Baseclass for all ArmarX Observers. More...

#include <ArmarXCore/observers/Observer.h>

Inheritance diagram for Observer:

Classes
struct	Impl

Public Member Functions
DatafieldRefBasePtr	createFilteredDatafield (const DatafieldFilterBasePtr &filter, const DatafieldRefBasePtr &datafieldRef)
	This function creates a new datafield with new filter on the given datafield. More...

void	createFilteredDatafield_async (const AMD_ObserverInterface_createFilteredDatafieldPtr &amd, const DatafieldFilterBasePtr &filter, const DatafieldRefBasePtr &datafieldRef, const Ice::Current &) override

DatafieldRefBasePtr	createNamedFilteredDatafield (const std::string &filterDatafieldName, const DatafieldFilterBasePtr &filter, const DatafieldRefBasePtr &datafieldRef)

void	createNamedFilteredDatafield_async (const AMD_ObserverInterface_createNamedFilteredDatafieldPtr &amd, const std::string &filterDatafieldName, const DatafieldFilterBasePtr &filter, const DatafieldRefBasePtr &datafieldRef, const Ice::Current &) override

bool	existsChannel (const std::string &channelName) const

void	existsChannel_async (const AMD_ObserverInterface_existsChannelPtr &amd, const std::string &channelName, const Ice::Current &) const override

bool	existsDataField (const std::string &channelName, const std::string &datafieldName) const

void	existsDataField_async (const AMD_ObserverInterface_existsDataFieldPtr &amd, const std::string &channelName, const std::string &datafieldName, const Ice::Current &) const override

ChannelRegistry	getAvailableChannels (bool includeMetaChannels)
	Retrieve information on all sensory data channels available from the observer. More...

void	getAvailableChannels_async (const AMD_ObserverInterface_getAvailableChannelsPtr &amd, bool includeMetaChannels, const Ice::Current &) override

StringConditionCheckMap	getAvailableChecks ()
	Retrieve list of available condition checks. More...

void	getAvailableChecks_async (const AMD_ObserverInterface_getAvailableChecksPtr &amd, const Ice::Current &) override

ChannelRegistryEntry	getChannel (const std::string &channelName) const
	Retrieve information on all sensory data channels available from the observer. More...

void	getChannel_async (const AMD_ObserverInterface_getChannelPtr &amd, const std::string &channelName, const Ice::Current &) const override

ChannelHistory	getChannelHistory (const std::string &channelName, Ice::Float timestepMs, const Ice::Current &c) const

void	getChannelHistory_async (const AMD_ObserverInterface_getChannelHistoryPtr &amd, const std::string &channelName, Ice::Float timestepMs, const Ice::Current &c) const override

TimedVariantBasePtr	getDataField (const DataFieldIdentifierBasePtr &identifier, const Ice::Current &c=Ice::emptyCurrent) const
	Retrieve data field from observer. More...

void	getDataField_async (const AMD_ObserverInterface_getDataFieldPtr &amd, const DataFieldIdentifierBasePtr &identifier, const Ice::Current &c) const override

TimedVariantBasePtr	getDatafieldByName (const std::string &channelName, const std::string &datafieldName) const

void	getDatafieldByName_async (const AMD_ObserverInterface_getDatafieldByNamePtr &amd, const std::string &channelName, const std::string &datafieldName, const Ice::Current &) const override

TimedVariantBaseList	getDatafieldHistory (const std::string &channelName, const std::string &datafieldName, Ice::Float timestepMs, const Ice::Current &c) const

void	getDatafieldHistory_async (const AMD_ObserverInterface_getDatafieldHistoryPtr &amd, const std::string &channelName, const std::string &datafieldName, Ice::Float timestepMs, const Ice::Current &c) const override

DatafieldRefBasePtr	getDataFieldRef (const DataFieldIdentifierBasePtr &identifier) const

void	getDataFieldRef_async (const AMD_ObserverInterface_getDataFieldRefPtr &amd, const DataFieldIdentifierBasePtr &identifier, const Ice::Current &) const override

DatafieldRefBasePtr	getDatafieldRefByName (const std::string &channelName, const std::string &datafieldName) const

void	getDatafieldRefByName_async (const AMD_ObserverInterface_getDatafieldRefByNamePtr &amd, const std::string &channelName, const std::string &datafieldName, const Ice::Current &) const override

TimedVariantBaseList	getDataFields (const DataFieldIdentifierBaseList &identifiers, const Ice::Current &c)
	Retrieve list of data field from observer. More...

void	getDataFields_async (const AMD_ObserverInterface_getDataFieldsPtr &amd, const DataFieldIdentifierBaseList &identifiers, const Ice::Current &c) override

StringTimedVariantBaseMap	getDatafieldsOfChannel (const std::string &channelName) const

void	getDatafieldsOfChannel_async (const AMD_ObserverInterface_getDatafieldsOfChannelPtr &amd, const std::string &channelName, const Ice::Current &) const override

std::string	getObserverName () const

void	getObserverName_async (const AMD_ObserverInterface_getObserverNamePtr &amd, const Ice::Current &) const override

ChannelHistory	getPartialChannelHistory (const std::string &channelName, Ice::Long startTimestamp, Ice::Long endTimestamp, Ice::Float timestepMs, const Ice::Current &c) const

void	getPartialChannelHistory_async (const AMD_ObserverInterface_getPartialChannelHistoryPtr &amd, const std::string &channelName, Ice::Long startTimestamp, Ice::Long endTimestamp, Ice::Float timestepMs, const Ice::Current &c) const override

TimedVariantBaseList	getPartialDatafieldHistory (const std::string &channelName, const std::string &datafieldName, Ice::Long startTimestamp, Ice::Long endTimestamp, Ice::Float timestepMs, const Ice::Current &c) const

void	getPartialDatafieldHistory_async (const AMD_ObserverInterface_getPartialDatafieldHistoryPtr &amd, const std::string &channelName, const std::string &datafieldName, Ice::Long startTimestamp, Ice::Long endTimestamp, Ice::Float timestepMs, const Ice::Current &c) const override

CheckIdentifier	installCheck (const CheckConfiguration &configuration)
	Installs a condition check with the observer. More...

void	installCheck_async (const AMD_ObserverInterface_installCheckPtr &amd, const CheckConfiguration &configuration, const Ice::Current &) override

	Observer ()

void	removeCheck (const CheckIdentifier &id)
	Removes a condition check from the observer. More...

void	removeCheck_async (const AMD_ObserverInterface_removeCheckPtr &amd, const CheckIdentifier &id, const Ice::Current &) override

void	removeFilteredDatafield (const DatafieldRefBasePtr &datafieldRef)
	Removes a previously installed filter. More...

void	removeFilteredDatafield_async (const AMD_ObserverInterface_removeFilteredDatafieldPtr &amd, const DatafieldRefBasePtr &datafieldRef, const Ice::Current &) override

	~Observer ()

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< PropertyUserPtr >	getAdditionalPropertyUsers () 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< T >	getPropertyAsCSV (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	ClockT = std::chrono::high_resolution_clock

using	TimepointT = typename ClockT::time_point

Protected Member Functions
template<class AMDPtr , class FReturn , class FOwner , class... FParams, class... Params>
void	addWorkerJob (const std::string &name, const AMDPtr &amd, FReturn(FOwner::*fnc)(FParams...) const, const Params &...ps) const

template<class AMDPtr , class FReturn , class FOwner , class... FParams, class... Params>
void	addWorkerJob (const std::string &name, const AMDPtr &amd, FReturn(FOwner::*fnc)(FParams...), const Params &...ps)

void	addWorkerJob (const std::string &name, std::function< void(void)> &&f)

void	addWorkerJob (const std::string &name, std::function< void(void)> &&f) const

void	callAndPassExceptionToAMD (auto &amd, auto f) const

int	generateId ()

void	maybeOfferChannelAndSetDataFieldsFlatCopy (const std::string &channelName, const std::string &description, const StringVariantBaseMap &datafieldValues, bool triggerFilterUpdate=true)

void	metaUpdateTask ()

void	offerChannel (std::string channelName, std::string description)
	Offer a channel. More...

void	offerConditionCheck (std::string checkName, ConditionCheck *conditionCheck)
	Offer a condition check. More...

void	offerDataField (std::string channelName, std::string datafieldName, VariantTypeId type, std::string description)
	Offer a datafield without default value. More...

void	offerDataFieldWithDefault (std::string channelName, std::string datafieldName, const Variant &defaultValue, std::string description)
	Offer a datafield with default value. More...

bool	offerOrUpdateDataField (std::string channelName, std::string datafieldName, const Variant &value, const std::string &description)

void	offerOrUpdateDataFieldsFlatCopy (const std::string &channelName, const StringVariantBaseMap &valueMap)

virtual void	onConnectObserver ()=0
	Framework hook. More...

virtual void	onExitObserver ()
	Framework hook. More...

virtual void	onInitObserver ()=0
	Framework hook. More...

virtual void	postWorkerJobs ()

virtual void	preWorkerJobs ()

void	removeChannel (std::string channelName)
	Remove a channel. More...

void	removeDatafield (DataFieldIdentifierBasePtr id)

void	runWorker ()

void	scheduleDatafieldFilterUpdate (const std::string &channelName, const std::string &datafieldName, const VariantBasePtr &value)

void	setDataField (const std::string &channelName, const std::string &datafieldName, const Variant &value, bool triggerFilterUpdate=true)
	set datafield with datafieldName and in channel channelName More...

void	setDataFieldFlatCopy (const std::string &channelName, const std::string &datafieldName, const VariantPtr &value, bool triggerFilterUpdate=true)

void	setDataFieldsFlatCopy (const std::string &channelName, const std::unordered_map< ::std::string, ::armarx::VariantBasePtr > &datafieldValues, bool triggerFilterUpdate=true)

void	setDataFieldsFlatCopy (const std::string &channelName, const StringVariantBaseMap &datafieldValues, bool triggerFilterUpdate=true)

void	updateChannel (const std::string &channelName, const std::set< std::string > &updatedDatafields=std::set< std::string >())
	Update all conditions for a channel. More...

std::set< std::string >	updateDatafieldFilter (const std::string &channelName, const std::string &datafieldName, const VariantBasePtr &value)

void	updateDatafieldTimestamps (const std::string &channelName, const std::unordered_map< std::string, Ice::Long > &datafieldValues)

void	updateDatafieldTimestamps (const std::string &channelName, Ice::Long timestamp)

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	onDisconnectComponent ()
	Hook for subclass. More...

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

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

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

Static Protected Member Functions
static TimepointT	Now ()

static float	TimeDeltaInMs (TimepointT t0)

Protected Attributes
std::recursive_mutex	channelsMutex

std::unique_ptr< Impl >	impl

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

Baseclass for all ArmarX Observers.

A subclass of the observer should implement the two framework hooks onInitObserver and onConnectObserver. The onInitObserver method should register all channels, datafields, and available condition checks (see offerChannel, offerDattField, offerCheck). Further, a subclass should implement a SensorActorUnitListener Ice interface. Each interface method should correspond to one channel. The observer should map the actual sensor values to the observer superclass using the dataField method. Finally, after all values have been updated, the updateChannel method needs to be called in order to verify all currently active conditions and generate associated events.

Definition at line 80 of file Observer.h.

Member Typedef Documentation

◆ ClockT

using ClockT = std::chrono::high_resolution_clock

protected

Definition at line 578 of file Observer.h.

◆ TimepointT

using TimepointT = typename ClockT::time_point

protected

Definition at line 579 of file Observer.h.

Constructor & Destructor Documentation

◆ Observer()

Observer ( )

Definition at line 114 of file Observer.cpp.

◆ ~Observer()

~Observer ( )

Definition at line 119 of file Observer.cpp.

Member Function Documentation

◆ addWorkerJob() [1/4]

void addWorkerJob	(	const std::string &	name,
		const AMDPtr &	amd,
		FReturn(FOwner::*)(FParams...) const	fnc,
		const Params &...	ps
	)		const

inlineprotected

Definition at line 558 of file Observer.h.

◆ addWorkerJob() [2/4]

void addWorkerJob	(	const std::string &	name,
		const AMDPtr &	amd,
		FReturn(FOwner::*)(FParams...)	fnc,
		const Params &...	ps
	)

inlineprotected

Definition at line 567 of file Observer.h.

◆ addWorkerJob() [3/4]

void addWorkerJob	(	const std::string &	name,
		std::function< void(void)> &&	f
	)

protected

Definition at line 1104 of file Observer.cpp.

◆ addWorkerJob() [4/4]

void addWorkerJob	(	const std::string &	name,
		std::function< void(void)> &&	f
	)		const

protected

Definition at line 1099 of file Observer.cpp.

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◆ callAndPassExceptionToAMD()

void callAndPassExceptionToAMD	(	auto &	amd,
		auto	f
	)		const

inlineprotected

Definition at line 506 of file Observer.h.

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◆ createFilteredDatafield()

DatafieldRefBasePtr createFilteredDatafield	(	const DatafieldFilterBasePtr &	filter,
		const DatafieldRefBasePtr &	datafieldRef
	)

This function creates a new datafield with new filter on the given datafield.

Parameters

filter	Configured filter object compatible with the datafieldRef (see DatafieldFilter::getSupportedTypes())
datafieldRef	Datafield for which a filtered datafield should be created

Returns: Returns a DatafieldRef to the new, filtered datafield.

See also: removeFilteredDatafield()

Definition at line 1477 of file Observer.cpp.

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◆ createFilteredDatafield_async()

void createFilteredDatafield_async	(	const AMD_ObserverInterface_createFilteredDatafieldPtr &	amd,
		const DatafieldFilterBasePtr &	filter,
		const DatafieldRefBasePtr &	datafieldRef,
		const Ice::Current &
	)

override

Definition at line 1504 of file Observer.cpp.

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◆ createNamedFilteredDatafield()

DatafieldRefBasePtr createNamedFilteredDatafield	(	const std::string &	filterDatafieldName,
		const DatafieldFilterBasePtr &	filter,
		const DatafieldRefBasePtr &	datafieldRef
	)

Definition at line 1516 of file Observer.cpp.

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◆ createNamedFilteredDatafield_async()

void createNamedFilteredDatafield_async	(	const AMD_ObserverInterface_createNamedFilteredDatafieldPtr &	amd,
		const std::string &	filterDatafieldName,
		const DatafieldFilterBasePtr &	filter,
		const DatafieldRefBasePtr &	datafieldRef,
		const Ice::Current &
	)

override

Definition at line 1567 of file Observer.cpp.

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◆ existsChannel()

bool existsChannel ( const std::string & channelName ) const

Definition at line 1433 of file Observer.cpp.

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◆ existsChannel_async()

void existsChannel_async	(	const AMD_ObserverInterface_existsChannelPtr &	amd,
		const std::string &	channelName,
		const Ice::Current &
	)		const

override

Definition at line 1440 of file Observer.cpp.

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◆ existsDataField()

bool existsDataField	(	const std::string &	channelName,
		const std::string &	datafieldName
	)		const

Definition at line 1450 of file Observer.cpp.

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◆ existsDataField_async()

void existsDataField_async	(	const AMD_ObserverInterface_existsDataFieldPtr &	amd,
		const std::string &	channelName,
		const std::string &	datafieldName,
		const Ice::Current &
	)		const

override

Definition at line 1465 of file Observer.cpp.

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◆ generateId()

int generateId ( )

protected

Definition at line 974 of file Observer.cpp.

◆ getAvailableChannels()

ChannelRegistry getAvailableChannels ( bool includeMetaChannels )

Retrieve information on all sensory data channels available from the observer.

Parameters

c	ice context

Returns: the ChannelRegistry contains information on each channel including its datafields and associated types and current values.

Definition at line 1396 of file Observer.cpp.

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◆ getAvailableChannels_async()

void getAvailableChannels_async	(	const AMD_ObserverInterface_getAvailableChannelsPtr &	amd,
		bool	includeMetaChannels,
		const Ice::Current &
	)

override

Definition at line 1409 of file Observer.cpp.

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◆ getAvailableChecks()

StringConditionCheckMap getAvailableChecks ( )

Retrieve list of available condition checks.

Parameters

c	ice context

Returns: list of available condition checks

Definition at line 1419 of file Observer.cpp.

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◆ getAvailableChecks_async()

void getAvailableChecks_async	(	const AMD_ObserverInterface_getAvailableChecksPtr &	amd,
		const Ice::Current &
	)

override

Definition at line 1425 of file Observer.cpp.

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◆ getChannel()

ChannelRegistryEntry getChannel ( const std::string & channelName ) const

Retrieve information on all sensory data channels available from the observer.

Parameters

c	ice context

Returns: the ChannelRegistry contains information on each channel including its datafields and associated types and current values.

Definition at line 1374 of file Observer.cpp.

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◆ getChannel_async()

void getChannel_async	(	const AMD_ObserverInterface_getChannelPtr &	amd,
		const std::string &	channelName,
		const Ice::Current &
	)		const

override

Definition at line 1386 of file Observer.cpp.

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◆ getChannelHistory()

ChannelHistory getChannelHistory	(	const std::string &	channelName,
		Ice::Float	timestepMs,
		const Ice::Current &	c
	)		const

Definition at line 1610 of file Observer.cpp.

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◆ getChannelHistory_async()

void getChannelHistory_async	(	const AMD_ObserverInterface_getChannelHistoryPtr &	amd,
		const std::string &	channelName,
		Ice::Float	timestepMs,
		const Ice::Current &	c
	)		const

override

Definition at line 1618 of file Observer.cpp.

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◆ getDataField()

TimedVariantBasePtr getDataField	(	const DataFieldIdentifierBasePtr &	identifier,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)		const

Retrieve data field from observer.

Parameters

identifier	Identifier of datafield
c	ice context

Returns: timestamped variant corresponding to the data field

Definition at line 1214 of file Observer.cpp.

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◆ getDataField_async()

void getDataField_async	(	const AMD_ObserverInterface_getDataFieldPtr &	amd,
		const DataFieldIdentifierBasePtr &	identifier,
		const Ice::Current &	c
	)		const

override

Definition at line 1221 of file Observer.cpp.

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◆ getDatafieldByName()

TimedVariantBasePtr getDatafieldByName	(	const std::string &	channelName,
		const std::string &	datafieldName
	)		const

Definition at line 1232 of file Observer.cpp.

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◆ getDatafieldByName_async()

void getDatafieldByName_async	(	const AMD_ObserverInterface_getDatafieldByNamePtr &	amd,
		const std::string &	channelName,
		const std::string &	datafieldName,
		const Ice::Current &
	)		const

override

Definition at line 1259 of file Observer.cpp.

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◆ getDatafieldHistory()

TimedVariantBaseList getDatafieldHistory	(	const std::string &	channelName,
		const std::string &	datafieldName,
		Ice::Float	timestepMs,
		const Ice::Current &	c
	)		const

Definition at line 1686 of file Observer.cpp.

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◆ getDatafieldHistory_async()

void getDatafieldHistory_async	(	const AMD_ObserverInterface_getDatafieldHistoryPtr &	amd,
		const std::string &	channelName,
		const std::string &	datafieldName,
		Ice::Float	timestepMs,
		const Ice::Current &	c
	)		const

override

Definition at line 1695 of file Observer.cpp.

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◆ getDataFieldRef()

DatafieldRefBasePtr getDataFieldRef ( const DataFieldIdentifierBasePtr & identifier ) const

Definition at line 1271 of file Observer.cpp.

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◆ getDataFieldRef_async()

void getDataFieldRef_async	(	const AMD_ObserverInterface_getDataFieldRefPtr &	amd,
		const DataFieldIdentifierBasePtr &	identifier,
		const Ice::Current &
	)		const

override

Definition at line 1290 of file Observer.cpp.

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◆ getDatafieldRefByName()

DatafieldRefBasePtr getDatafieldRefByName	(	const std::string &	channelName,
		const std::string &	datafieldName
	)		const

Definition at line 1300 of file Observer.cpp.

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◆ getDatafieldRefByName_async()

void getDatafieldRefByName_async	(	const AMD_ObserverInterface_getDatafieldRefByNamePtr &	amd,
		const std::string &	channelName,
		const std::string &	datafieldName,
		const Ice::Current &
	)		const

override

Definition at line 1306 of file Observer.cpp.

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◆ getDataFields()

TimedVariantBaseList getDataFields	(	const DataFieldIdentifierBaseList &	identifiers,
		const Ice::Current &	c
	)

Retrieve list of data field from observer.

Parameters

identifier	list of identifiers of datafield
c	ice context

Returns: list of timestamped variants corresponding to the data fields given

Definition at line 1318 of file Observer.cpp.

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◆ getDataFields_async()

void getDataFields_async	(	const AMD_ObserverInterface_getDataFieldsPtr &	amd,
		const DataFieldIdentifierBaseList &	identifiers,
		const Ice::Current &	c
	)

override

Definition at line 1335 of file Observer.cpp.

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◆ getDatafieldsOfChannel()

StringTimedVariantBaseMap getDatafieldsOfChannel ( const std::string & channelName ) const

Definition at line 1346 of file Observer.cpp.

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◆ getDatafieldsOfChannel_async()

void getDatafieldsOfChannel_async	(	const AMD_ObserverInterface_getDatafieldsOfChannelPtr &	amd,
		const std::string &	channelName,
		const Ice::Current &
	)		const

override

Definition at line 1364 of file Observer.cpp.

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◆ getObserverName()

std::string getObserverName ( ) const

Definition at line 1125 of file Observer.cpp.

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◆ getObserverName_async()

void getObserverName_async	(	const AMD_ObserverInterface_getObserverNamePtr &	amd,
		const Ice::Current &
	)		const

override

Definition at line 1129 of file Observer.cpp.

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◆ getPartialChannelHistory()

ChannelHistory getPartialChannelHistory	(	const std::string &	channelName,
		Ice::Long	startTimestamp,
		Ice::Long	endTimestamp,
		Ice::Float	timestepMs,
		const Ice::Current &	c
	)		const

Definition at line 1631 of file Observer.cpp.

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◆ getPartialChannelHistory_async()

void getPartialChannelHistory_async	(	const AMD_ObserverInterface_getPartialChannelHistoryPtr &	amd,
		const std::string &	channelName,
		Ice::Long	startTimestamp,
		Ice::Long	endTimestamp,
		Ice::Float	timestepMs,
		const Ice::Current &	c
	)		const

override

Definition at line 1669 of file Observer.cpp.

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◆ getPartialDatafieldHistory()

TimedVariantBaseList getPartialDatafieldHistory	(	const std::string &	channelName,
		const std::string &	datafieldName,
		Ice::Long	startTimestamp,
		Ice::Long	endTimestamp,
		Ice::Float	timestepMs,
		const Ice::Current &	c
	)		const

Definition at line 1710 of file Observer.cpp.

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◆ getPartialDatafieldHistory_async()

void getPartialDatafieldHistory_async	(	const AMD_ObserverInterface_getPartialDatafieldHistoryPtr &	amd,
		const std::string &	channelName,
		const std::string &	datafieldName,
		Ice::Long	startTimestamp,
		Ice::Long	endTimestamp,
		Ice::Float	timestepMs,
		const Ice::Current &	c
	)		const

override

Definition at line 1761 of file Observer.cpp.

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◆ installCheck()

CheckIdentifier installCheck ( const CheckConfiguration & configuration )

Installs a condition check with the observer.

Parameters

configuration	configuration of the check
listener	literal of the conditional expression that is associated with this check
c	ice context

Exceptions

InvalidConditionException

Returns: identifier of installed condition as required for removal (see removeCondition)

Definition at line 1137 of file Observer.cpp.

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◆ installCheck_async()

void installCheck_async	(	const AMD_ObserverInterface_installCheckPtr &	amd,
		const CheckConfiguration &	configuration,
		const Ice::Current &
	)

override

Definition at line 1171 of file Observer.cpp.

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◆ maybeOfferChannelAndSetDataFieldsFlatCopy()

void maybeOfferChannelAndSetDataFieldsFlatCopy	(	const std::string &	channelName,
		const std::string &	description,
		const StringVariantBaseMap &	datafieldValues,
		bool	triggerFilterUpdate = `true`
	)

protected

Definition at line 580 of file Observer.cpp.

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◆ metaUpdateTask()

void metaUpdateTask ( )

protected

Definition at line 964 of file Observer.cpp.

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◆ Now()

Observer::TimepointT Now ( )

staticprotected

Definition at line 1114 of file Observer.cpp.

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◆ offerChannel()

void offerChannel	(	std::string	channelName,
		std::string	description
	)

protected

Offer a channel.

Use this in an observer specialization.

The channel is not initialized until updateChannel() was called once.

Parameters

channelName	name of the channel
description	expressive description of the provided datafields

Exceptions

InvalidChannelException

See also: updateChannel()

Definition at line 126 of file Observer.cpp.

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◆ offerConditionCheck()

void offerConditionCheck	(	std::string	checkName,
		ConditionCheck *	conditionCheck
	)

protected

Offer a condition check.

Use this in an observer specialization.

Parameters

checkName	name of the check
conditionCheck	check to register under checkName

Exceptions

InvalidCheckException

Definition at line 273 of file Observer.cpp.

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◆ offerDataField()

void offerDataField	(	std::string	channelName,
		std::string	datafieldName,
		VariantTypeId	type,
		std::string	description
	)

protected

Offer a datafield without default value.

Use this in an observer specialization.

Parameters

channelName	name of the channel
datafieldName	name of the datafield
defaultValue	defines the default value and the datatype for the field
description	expressive description of the datafield

Exceptions

InvalidChannelException
InvalidDataFieldException

Definition at line 187 of file Observer.cpp.

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◆ offerDataFieldWithDefault()

void offerDataFieldWithDefault	(	std::string	channelName,
		std::string	datafieldName,
		const Variant &	defaultValue,
		std::string	description
	)

protected

Offer a datafield with default value.

Use this in an observer specialization.

Parameters

channelName	name of the channel
datafieldName	name of the datafield
defaultValue	defines the default value and the datatype for the field
description	expressive description of the datafield

Exceptions

InvalidChannelException
InvalidDataFieldException

Definition at line 152 of file Observer.cpp.

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◆ offerOrUpdateDataField()

bool offerOrUpdateDataField	(	std::string	channelName,
		std::string	datafieldName,
		const Variant &	value,
		const std::string &	description
	)

protected

Definition at line 222 of file Observer.cpp.

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◆ offerOrUpdateDataFieldsFlatCopy()

void offerOrUpdateDataFieldsFlatCopy	(	const std::string &	channelName,
		const StringVariantBaseMap &	valueMap
	)

protected

Definition at line 236 of file Observer.cpp.

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◆ onConnectObserver()

virtual void onConnectObserver ( )

protectedpure virtual

◆ onExitObserver()

virtual void onExitObserver ( )

inlineprotectedvirtual

Framework hook.

Called on first run, after ice setup.

Reimplemented in HapticObserver, CyberGloveObserver, SystemObserver, ForceTorqueObserver, InertialMeasurementUnitObserver, GamepadUnitObserver, OptoForceUnitObserver, OrientedTactileSensorUnitObserver, LaserScannerUnitObserver, and MetaWearIMUObserver.

Definition at line 464 of file Observer.h.

◆ onInitObserver()

virtual void onInitObserver ( )

protectedpure virtual

◆ postWorkerJobs()

void postWorkerJobs ( )

protectedvirtual

Reimplemented in SystemObserver.

Definition at line 1112 of file Observer.cpp.

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◆ preWorkerJobs()

void preWorkerJobs ( )

protectedvirtual

Definition at line 1110 of file Observer.cpp.

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◆ removeChannel()

void removeChannel ( std::string channelName )

protected

Remove a channel.

Use this in an observer specialization.

Parameters

channelName name of the channel

Definition at line 289 of file Observer.cpp.

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◆ removeCheck()

void removeCheck ( const CheckIdentifier & id )

Removes a condition check from the observer.

If the condition has already been removed, the function immidiately returns.

Parameters

id	identifier of installed condition
c	ice context

Definition at line 1181 of file Observer.cpp.

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◆ removeCheck_async()

void removeCheck_async	(	const AMD_ObserverInterface_removeCheckPtr &	amd,
		const CheckIdentifier &	id,
		const Ice::Current &
	)

override

Definition at line 1204 of file Observer.cpp.

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◆ removeDatafield()

void removeDatafield ( DataFieldIdentifierBasePtr id )

protected

Definition at line 314 of file Observer.cpp.

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◆ removeFilteredDatafield()

void removeFilteredDatafield ( const DatafieldRefBasePtr & datafieldRef )

Removes a previously installed filter.

Parameters

datafieldRef Datafield that was returned by createFilteredDatafield()

See also: createFilteredDatafield()

Definition at line 1581 of file Observer.cpp.

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◆ removeFilteredDatafield_async()

void removeFilteredDatafield_async	(	const AMD_ObserverInterface_removeFilteredDatafieldPtr &	amd,
		const DatafieldRefBasePtr &	datafieldRef,
		const Ice::Current &
	)

override

Definition at line 1600 of file Observer.cpp.

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◆ runWorker()

void runWorker ( )

protected

Definition at line 1027 of file Observer.cpp.

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◆ scheduleDatafieldFilterUpdate()

void scheduleDatafieldFilterUpdate	(	const std::string &	channelName,
		const std::string &	datafieldName,
		const VariantBasePtr &	value
	)

protected

Definition at line 400 of file Observer.cpp.

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◆ setDataField()

void setDataField	(	const std::string &	channelName,
		const std::string &	datafieldName,
		const Variant &	value,
		bool	triggerFilterUpdate = `true`
	)

protected

set datafield with datafieldName and in channel channelName

Parameters

channelName	name of the channel
datafieldName	name of the datafield within channel
value	value for datafield

Exceptions

InvalidChannelException
InvalidDataFieldException

Returns: reference to Variant associated with the dataField

Definition at line 465 of file Observer.cpp.

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◆ setDataFieldFlatCopy()

void setDataFieldFlatCopy	(	const std::string &	channelName,
		const std::string &	datafieldName,
		const VariantPtr &	value,
		bool	triggerFilterUpdate = `true`
	)

protected

Definition at line 501 of file Observer.cpp.

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◆ setDataFieldsFlatCopy() [1/2]

void setDataFieldsFlatCopy	(	const std::string &	channelName,
		const std::unordered_map< ::std::string, ::armarx::VariantBasePtr > &	datafieldValues,
		bool	triggerFilterUpdate = `true`
	)

protected

Definition at line 632 of file Observer.cpp.

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◆ setDataFieldsFlatCopy() [2/2]

void setDataFieldsFlatCopy	(	const std::string &	channelName,
		const StringVariantBaseMap &	datafieldValues,
		bool	triggerFilterUpdate = `true`
	)

protected

Definition at line 665 of file Observer.cpp.

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◆ TimeDeltaInMs()

float TimeDeltaInMs ( Observer::TimepointT t0 )

staticprotected

Definition at line 1119 of file Observer.cpp.

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◆ updateChannel()

void updateChannel	(	const std::string &	channelName,
		const std::set< std::string > &	updatedDatafields = `std::set<std::string>()`
	)

protected

Update all conditions for a channel.

Call this from the sensorActorUnit listener implementation if new data is posted.

Parameters

channelName	name of the channel to update
updatedDatafields	List of datafields that were updated. If empty, all datafields are checked. Leave empty if you would give all datafields anyway (better performance).

Exceptions

InvalidChannelException

Definition at line 715 of file Observer.cpp.

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◆ updateDatafieldFilter()

std::set< std::string > updateDatafieldFilter	(	const std::string &	channelName,
		const std::string &	datafieldName,
		const VariantBasePtr &	value
	)

protected

Definition at line 357 of file Observer.cpp.

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◆ updateDatafieldTimestamps() [1/2]

void updateDatafieldTimestamps	(	const std::string &	channelName,
		const std::unordered_map< std::string, Ice::Long > &	datafieldValues
	)

protected

Definition at line 529 of file Observer.cpp.

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◆ updateDatafieldTimestamps() [2/2]

void updateDatafieldTimestamps	(	const std::string &	channelName,
		Ice::Long	timestamp
	)

protected

Definition at line 558 of file Observer.cpp.

Member Data Documentation

◆ channelsMutex

std::recursive_mutex channelsMutex

mutableprotected

Definition at line 586 of file Observer.h.

◆ impl

std::unique_ptr<Impl> impl

protected

Definition at line 588 of file Observer.h.

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

ArmarXCore/observers/Observer.h
ArmarXCore/observers/Observer.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ClockT

◆ TimepointT

Constructor & Destructor Documentation

◆ Observer()

◆ ~Observer()

Member Function Documentation

◆ addWorkerJob() [1/4]

◆ addWorkerJob() [2/4]

◆ addWorkerJob() [3/4]

◆ addWorkerJob() [4/4]

◆ callAndPassExceptionToAMD()

◆ createFilteredDatafield()

◆ createFilteredDatafield_async()

◆ createNamedFilteredDatafield()

◆ createNamedFilteredDatafield_async()

◆ existsChannel()

◆ existsChannel_async()

◆ existsDataField()

◆ existsDataField_async()

◆ generateId()

◆ getAvailableChannels()

◆ getAvailableChannels_async()

◆ getAvailableChecks()

◆ getAvailableChecks_async()

◆ getChannel()

◆ getChannel_async()

◆ getChannelHistory()

◆ getChannelHistory_async()

◆ getDataField()

◆ getDataField_async()

◆ getDatafieldByName()

◆ getDatafieldByName_async()

◆ getDatafieldHistory()

◆ getDatafieldHistory_async()

◆ getDataFieldRef()

◆ getDataFieldRef_async()

◆ getDatafieldRefByName()

◆ getDatafieldRefByName_async()

◆ getDataFields()

◆ getDataFields_async()

◆ getDatafieldsOfChannel()

◆ getDatafieldsOfChannel_async()

◆ getObserverName()

◆ getObserverName_async()

◆ getPartialChannelHistory()

◆ getPartialChannelHistory_async()

◆ getPartialDatafieldHistory()

◆ getPartialDatafieldHistory_async()

◆ installCheck()

◆ installCheck_async()

◆ maybeOfferChannelAndSetDataFieldsFlatCopy()

◆ metaUpdateTask()

◆ Now()

◆ offerChannel()

◆ offerConditionCheck()

◆ offerDataField()

◆ offerDataFieldWithDefault()

◆ offerOrUpdateDataField()

◆ offerOrUpdateDataFieldsFlatCopy()

◆ onConnectObserver()

◆ onExitObserver()

◆ onInitObserver()

◆ postWorkerJobs()

◆ preWorkerJobs()

◆ removeChannel()

◆ removeCheck()

◆ removeCheck_async()

◆ removeDatafield()

◆ removeFilteredDatafield()

◆ removeFilteredDatafield_async()

◆ runWorker()