. If data has to flow along an arrow, you need some construct for non blocking message passing.

Warning: If you use TrippleBuffers or WriteBufferedTrippleBuffers you need a separate one for each arrow.

How to do expensive calculations

You have to execute expensive calculations in a different worker thread. This thread could calculate target values at its own speed (e.g. 100 Hz).

While rtRun runs at a higher frequency (e.g. 1000 Hz) and:

reads target values
optionally passes the target values to a PID controller
writes them to the targets
sends the sensor values to the worker thread.

If you do some additional calculation in rtRun, you maybe need to pass config parameters from NonRT to RT using a nonblocking method.

Dataflow in a NJointControllerBase using a worker thread

Dataflow in a NJointControllerBase using a worker thread as a Graph of the three participating domains

The above image shows the three participating domains: one RT thread, one worker trhead and multiple ICE threads. If data has to flow along an arrow, you need some construct for non blocking message passing.

Warning: If you use TrippleBuffers or WriteBufferedTrippleBuffers you need a separate one for each arrow.

Providing a gui for controller construction.

By implementing these functions:

static WidgetDescription::WidgetPtr GenerateConfigDescription
(
   const VirtualRobot::RobotPtr& robot,
   const std::map<std::string, ConstControlDevicePtr>& controlDevices,
   const std::map<std::string, ConstSensorDevicePtr>& sensorDevices
); //describes how the widget is supposed to look
static ConfigPtrT GenerateConfigFromVariants(const StringVariantBaseMap&); // turns the resulting variants into a config

The RobotUnitGui will provide a widget to configure and construct a NJointControllerBase of this type.

Examples

More examples can be found in the Tutorials Package

A simple pass Position controller

Note: The code can be found in the Tutorial package

Header

Include headers

#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>

Open the namespace

namespace armarx

{

Typedef some pointers

TYPEDEF_PTRS_HANDLE(NJointPositionPassThroughController);

TYPEDEF_PTRS_HANDLE(NJointPositionPassThroughControllerConfig);

The config has to inherit NJointControllerConfig and consists only of the joint name

class NJointPositionPassThroughControllerConfig : virtual public NJointControllerConfig
{
public:
    NJointPositionPassThroughControllerConfig(const std::string& name): deviceName {name} {}
    std::string deviceName;
};

The controller class has to inherit NJointControllerBase

class NJointPositionPassThroughController: public NJointControllerBase
{
public:

The NJointControllerBase provides a config widget for the RobotUnitGuiPlugin

static WidgetDescription::WidgetPtr GenerateConfigDescription
(
    const VirtualRobot::RobotPtr&,
    const std::map<std::string, ConstControlDevicePtr>& controlDevices,
    const std::map<std::string, ConstSensorDevicePtr>& sensorDevices
);
static NJointControllerConfigPtr GenerateConfigFromVariants(const StringVariantBaseMap& values);

The ctor receives a pointer to the RobotUnit, a pointer to the config and a pointer to a VirtualRobot model.

NJointPositionPassThroughController(
    const RobotUnitPtr& prov,
    NJointControllerConfigPtr config,
    const VirtualRobot::RobotPtr& r
);

The function to provide the class name.

std::string getClassName(const Ice::Current&) const override;

This controller provides widgets for function calls.

WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current&) const override;

void callDescribedFunction(const std::string& name, const StringVariantBaseMap& value, const Ice::Current&) override;

The run function executed to calculate new targets

void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override;

Hooks for this NJointControllerBase to execute code during publishing.

void onPublishActivation(const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&) override;
void onPublishDeactivation(const DebugDrawerInterfacePrx& drawer, const DebugObserverInterfacePrx&) override;
void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx& drawer, const DebugObserverInterfacePrx&) override;

This NJointControllerBase uses one position SensorValue, calculates one position ControlTarget and stores the current position target and position value in atomics.

const SensorValue1DoFActuatorPosition* sensor;
ControlTarget1DoFActuatorPosition* target;
std::atomic<float> targetPos {0};
std::atomic<float> currentPos {0};

Close the class and the namespace

};

}

Source file

Include the required headers.

#include <RobotAPI/libraries/core/Pose.h>
 
#include "NJointPositionPassThroughController.h"

Open the namespace

namespace armarx

{

This generates a config widget used to display a config gui in RobotUnitGui. It consist out of a HBoxLayout containing a Label and a StringComboBox

WidgetDescription::WidgetPtr NJointPositionPassThroughController::GenerateConfigDescription(const VirtualRobot::RobotPtr&, const std::map<std::string, ConstControlDevicePtr>& controlDevices, const std::map<std::string, ConstSensorDevicePtr>& sensorDevices)
{
    using namespace armarx::WidgetDescription;
    HBoxLayoutPtr layout = new HBoxLayout;
    LabelPtr label = new Label;
    label->text = "control device name";
    layout->children.emplace_back(label);
    StringComboBoxPtr box = new StringComboBox;
    box->defaultIndex = 0;

The StringComboBox only contains the names of ControlDevices accepting a position ControlTarget and providing a position SensorValue

    //filter control devices
    for (const auto& name2dev : controlDevices)
    {
        const ConstControlDevicePtr& dev = name2dev.second;
        const auto& name = name2dev.first;
        if (
            dev->hasJointController(ControlModes::Position1DoF) &&
            dev->getJointController(ControlModes::Position1DoF)->getControlTarget()->isA<ControlTarget1DoFActuatorPosition>() &&
            sensorDevices.count(name) &&
            sensorDevices.at(name)->getSensorValue()->isA<SensorValue1DoFActuatorPosition>()
        )
        {
            box->options.emplace_back(name);
        }
    }
    box->name = "name";
    layout->children.emplace_back(box);
    return layout;
}

This turns a map of variants into the config required by this NJointControllerBase. The Variant for the key 'name' defines the ControlDevice.

NJointControllerConfigPtr NJointPositionPassThroughController::GenerateConfigFromVariants(const StringVariantBaseMap& values)
{
    //you should check here for types null additional params etc
    return new NJointPositionPassThroughControllerConfig {values.at("name")->getString()};
}

The constructors implementation.

NJointPositionPassThroughController::NJointPositionPassThroughController(
    const RobotUnitPtr& ru,
    NJointControllerConfigPtr config,
    const VirtualRobot::RobotPtr&
)
{
    ARMARX_CHECK_EXPRESSION(ru);

It checks whether the provided config has the correct type.

NJointPositionPassThroughControllerConfigPtr cfg = NJointPositionPassThroughControllerConfigPtr::dynamicCast(config);

ARMARX_CHECK_EXPRESSION(cfg) << "The provided config has the wrong type! The type is " << config->ice_id();

Then it retrieves the SensorValue and ControlTarget, casts then to the required types and stores them to the member variables.

    const SensorValueBase* sv = useSensorValue(cfg->deviceName);
    ControlTargetBase* ct = useControlTarget(cfg->deviceName, ControlModes::Position1DoF);
    ARMARX_CHECK_EXPRESSION(sv->asA<SensorValue1DoFActuatorPosition>());
    ARMARX_CHECK_EXPRESSION(ct->asA<ControlTarget1DoFActuatorPosition>());
    sensor = sv->asA<SensorValue1DoFActuatorPosition>();
    target = ct->asA<ControlTarget1DoFActuatorPosition>();
}

The class name has to be unique, hence the c++ class name should be used.

std::string NJointPositionPassThroughController::getClassName(const Ice::Current&) const
{
    return "NJointPositionPassThroughController";
}

This NJointControllerBase provides two widgets for function calls.

WidgetDescription::StringWidgetDictionary NJointPositionPassThroughController::getFunctionDescriptions(const Ice::Current&) const
{
    using namespace armarx::WidgetDescription;

The first widget has a Label and a FloatSpinBox.

HBoxLayoutPtr layoutSetPos = new HBoxLayout;
{
    LabelPtr label = new Label;
    label->text = "positiontarget";
    layoutSetPos->children.emplace_back(label);
    FloatSpinBoxPtr spin = new FloatSpinBox;
    spin->defaultValue = 0;
    spin->max = 1;
    spin->min = -1;

The FloatSpinBox creates a variant called 'spinmearound'

    spin->name = "spinmearound";
    layoutSetPos->children.emplace_back(spin);
}

The second widget also has a Label and a FloatSpinBox.

VBoxLayoutPtr layoutSetHalfPos = new VBoxLayout;
{
    LabelPtr label = new Label;
    label->text = "positiontarget / 2";
    layoutSetHalfPos->children.emplace_back(label);
    FloatSpinBoxPtr spin = new FloatSpinBox;
    spin->defaultValue = 0;
    spin->max = 0.5;
    spin->min = -0.5;
    spin->name = "spinmehalfaround";
    layoutSetHalfPos->children.emplace_back(spin);
}

This returns a map of boths widgets. The keys will be used to identify the called function.

return {{"SetPosition", layoutSetPos}, {"SetPositionHalf", layoutSetHalfPos}};

}

This function is called from the RobotUnitGuiPlugin when the prior defined functions are called. Both functions set the target position.

void NJointPositionPassThroughController::callDescribedFunction(const std::string& name, const StringVariantBaseMap& value, const Ice::Current&)
{
    if (name == "SetPosition")
    {
        //you should check here for types null additional params etc
        targetPos = value.at("spinmearound")->getFloat();
    }
    else if (name == "SetPositionHalf")
    {
        //you should check here for types null additional params etc
        targetPos = value.at("spinmehalfaround")->getFloat() * 2;
    }
    else
    {
        ARMARX_ERROR << "CALLED UNKNOWN REMOTE FUNCTION: " << name;
    }
}

The rtRun function sets the ControlTarget to the target value set via the atomic and stores the current SensorValue to the other atomic.

void NJointPositionPassThroughController::rtRun(const IceUtil::Time& t, const IceUtil::Time&)
{
    ARMARX_RT_LOGF_ERROR("A MESSAGE PARAMETER %f", t.toSecondsDouble()).deactivateSpam(1);
    ARMARX_RT_LOGF_IMPORTANT("A MESSAGE WITHOUT PARAMETERS").deactivateSpam(1);
    target->position = targetPos;
    currentPos = sensor->position;
}

The publish activation hook does nothing, but could be used to call DebugDraver::setRobotVisu.

void NJointPositionPassThroughController::onPublishActivation(const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&)
{
    //we could do some setup for the drawer here. e.g. add a robot
}

The publish deactivation hook clears the DebugDrawer layer

void NJointPositionPassThroughController::onPublishDeactivation(const DebugDrawerInterfacePrx& drawer, const DebugObserverInterfacePrx&)
{
    drawer->removeLayer("Layer_" + getInstanceName());
}

The publish hook draws a sphere with radius of the position stored in the atomic times 2000 to the DebugDrawer.

void NJointPositionPassThroughController::onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx& drawer, const DebugObserverInterfacePrx&)
{
    drawer->setSphereVisu("Layer_" + getInstanceName(), "positionball", new Vector3, armarx::DrawColor {1, 1, 1, 1}, currentPos * 2000);
}

This registers a factory for this NJointControllerBase. This factory is used by the RobotUnit to create the NJointControllerBase. The passed name has to match the name returned by getClassName.

NJointControllerRegistration<NJointPositionPassThroughController> registrationControllerNJointPositionPassThroughController("NJointPositionPassThroughController");

This statically asserts a factory for the type NJointPositionPassThroughController is present.

ARMARX_ASSERT_NJOINTCONTROLLER_HAS_CONSTRUCTION_GUI(NJointPositionPassThroughController);

Close the namespace

}

Definition at line 578 of file NJointControllerBase.h.

Member Typedef Documentation

◆ ConfigPtrT

using ConfigPtrT = NJointControllerConfigPtr

Definition at line 586 of file NJointControllerBase.h.

◆ GenerateConfigDescriptionFunctionSignature

using GenerateConfigDescriptionFunctionSignature = WidgetDescription::WidgetPtr (*)( const VirtualRobot::RobotPtr&, const std::map<std::string, ConstControlDevicePtr>& controlDevices, const std::map<std::string, ConstSensorDevicePtr>& sensorDevices)

Definition at line 590 of file NJointControllerBase.h.

◆ GenerateConfigFromVariantsFunctionSignature

using GenerateConfigFromVariantsFunctionSignature = ConfigPrtType (*)(const StringVariantBaseMap&)

Definition at line 593 of file NJointControllerBase.h.

Constructor & Destructor Documentation

◆ NJointControllerBase()

NJointControllerBase ( )

Definition at line 398 of file NJointController.cpp.

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◆ ~NJointControllerBase()

~NJointControllerBase ( )

override

Definition at line 405 of file NJointController.cpp.

Member Function Documentation

◆ activateController()

void activateController ( const Ice::Current & = Ice::emptyCurrent )

finaloverride

Definition at line 143 of file NJointController.cpp.

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◆ AreNotInConflict()

static std::optional<std::vector<char> > AreNotInConflict	(	ItT	first,
		ItT	last
	)

inlinestatic

Definition at line 1036 of file NJointControllerBase.h.

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◆ callDescribedFunction()

void callDescribedFunction	(	const std::string &	,
		const StringVariantBaseMap &	,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

inlineoverride

Definition at line 828 of file NJointControllerBase.h.

◆ deactivateAndDeleteController()

void deactivateAndDeleteController ( const Ice::Current & = Ice::emptyCurrent )

finaloverride

Definition at line 161 of file NJointController.cpp.

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◆ deactivateController()

void deactivateController ( const Ice::Current & = Ice::emptyCurrent )

finaloverride

Definition at line 149 of file NJointController.cpp.

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◆ deleteController()

void deleteController ( const Ice::Current & = Ice::emptyCurrent )

finaloverride

Definition at line 155 of file NJointController.cpp.

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◆ getClassName()

std::string getClassName ( const Ice::Current & = Ice::emptyCurrent ) const

overridepure virtual

Implemented in Controller, Controller, Controller, Controller, NJointTaskspaceSafetyImpedanceController, NJointBiKAC, NJointHolonomicPlatformGlobalPositionController, NJointTaskspaceMixedImpedanceVelocityController, NJointTaskspaceAdmittanceController, NJointTaskspaceImpedanceController, NJointTaskspaceVelocityController, NJointHolonomicPlatformRelativePositionController, NJointHolonomicPlatformVelocityControllerWithRamp, NJointKinematicUnitPassThroughController, NJointTaskspaceCollisionAvoidanceImpedanceController, NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityController, NJointHolonomicPlatformUnitVelocityPassThroughController, NJointTSAdmittanceMPController, NJointTSCollisionAvoidanceImpedanceMPController, NJointTSCollisionAvoidanceMixedImpedanceVelocityMPController, NJointTSImpedanceMPController, NJointTSMixedImpedanceVelocityMPController, NJointTSSafetyImpedanceMPController, NJointTSVelocityMPController, NJointCartesianNaturalPositionController, NJointCartesianWaypointController, NJointCartesianVelocityControllerWithRamp, NJointTaskspaceZeroTorqueOrVelocityController, NJointZeroTorqueOrVelocityWithFTController, NJointKVILImpedanceMPController, NJointCartesianTorqueController, NJointCartesianVelocityController, NJointTCPController, NJointTSDMPController, KeypointMPController, DeprecatedNJointTSDMPController, NJointCCDMPController, NJointBimanualCCDMPVelocityController, NJointKeypointsImpedanceController, NJointTaskSpaceImpedanceController, NJointBimanualCCDMPController, NJointKeypointsAdmittanceController, NJointTaskSpaceImpedanceDMPController, NJointKeypointsImpedanceMPController, NJointBimanualForceMPController, NJointKeypointsAdmittanceMPController, DeprecatedNJointTaskSpaceAdmittanceDMPController, DeprecatedNJointTaskSpaceImpedanceDMPController, NJointJointSpaceDMPController, NJointJSDMPController, NJointTrajectoryController, NJointBimanualCartesianAdmittanceController, NJointZeroTorqueController, NJointZeroTorqueOrVelocityController, NJointTorqueController, DSRTController, DSRTBimanualController, DSJointCarryController, NJointBimanualForceController, NJointBimanualObjLevelMultiMPController, NJointTaskSpaceAdaptiveDMPController, DeprecatedNJointPeriodicTSDMPCompliantController, NJointPeriodicTSDMPCompliantController, NJointAdaptiveWipingController, NJointAnomalyDetectionAdaptiveWipingController, NJointPeriodicTSDMPForwardVelController, NJointBimanualCCDMPController, NJointBimanualObjLevelController, and NJointBimanualObjLevelVelController.

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◆ getControlDevicesUsedJointController()

const std::map<std::string, const JointController*>& getControlDevicesUsedJointController ( )

inline

Definition at line 1020 of file NJointControllerBase.h.

◆ getControlDeviceUsedBitmap()

const std::vector<char>& getControlDeviceUsedBitmap ( ) const

inline

Definition at line 1008 of file NJointControllerBase.h.

◆ getControlDeviceUsedControlModeMap()

StringStringDictionary getControlDeviceUsedControlModeMap ( const Ice::Current & = Ice::emptyCurrent ) const

inlinefinaloverride

Definition at line 1001 of file NJointControllerBase.h.

◆ getControlDeviceUsedIndices()

const std::vector<std::size_t>& getControlDeviceUsedIndices ( ) const

inline

Definition at line 1014 of file NJointControllerBase.h.

◆ getControllerDescription()

NJointControllerDescription getControllerDescription ( const Ice::Current & = Ice::emptyCurrent ) const

finaloverride

Definition at line 79 of file NJointController.cpp.

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◆ getControllerDescriptionWithStatus()

NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus ( const Ice::Current & = Ice::emptyCurrent ) const

finaloverride

Definition at line 129 of file NJointController.cpp.

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◆ getControllerStatus()

NJointControllerStatus getControllerStatus ( const Ice::Current & = Ice::emptyCurrent ) const

finaloverride

Definition at line 114 of file NJointController.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverrideprotectedvirtual

See also: Component::getDefaultName

Implements ManagedIceObject.

Definition at line 683 of file NJointControllerBase.h.

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◆ getFunctionDescriptions()

WidgetDescription::StringWidgetDictionary getFunctionDescriptions ( const Ice::Current & = Ice::emptyCurrent ) const

inlineoverride

Definition at line 822 of file NJointControllerBase.h.

◆ getInstanceName()

std::string getInstanceName ( const Ice::Current & = Ice::emptyCurrent ) const

inlinefinaloverride

Definition at line 803 of file NJointControllerBase.h.

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◆ getThreadPool()

ThreadPoolPtr getThreadPool ( ) const

protected

Definition at line 376 of file NJointController.cpp.

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◆ hasControllerError()

bool hasControllerError ( const Ice::Current & = Ice::emptyCurrent ) const

inlinefinaloverride

Definition at line 795 of file NJointControllerBase.h.

◆ isControllerActive()

bool isControllerActive ( const Ice::Current & = Ice::emptyCurrent ) const

inlinefinaloverride

Definition at line 777 of file NJointControllerBase.h.

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◆ isControllerRequested()

bool isControllerRequested ( const Ice::Current & = Ice::emptyCurrent ) const

inlinefinaloverride

Definition at line 783 of file NJointControllerBase.h.

◆ isDeletable()

bool isDeletable ( const Ice::Current & = Ice::emptyCurrent ) const

inlinefinaloverride

Definition at line 789 of file NJointControllerBase.h.

◆ isNotInConflictWith() [1/2]

std::optional<std::vector<char> > isNotInConflictWith ( const NJointControllerBasePtr & other ) const

inline

Definition at line 1027 of file NJointControllerBase.h.

◆ isNotInConflictWith() [2/2]

std::optional< std::vector< char > > isNotInConflictWith ( const std::vector< char > & used ) const

Definition at line 94 of file NJointController.cpp.

◆ onConnectComponent()

void onConnectComponent ( )

finalprotectedvirtual

See also: Component::onConnectComponent

Implements ManagedIceObject.

Definition at line 312 of file NJointController.cpp.

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◆ onConnectNJointController()

virtual void onConnectNJointController ( )

inlineprotectedvirtual

Reimplemented in NJointTrajectoryController.

Definition at line 703 of file NJointControllerBase.h.

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◆ onDisconnectComponent()

void onDisconnectComponent ( )

finalprotectedvirtual

See also: Component::onDisconnectComponent

Reimplemented from ManagedIceObject.

Reimplemented in NJointBimanualCCDMPController.

Definition at line 319 of file NJointController.cpp.

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◆ onDisconnectNJointController()

virtual void onDisconnectNJointController ( )

inlineprotectedvirtual

Reimplemented in DeprecatedNJointTSDMPController, NJointJSDMPController, NJointTSDMPController, DeprecatedNJointTaskSpaceImpedanceDMPController, NJointTaskSpaceImpedanceDMPController, DeprecatedNJointTaskSpaceAdmittanceDMPController, NJointBimanualCCDMPVelocityController, NJointCCDMPController, NJointBimanualCCDMPController, NJointBimanualForceMPController, DSRTController, DSRTBimanualController, Controller, DSJointCarryController, NJointBimanualObjLevelMultiMPController, NJointBimanualObjLevelController, NJointBimanualObjLevelVelController, NJointTaskSpaceAdaptiveDMPController, DeprecatedNJointPeriodicTSDMPCompliantController, NJointAnomalyDetectionAdaptiveWipingController, NJointBimanualForceController, NJointPeriodicTSDMPCompliantController, NJointAdaptiveWipingController, and NJointPeriodicTSDMPForwardVelController.

Definition at line 708 of file NJointControllerBase.h.

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◆ onExitComponent()

void onExitComponent ( )

finalprotectedvirtual

See also: Component::onExitComponent

Reimplemented from ManagedIceObject.

Definition at line 326 of file NJointController.cpp.

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◆ onExitNJointController()

virtual void onExitNJointController ( )

inlineprotectedvirtual

Definition at line 713 of file NJointControllerBase.h.

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◆ onInitComponent()

void onInitComponent ( )

finalprotectedvirtual

See also: Component::onInitComponent

Implements ManagedIceObject.

Reimplemented in NJointBimanualCCDMPController.

Definition at line 305 of file NJointController.cpp.

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◆ onInitNJointController()

virtual void onInitNJointController ( )

inlineprotectedvirtual

Reimplemented in NJointTaskspaceSafetyImpedanceController, NJointTaskspaceMixedImpedanceVelocityController, NJointTaskspaceAdmittanceController, NJointTaskspaceImpedanceController, NJointTaskspaceVelocityController, NJointTaskspaceZeroTorqueOrVelocityController, DeprecatedNJointTSDMPController, NJointJSDMPController, NJointTSDMPController, Controller, Controller, DeprecatedNJointTaskSpaceImpedanceDMPController, NJointTaskSpaceImpedanceDMPController, NJointKeypointsImpedanceController, Controller, DeprecatedNJointTaskSpaceAdmittanceDMPController, NJointKeypointsAdmittanceController, NJointBimanualCCDMPVelocityController, NJointCCDMPController, NJointBimanualCCDMPController, NJointBimanualForceMPController, KeypointMPController, NJointTrajectoryController, DSRTController, DSRTBimanualController, DSJointCarryController, NJointBimanualObjLevelMultiMPController, NJointBimanualObjLevelController, NJointBimanualObjLevelVelController, NJointTaskSpaceAdaptiveDMPController, DeprecatedNJointPeriodicTSDMPCompliantController, NJointAnomalyDetectionAdaptiveWipingController, NJointBimanualForceController, NJointPeriodicTSDMPCompliantController, NJointAdaptiveWipingController, and NJointPeriodicTSDMPForwardVelController.

Definition at line 698 of file NJointControllerBase.h.

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◆ onPublish()

virtual void onPublish	(	const SensorAndControl &	,
		const DebugDrawerInterfacePrx &	,
		const DebugObserverInterfacePrx &
	)

inlineprotectedvirtual

Definition at line 1073 of file NJointControllerBase.h.

◆ onPublishActivation()

virtual void onPublishActivation	(	const DebugDrawerInterfacePrx &	,
		const DebugObserverInterfacePrx &
	)

inlineprotectedvirtual

Definition at line 1063 of file NJointControllerBase.h.

◆ onPublishDeactivation()

virtual void onPublishDeactivation	(	const DebugDrawerInterfacePrx &	,
		const DebugObserverInterfacePrx &
	)

inlineprotectedvirtual

Definition at line 1068 of file NJointControllerBase.h.

◆ peekControlDevice()

ConstControlDevicePtr peekControlDevice ( const std::string & deviceName ) const

Get a const ptr to the given ControlDevice.

Warning: This function can only be called in a NJointControllerBase's ctor (or functions called in it)

Parameters

deviceName The ControlDevice's name

Returns: A const ptr to the given ControlDevice

Definition at line 284 of file NJointController.cpp.

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◆ peekSensorDevice()

armarx::ConstSensorDevicePtr peekSensorDevice ( const std::string & deviceName ) const

Get a const ptr to the given SensorDevice.

Warning: This function can only be called in a NJointControllerBase's ctor (or functions called in it)

Parameters

deviceName The SensorDevice's name

Returns: A const ptr to the given SensorDevice

Definition at line 275 of file NJointController.cpp.

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◆ rtGetClassName()

const std::string& rtGetClassName ( ) const

inline

Returns the class name.

(the c-string may be used for rt message logging)

Returns: The class name. (the c-string may be used for rt message logging)

Definition at line 911 of file NJointControllerBase.h.

◆ rtGetControlDeviceUsedIndices()

const std::vector<std::size_t>& rtGetControlDeviceUsedIndices ( ) const

inline

Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for.

Returns: The indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for.

Definition at line 882 of file NJointControllerBase.h.

◆ rtGetErrorState()

bool rtGetErrorState ( ) const

inline

Sets the error state to true.

This will deactivate this controller!

Definition at line 891 of file NJointControllerBase.h.

◆ rtGetInstanceName()

const std::string& rtGetInstanceName ( ) const

inline

Returns the instance name.

(the c-string may be used for rt message logging)

Returns: The instance name. (the c-string may be used for rt message logging)

Definition at line 921 of file NJointControllerBase.h.

◆ rtGetNumberOfUsedControlDevices()

std::size_t rtGetNumberOfUsedControlDevices ( ) const

inline

Returns the number of used ControlDevices.

Returns: The number of used ControlDevices

Definition at line 901 of file NJointControllerBase.h.

◆ rtGetRobot()

const VirtualRobot::RobotPtr& rtGetRobot ( )

inline

TODO make protected and use attorneys.

Returns the virtual robot used by this NJointControllerBase in the rtRun

Returns: The virtual robot used by this NJointControllerBase in the rtRun

See also: useSynchronizedRtRobot; rtGetRobotNodes

Definition at line 845 of file NJointControllerBase.h.

◆ rtGetRobotNodes()

const std::vector<VirtualRobot::RobotNodePtr>& rtGetRobotNodes ( )

inline

Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun.

Returns: The nodes of the virtual robot used by this NJointControllerBase in the rtRun

See also: useSynchronizedRtRobot; rtGetRobot

Definition at line 857 of file NJointControllerBase.h.

◆ rtPostDeactivateController()

virtual void rtPostDeactivateController ( )

inlineprotectedvirtual

This function is called after the controller is deactivated.

You can use it to deactivate a thread (DO NOT JOIN THREADS!) e.g. via a std::atomic_bool.

Reimplemented in NJointTaskspaceSafetyImpedanceController, NJointTaskspaceMixedImpedanceVelocityController, NJointTaskspaceAdmittanceController, NJointTaskspaceImpedanceController, NJointTaskspaceVelocityController, NJointTaskspaceZeroTorqueOrVelocityController, DeprecatedNJointTSDMPController, NJointCartesianVelocityControllerWithRamp, Controller, NJointTSDMPController, NJointCartesianVelocityController, NJointKeypointsImpedanceController, Controller, NJointCartesianTorqueController, NJointZeroTorqueOrVelocityWithFTController, NJointTCPController, NJointTaskspaceCollisionAvoidanceImpedanceController, NJointTaskspaceCollisionAvoidanceMixedImpedanceVelocityController, NJointCCDMPController, NJointCartesianWaypointController, NJointCartesianNaturalPositionController, NJointJointSpaceDMPController, NJointJSDMPController, NJointZeroTorqueOrVelocityController, NJointZeroTorqueController, NJointTrajectoryController, NJointTorqueController, DSRTBimanualController, DSRTController, and DSJointCarryController.

Definition at line 941 of file NJointControllerBase.h.

◆ rtPreActivateController()

virtual void rtPreActivateController ( )

inlineprotectedvirtual

This function is called before the controller is activated.

You can use it to activate a thread again (DO NOT SPAWN NEW THREADS!) e.g. via a std::atomic_bool.

Definition at line 932 of file NJointControllerBase.h.

◆ rtSetErrorState()

void rtSetErrorState ( )

inlineprotected

Sets the error state to true.

This will deactivate this controller!

Definition at line 949 of file NJointControllerBase.h.

◆ rtUsesControlDevice()

bool rtUsesControlDevice ( std::size_t deviceIndex ) const

inline

Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice.

Parameters

deviceIndex The ControlDevice's index

Returns: Whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice

Definition at line 870 of file NJointControllerBase.h.

◆ runTask()

void runTask	(	const std::string &	taskName,
		Task &&	task
	)

inlineprotected

Executes a given task in a separate thread from the Application ThreadPool.

Parameters

taskName	Descriptive name of this task to identify it on errors.
task	std::function object (or lambda) that is to be executed.

Note: This task will be joined in onExitComponent of the NJointControllerBase. So make sure it terminates, when the controller is deactivated or removed!

runTask("PlotterTask", [&]
    {
        CycleUtil c(30);
        getObjectScheduler()->waitForObjectStateMinimum(eManagedIceObjectStarted);
        while (getState() == eManagedIceObjectStarted)
        {
            if (isControllerActive())
            {
                StringVariantBaseMap errors;
                for (size_t i = 0; i < sensors.size(); i++)
                {
                    errors[cfg->jointNames.at(i)] = new Variant(currentError(i));
                }
                dbgObs->setDebugChannel("TrajectoryController", errors);
            }
            c.waitForCycleDuration();
        }
    });

Definition at line 753 of file NJointControllerBase.h.

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◆ useControlTarget() [1/2]

ControlTargetBase * useControlTarget	(	const std::string &	deviceName,
		const std::string &	controlMode
	)

Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called.

Warning: This function can only be called in a NJointControllerBase's ctor (or functions called in it)

Parameters

deviceName	The ControlDevice's name
controlMode	The ControlTarget's ControlMode

Returns: A ptr to the given ControlDevice's ControlTargetin the given ControlMode

Definition at line 410 of file NJointController.cpp.

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◆ useControlTarget() [2/2]

T* useControlTarget	(	const std::string &	deviceName,
		const std::string &	controlMode
	)

inline

Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called.

Warning: This function can only be called in a NJointControllerBase's ctor (or functions called in it)

Parameters

deviceName	The ControlDevice's name
controlMode	The ControlTarget's ControlMode

Returns: A ptr to the given ControlDevice's ControlTargetin the given ControlMode

Definition at line 634 of file NJointControllerBase.h.

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◆ useSensorValue() [1/2]

const T* useSensorValue ( const std::string & deviceName ) const

inline

Get a const ptr to the given SensorDevice's SensorValue.

Warning: This function can only be called in a NJointControllerBase's ctor (or functions called in it)

Parameters

deviceName The SensorDevice's name

Returns: A const ptr to the given SensorDevice's SensorValue

Definition at line 658 of file NJointControllerBase.h.

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◆ useSensorValue() [2/2]

const SensorValueBase * useSensorValue ( const std::string & sensorDeviceName ) const

Get a const ptr to the given SensorDevice's SensorValue.

Warning: This function can only be called in a NJointControllerBase's ctor (or functions called in it)

Parameters

deviceName The SensorDevice's name

Returns: A const ptr to the given SensorDevice's SensorValue

Definition at line 383 of file NJointController.cpp.

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◆ useSynchronizedRtRobot()

const VirtualRobot::RobotPtr & useSynchronizedRtRobot ( bool updateCollisionModel = false )

Requests a VirtualRobot for use in rtRun *.

Warning: This function can only be called in a NJointControllerBase's ctor (or functions called in it)

The robot is updated before rtRun is called and can be accessed via \rtGetRobot

Parameters

updateCollisionModel Whether the robot's collision model should be updated

See also: rtGetRobot

Definition at line 293 of file NJointController.cpp.

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Friends And Related Function Documentation

◆ detail::NJointControllerRegistryEntryHelper

friend class detail::NJointControllerRegistryEntryHelper

friend

This is required for the factory.

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 !!

Definition at line 1142 of file NJointControllerBase.h.

◆ RobotUnitModule::NJointControllerAttorneyForControllerManagement

friend class RobotUnitModule::NJointControllerAttorneyForControllerManagement

friend

This class allows minimal access to private members of NJointControllerBase in a sane fashion for RobotUnitModule::ControllerManagement.

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 !!

Definition at line 1126 of file NJointControllerBase.h.

◆ RobotUnitModule::NJointControllerAttorneyForControlThread

friend class RobotUnitModule::NJointControllerAttorneyForControlThread

friend

This class allows minimal access to private members of NJointControllerBase in a sane fashion for RobotUnitModule::ControlThread.

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 !!

Definition at line 1131 of file NJointControllerBase.h.

◆ RobotUnitModule::NJointControllerAttorneyForPublisher

friend class RobotUnitModule::NJointControllerAttorneyForPublisher

friend

This class allows minimal access to private members of NJointControllerBase in a sane fashion for RobotUnitModule::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 !!

Definition at line 1136 of file NJointControllerBase.h.

Member Data Documentation

◆ NullPtr

const NJointControllerBasePtr NullPtr {nullptr}

static

Definition at line 987 of file NJointControllerBase.h.

◆ threadHandles

std::map<std::string, std::shared_ptr<ThreadPool::Handle> > threadHandles

protected

Definition at line 769 of file NJointControllerBase.h.

◆ threadHandlesMutex

std::mutex threadHandlesMutex

protected

Definition at line 770 of file NJointControllerBase.h.

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

RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Requested and Active

Requested / Not Requested

Active / Inactive

Constructor

Using ControlTargets

Using SensorValues

A synchronized Virtualrobot

Rt and non Rt

The Rt controll loop (\ref rtRun)

The NonRT ice communication

Communication between RT and NonRT

How to do expensive calculations

Providing a gui for controller construction.

Examples

A simple pass Position controller

Header

Source file

Member Typedef Documentation

◆ ConfigPtrT

◆ GenerateConfigDescriptionFunctionSignature

◆ GenerateConfigFromVariantsFunctionSignature

Constructor & Destructor Documentation

◆ NJointControllerBase()

◆ ~NJointControllerBase()

Member Function Documentation

◆ activateController()

◆ AreNotInConflict()

◆ callDescribedFunction()

◆ deactivateAndDeleteController()

◆ deactivateController()

◆ deleteController()

◆ getClassName()

◆ getControlDevicesUsedJointController()

◆ getControlDeviceUsedBitmap()

◆ getControlDeviceUsedControlModeMap()

◆ getControlDeviceUsedIndices()

◆ getControllerDescription()

◆ getControllerDescriptionWithStatus()

◆ getControllerStatus()

◆ getDefaultName()

◆ getFunctionDescriptions()

◆ getInstanceName()

◆ getThreadPool()

◆ hasControllerError()

◆ isControllerActive()

◆ isControllerRequested()

◆ isDeletable()

◆ isNotInConflictWith() [1/2]

◆ isNotInConflictWith() [2/2]

◆ onConnectComponent()

◆ onConnectNJointController()

◆ onDisconnectComponent()

◆ onDisconnectNJointController()

◆ onExitComponent()

◆ onExitNJointController()

◆ onInitComponent()

◆ onInitNJointController()

◆ onPublish()

◆ onPublishActivation()

◆ onPublishDeactivation()

◆ peekControlDevice()

◆ peekSensorDevice()

◆ rtGetClassName()

◆ rtGetControlDeviceUsedIndices()

◆ rtGetErrorState()

◆ rtGetInstanceName()

◆ rtGetNumberOfUsedControlDevices()

◆ rtGetRobot()

◆ rtGetRobotNodes()

◆ rtPostDeactivateController()

◆ rtPreActivateController()

◆ rtSetErrorState()