ControlThread Class Reference

This Module manages the ControlThread. More...

#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h>

+ Inheritance diagram for ControlThread:

Public Member Functions

std::thread::id getControlThreadId () const
 Teturns he ControlThread's thread id. More...
 
EmergencyStopState getEmergencyStopState () const
 Returns the ControlThread's target EmergencyStopState. More...
 
EmergencyStopState getRtEmergencyStopState () const
 Returns the ControlThread's EmergencyStopState. More...
 
void setEmergencyStopState (EmergencyStopState state)
 Sets the EmergencyStopState. More...
 
- Public Member Functions inherited from ModuleBase
template<class T >
T_module ()
 Returns this as ref to the given type. More...
 
template<class T >
const T_module () const
 Returns this as ref to the given type. More...
 
template<class T >
T_modulePtr ()
 Returns this as ptr to the given type. More...
 
template<class T >
const T_modulePtr () const
 Returns this as ptr to the given type. More...
 
bool areDevicesReady () const
 Returns whether Devices are ready. More...
 
virtual IceUtil::Time getControlThreadTargetPeriod () const =0
 The ControlThread's period. More...
 
RobotUnitState getRobotUnitState () const
 Returns the RobotUnit's State. More...
 
bool inControlThread () const
 Returns whether the current thread is the ControlThread. More...
 
bool isShuttingDown () const
 Returns whether the RobotUnit is shutting down. More...
 
virtual void joinControlThread ()=0
 Implementations have to join their ControlThread in this hook. (used by RobotUnit::finishRunning()) More...
 
virtual void onConnectRobotUnit ()
 called in onConnectComponent More...
 
virtual void onDisconnectRobotUnit ()
 called in onDisconnecComponent More...
 
virtual void onExitRobotUnit ()
 called in onExitComponent before calling finishRunning More...
 
virtual void onInitRobotUnit ()
 called in onInitComponent More...
 
void shutDown ()
 Requests the RobotUnit to shut down. More...
 
void throwIfDevicesNotReady (const std::string &fnc) const
 Throws if the Devices are not ready. More...
 
void throwIfInControlThread (const std::string &fnc) const
 Throws if the current thread is the ControlThread. More...
 
void throwIfStateIs (const std::set< RobotUnitState > &stateSet, const std::string &fnc, bool onlyWarn=false) const
 Throws an exception if the current state is in. More...
 
void throwIfStateIs (RobotUnitState s, const std::string &fnc, bool onlyWarn=false) const
 Throws an exception if the current state is. More...
 
void throwIfStateIsNot (const std::set< RobotUnitState > &stateSet, const std::string &fnc, bool onlyWarn=false) const
 Throws an exception if the current state is not in. More...
 
void throwIfStateIsNot (RobotUnitState s, const std::string &fnc, bool onlyWarn=false) const
 Throws an exception if the current state is not. More...
 
- Public Member Functions inherited from Component
void forceComponentCreatedByComponentCreateFunc ()
 forces the flag to be set to true that the object instance was created by the Component::create function More...
 
std::vector< PropertyUserPtrgetAdditionalPropertyUsers () const
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class ProxyType >
ProxyType getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Get a proxy whose name is specified by the given property. More...
 
template<class ProxyType >
void getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 
template<class TopicProxyType >
TopicProxyType getTopicFromProperty (const std::string &propertyName)
 Get a topic proxy whose name is specified by the given property. More...
 
template<class TopicProxyType >
void getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
 
void initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
 initializes the properties of this component. More...
 
void injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
 
void offeringTopicFromProperty (const std::string &propertyName)
 Offer a topic whose name is specified by the given property. More...
 
virtual void preOnConnectComponent () override
 
virtual void preOnInitComponent () override
 
bool usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
 Use a proxy whose name is specified by the given property. More...
 
void usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
 Use a topic whose name is specified by the given property. More...
 
- Public Member Functions inherited from ManagedIceObject
void enableProfiler (bool enable)
 setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...
 
std::string generateSubObjectName (const std::string &subObjectName)
 Generates a unique name for a sub object from a general name. More...
 
ArmarXManagerPtr getArmarXManager () const
 Returns the ArmarX manager used to add and remove components. More...
 
ManagedIceObjectConnectivity getConnectivity () const
 Retrieve connectivity of the object (topcis as well as proxies) More...
 
IceManagerPtr getIceManager () const
 Returns the IceManager. More...
 
VariantBasePtr getMetaInfo (const std::string &id)
 
StringVariantBaseMap getMetaInfoMap () const
 
std::string getName () const
 Retrieve name of object. More...
 
Ice::ObjectAdapterPtr getObjectAdapter () const
 Returns object's Ice adapter. More...
 
ArmarXObjectSchedulerPtr getObjectScheduler () const
 
PeriodicTaskPtr getPeriodicTask (const std::string &name)
 
Profiler::ProfilerPtr getProfiler () const
 getProfiler returns an instance of armarx::Profiler More...
 
template<class ProxyTarg , class... Args>
void getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyType >
ProxyType getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Retrieves a proxy object. More...
 
template<class ProxyTarg , class... Args>
void getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
 Assigns a proxy to proxy. More...
 
Ice::ObjectPrx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 Returns the proxy of this object (optionally it waits for the proxy) More...
 
template<class Prx >
Prx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 
template<class ProxyType >
void getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Overload to allow using string literals as name (solve ambiguous overload). More...
 
template<class Prx >
void getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
 
int getState () const
 Retrieve current state of the ManagedIceObject. More...
 
template<class TopicProxyType >
TopicProxyType getTopic (const std::string &name)
 Returns a proxy of the specified topic. More...
 
template<class TopicProxyType >
void getTopic (TopicProxyType &topicProxy, const std::string &name)
 Assigns a proxy of the specified topic to topicProxy. More...
 
std::vector< std::string > getUnresolvedDependencies () const
 returns the names of all unresolved dependencies More...
 
 ManagedIceObject (ManagedIceObject const &other)
 
void offeringTopic (const std::string &name)
 Registers a topic for retrival after initialization. More...
 
void preambleGetTopic (std::string const &name)
 
void setMetaInfo (const std::string &id, const VariantBasePtr &value)
 Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...
 
void startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
 
bool stopPeriodicTask (const std::string &name)
 
bool unsubscribeFromTopic (const std::string &name)
 Unsubscribe from a topic. More...
 
bool usingProxy (const std::string &name, const std::string &endpoints="")
 Registers a proxy for retrieval after initialization and adds it to the dependency list. More...
 
void usingTopic (const std::string &name, bool orderedPublishing=false)
 Registers a proxy for subscription after initialization. More...
 
void waitForObjectScheduler ()
 Waits until the ObjectScheduler could resolve all dependencies. More...
 
void waitForProxy (std::string const &name, bool addToDependencies)
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 
- Public Member Functions inherited from PropertyUser
std::vector< std::string > getComponentProxyNames ()
 
Ice::PropertiesPtr getIceProperties () const
 Returns the set of Ice properties. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 Property creation and retrieval. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 Hack to allow using getProperty in const-modified methods. More...
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class T >
std::vector< TgetPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
template<class ContainerT >
void getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
PropertyDefinitionsPtr getPropertyDefinitions ()
 Returns the component's property definition container. More...
 
std::vector< std::string > getSubscribedTopicNames ()
 
std::vector< std::string > getTopicProxyNames ()
 
bool hasProperty (const std::string &name)
 
 PropertyUser ()
 
virtual void setIceProperties (Ice::PropertiesPtr properties)
 Sets the Ice properties. More...
 
bool tryAddProperty (const std::string &propertyName, const std::string &value)
 
virtual void updateIceProperties (const std::map< std::string, std::string > &changes)
 
void updateProperties ()
 
void updateProxies (IceManagerPtr)
 
 ~PropertyUser () override
 

Static Public Member Functions

static ControlThreadInstance ()
 Returns the singleton instance of this class. More...
 
- Static Public Member Functions inherited from ModuleBase
static ModuleBaseInstance ()
 Returns the singleton instance of this class. More...
 
template<class T >
static TInstance ()
 Returns the singleton instance of the given class. More...
 
- 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)
 

Protected Types

enum  SwitchControllerMode { RTThread, IceRequests }
 
- Protected Types inherited from ModuleBase
using ClockType = std::chrono::high_resolution_clock
 
using GuardType = std::unique_lock< MutexType >
 
using MutexType = std::recursive_timed_mutex
 The type of recursive_mutex used in this class. More...
 
using TimePointType = std::chrono::high_resolution_clock::time_point
 

Protected Member Functions

void rtDeactivateAssignedNJointControllerBecauseOfError (std::size_t ctrlDevIndex)
 Searches for the NJointControllerBase responsible for the given JointController and deactivates it. More...
 
virtual void rtDeactivatedNJointControllerBecauseOfError (const NJointControllerBasePtr &)
 Hook for deriving classes (called AFTER a NJointControllerBase is deactivated due to an error) More...
 
void rtDeactivateNJointControllerBecauseOfError (std::size_t nJointCtrlIndex)
 Deactivates a NJointControllerBase and sets all used ControlDevices to EmergencyStop. More...
 
const std::vector< ControlDevicePtr > & rtGetControlDevices () const
 Returns all ControlDevices. More...
 
EmergencyStopState rtGetEmergencyStopState () const
 Returns the ControlThread's emergency stop state. More...
 
const VirtualRobot::RobotPtrrtGetRobot () const
 Returns the simox robot used in the control thread. More...
 
const std::vector< SensorDevicePtr > & rtGetSensorDevices ()
 Returns all SensorDevices. More...
 
RTThreadTimingsSensorDevicertGetThreadTimingsSensorDevice ()
 Returns the RTThreadTimingsSensorDevice. More...
 
void rtHandleInvalidTargets ()
 Deactivates all NJointControllers generating invalid targets. More...
 
bool rtIsInEmergencyStop () const
 Returns whether the rt thread is in emergency stop. More...
 
virtual void rtPostReadSensorDeviceValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 Execute code after updating the sensor values. More...
 
void rtReadSensorDeviceValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 Calls SensorDevice::rtReadSensorValues for all SensorDevices. More...
 
void rtResetAllTargets ()
 Calls JointController::rtResetTarget for all active Joint controllers. More...
 
void rtRunJointControllers (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 Runs Joint controllers and writes target values to ControlDevices. More...
 
void rtRunNJointControllers (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 Runs NJoint controllers. More...
 
void rtSetEmergencyStopState (EmergencyStopState state)
 Set an EmergencyStopState request. More...
 
void rtSetJointController (JointController *c, std::size_t index)
 Activate a joint controller from the rt loop (only works in switch mode RTThread) More...
 
void rtSetRobotGlobalPose (const Eigen::Matrix4f &gp, bool updateRobot=true)
 
bool rtSwitchControllerSetup (SwitchControllerMode mode=SwitchControllerMode::IceRequests)
 Changes the set of active controllers. More...
 
void rtUpdateRobotGlobalPose ()
 
void rtUpdateSensorAndControlBuffer (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 Updates the current SensorValues and ControlTargets for code running outside of the ControlThread. More...
 
- Protected Member Functions inherited from ModuleBase
void _componentPropertiesUpdated (const std::set< std::string > &)
 Hook for deriving RobotUnitModules called in componentPropertiesUpdated. More...
 
void _icePropertiesInitialized ()
 Hook for deriving RobotUnitModules called in icePropertiesInitialized. More...
 
void _postFinishComponentInitialization ()
 Hook for deriving RobotUnitModules called in finishComponentInitialization (called after the state has changed) More...
 
void _postFinishControlThreadInitialization ()
 Hook for deriving RobotUnitModules called in finishControlThreadInitialization (called after the state has changed) More...
 
void _postFinishDeviceInitialization ()
 Hook for deriving RobotUnitModules called in finishDeviceInitialization (called after the state has changed) More...
 
void _postFinishRunning ()
 Hook for deriving RobotUnitModules called in finishRunning (called after the state has changed) More...
 
void _postFinishUnitInitialization ()
 Hook for deriving RobotUnitModules called in finishUnitInitialization (called after the state has changed) More...
 
void _postOnConnectRobotUnit ()
 Hook for deriving RobotUnitModules called in onConnectComponent (called after onConnectRobotUnit was called) More...
 
void _postOnDisconnectRobotUnit ()
 Hook for deriving RobotUnitModules called in onDisconnectComponent (called after onDisconnectRobotUnit was called) More...
 
void _postOnExitRobotUnit ()
 Hook for deriving RobotUnitModules called in onExitComponent (called after onExitRobotUnit was called) More...
 
void _postOnInitRobotUnit ()
 Hook for deriving RobotUnitModules called in onInitComponent (called after onInitRobotUnit was called) More...
 
void _preFinishComponentInitialization ()
 Hook for deriving RobotUnitModules called in finishComponentInitialization (called before the state has changed) More...
 
void _preFinishControlThreadInitialization ()
 Hook for deriving RobotUnitModules called in finishControlThreadInitialization (called before the state has changed) More...
 
void _preFinishDeviceInitialization ()
 Hook for deriving RobotUnitModules called in finishDeviceInitialization (called before the state has changed) More...
 
void _preFinishRunning ()
 Hook for deriving RobotUnitModules called in finishRunning (called before the state has changed) More...
 
void _preFinishUnitInitialization ()
 Hook for deriving RobotUnitModules called in finishUnitInitialization (called before the state has changed) More...
 
void _preOnConnectRobotUnit ()
 Hook for deriving RobotUnitModules called in onConnectComponent (called before onConnectRobotUnit was called) More...
 
void _preOnDisconnectRobotUnit ()
 Hook for deriving RobotUnitModules called in onDisconnectComponent (called before onDisconnectRobotUnit was called) More...
 
void _preOnExitRobotUnit ()
 Hook for deriving RobotUnitModules called in onExitComponent (called before onExitRobotUnit was called) More...
 
void _preOnInitRobotUnit ()
 Hook for deriving RobotUnitModules called in onInitComponent (called before onInitRobotUnit was called) More...
 
void checkDerivedClasses () const
 Checks whether the implementing class derives all modules. More...
 
void componentPropertiesUpdated (const std::set< std::string > &changedProperties) override
 
virtual void finishComponentInitialization ()
 Transition RobotUnitState::InitializingComponent -> RobotUnitState::InitializingDevices. More...
 
virtual void finishControlThreadInitialization ()
 Transition RobotUnitState::InitializingControlThread -> RobotUnitState::Running. More...
 
virtual void finishDeviceInitialization ()
 Transition RobotUnitState::InitializingDevices -> RobotUnitState::InitializingUnits. More...
 
virtual void finishRunning ()
 Transition RobotUnitState::Running -> RobotUnitState::Exiting. More...
 
virtual void finishUnitInitialization ()
 Transition RobotUnitState::InitializingUnits -> RobotUnitState::WaitingForRTThreadInitialization. More...
 
std::string getDefaultName () const override
 
GuardType getGuard () const
 Returns a guard to the RobotUnits mutex. More...
 
void icePropertiesInitialized () override
 
 ModuleBase ()
 Ctor. More...
 
void onConnectComponent () final override
 
void onDisconnectComponent () final override
 
void onExitComponent () final override
 
void onInitComponent () final override
 
- 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...
 
PropertyDefinitionsPtr createPropertyDefinitions () override
 
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...
 
- Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT * addPlugin (const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)
 
Ice::CommunicatorPtr getCommunicator () const
 
std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer (std::type_info const &type, std::string const &prefix)
 
 ManagedIceObject ()
 Protected default constructor. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
bool removeProxyDependency (const std::string &name)
 This function removes the dependency of this object on the in parameter name specified object. More...
 
void setName (std::string name)
 Override name of well-known object. More...
 
void terminate ()
 Initiates termination of this IceManagedObject. More...
 
 ~ManagedIceObject () override
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Friends

class ControlThreadAttorneyForPublisher
 This class allows minimal access to private members of ControlThread in a sane fashion for Publisher. More...
 
class ControlThreadAttorneyForRobotUnitEmergencyStopMaster
 This class allows minimal access to private members of ControlThread in a sane fashion for RobotUnitEmergencyStopMaster. More...
 
class ModuleBase
 

Additional Inherited Members

- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- 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...
 
- Static Protected Member Functions inherited from ModuleBase
static constexpr std::size_t IndexSentinel ()
 Returns a sentinel value for an index (std::numeric_limits<std::size_t>::max()) More...
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

This Module manages the ControlThread.

It offers the basic functions called in the ControlThread.

See also
ModuleBase

Definition at line 83 of file RobotUnitModuleControlThread.h.

Member Enumeration Documentation

◆ SwitchControllerMode

enum SwitchControllerMode
strongprotected
Enumerator
RTThread 

This modus is used if the RTThread is supported to control which controllers are running.

(e.g. for Calibrating)

IceRequests 

Definition at line 94 of file RobotUnitModuleControlThread.h.

Member Function Documentation

◆ getControlThreadId()

std::thread::id getControlThreadId ( ) const
inline

Teturns he ControlThread's thread id.

Returns
The ControlThread's thread id
See also
controlThreadId

Definition at line 154 of file RobotUnitModuleControlThread.h.

◆ getEmergencyStopState()

EmergencyStopState getEmergencyStopState ( ) const

Returns the ControlThread's target EmergencyStopState.

Returns
The EmergencyStopState

Definition at line 1006 of file RobotUnitModuleControlThread.cpp.

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◆ getRtEmergencyStopState()

EmergencyStopState getRtEmergencyStopState ( ) const

Returns the ControlThread's EmergencyStopState.

Returns
The EmergencyStopState

Definition at line 1014 of file RobotUnitModuleControlThread.cpp.

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◆ Instance()

static ControlThread& Instance ( )
inlinestatic

Returns the singleton instance of this class.

Returns
The singleton instance of this class

Definition at line 110 of file RobotUnitModuleControlThread.h.

◆ rtDeactivateAssignedNJointControllerBecauseOfError()

void rtDeactivateAssignedNJointControllerBecauseOfError ( std::size_t  ctrlDevIndex)
protected

Searches for the NJointControllerBase responsible for the given JointController and deactivates it.

Does not commit the new set of activated controllers)

Parameters
ctrlDevIndexThe control device index causing the problem.

Definition at line 829 of file RobotUnitModuleControlThread.cpp.

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◆ rtDeactivatedNJointControllerBecauseOfError()

virtual void rtDeactivatedNJointControllerBecauseOfError ( const NJointControllerBasePtr &  )
inlineprotectedvirtual

Hook for deriving classes (called AFTER a NJointControllerBase is deactivated due to an error)

This is useful when two Control devices can be controlled by different NJointControllers but either both or none have to be controlled.

Since this hook is called after the controller with an error was deactivated an other call to rtDeactivateAssignedNJointControllerBecauseOfError can't lead to a cyclic execution.

Definition at line 248 of file RobotUnitModuleControlThread.h.

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◆ rtDeactivateNJointControllerBecauseOfError()

void rtDeactivateNJointControllerBecauseOfError ( std::size_t  nJointCtrlIndex)
protected

Deactivates a NJointControllerBase and sets all used ControlDevices to EmergencyStop.

Does not commit the new set of activated controllers)

Parameters
nJointCtrlIndexThe NJointControllerBase to deactivate (index in controllersActivated)

Definition at line 760 of file RobotUnitModuleControlThread.cpp.

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◆ rtGetControlDevices()

const std::vector< ControlDevicePtr > & rtGetControlDevices ( ) const
protected

Returns all ControlDevices.

Returns
All ControlDevices

Definition at line 885 of file RobotUnitModuleControlThread.cpp.

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◆ rtGetEmergencyStopState()

EmergencyStopState rtGetEmergencyStopState ( ) const
inlineprotected

Returns the ControlThread's emergency stop state.

(This function is for use in the ControlThread)

Returns
The ControlThread's emergency stop state

Definition at line 292 of file RobotUnitModuleControlThread.h.

◆ rtGetRobot()

const VirtualRobot::RobotPtr& rtGetRobot ( ) const
inlineprotected

Returns the simox robot used in the control thread.

Returns
The simox robot used in the control thread

Definition at line 181 of file RobotUnitModuleControlThread.h.

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◆ rtGetSensorDevices()

const std::vector< SensorDevicePtr > & rtGetSensorDevices ( )
protected

Returns all SensorDevices.

Returns
All SensorDevices

Definition at line 891 of file RobotUnitModuleControlThread.cpp.

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◆ rtGetThreadTimingsSensorDevice()

RTThreadTimingsSensorDevice & rtGetThreadTimingsSensorDevice ( )
protected

Returns the RTThreadTimingsSensorDevice.

Returns
The RTThreadTimingsSensorDevice

Definition at line 897 of file RobotUnitModuleControlThread.cpp.

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◆ rtHandleInvalidTargets()

void rtHandleInvalidTargets ( )
protected

Deactivates all NJointControllers generating invalid targets.

Definition at line 509 of file RobotUnitModuleControlThread.cpp.

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◆ rtIsInEmergencyStop()

bool rtIsInEmergencyStop ( ) const
inlineprotected

Returns whether the rt thread is in emergency stop.

(This function is for use in the ControlThread)

Returns
Whether the rt thread is in emergency stop.

Definition at line 282 of file RobotUnitModuleControlThread.h.

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◆ rtPostReadSensorDeviceValues()

void rtPostReadSensorDeviceValues ( const IceUtil::Time &  sensorValuesTimestamp,
const IceUtil::Time &  timeSinceLastIteration 
)
protectedvirtual

Execute code after updating the sensor values.

Default implementation calculates the inverse dynamics.

Parameters
sensorValuesTimestampTimestamp of the current SensorValueBase SensorValues
timeSinceLastIterationTime between the last two updates of SensorValueBase SensorValues

Definition at line 546 of file RobotUnitModuleControlThread.cpp.

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◆ rtReadSensorDeviceValues()

void rtReadSensorDeviceValues ( const IceUtil::Time &  sensorValuesTimestamp,
const IceUtil::Time &  timeSinceLastIteration 
)
protected

Calls SensorDevice::rtReadSensorValues for all SensorDevices.

Parameters
sensorValuesTimestampTimestamp of the current SensorValueBase SensorValues
timeSinceLastIterationTime between the last two updates of SensorValueBase SensorValues

Definition at line 532 of file RobotUnitModuleControlThread.cpp.

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◆ rtResetAllTargets()

void rtResetAllTargets ( )
protected

Calls JointController::rtResetTarget for all active Joint controllers.

Definition at line 498 of file RobotUnitModuleControlThread.cpp.

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◆ rtRunJointControllers()

void rtRunJointControllers ( const IceUtil::Time &  sensorValuesTimestamp,
const IceUtil::Time &  timeSinceLastIteration 
)
protected

Runs Joint controllers and writes target values to ControlDevices.

Parameters
sensorValuesTimestampTimestamp of the current SensorValueBase SensorValues
timeSinceLastIterationTime between the last two updates of SensorValueBase SensorValues

Definition at line 559 of file RobotUnitModuleControlThread.cpp.

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◆ rtRunNJointControllers()

void rtRunNJointControllers ( const IceUtil::Time &  sensorValuesTimestamp,
const IceUtil::Time &  timeSinceLastIteration 
)
protected

Runs NJoint controllers.

Parameters
sensorValuesTimestampTimestamp of the current SensorValueBase SensorValues
timeSinceLastIterationTime between the last two updates of SensorValueBase SensorValues

Definition at line 571 of file RobotUnitModuleControlThread.cpp.

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◆ rtSetEmergencyStopState()

void rtSetEmergencyStopState ( EmergencyStopState  state)
protected

Set an EmergencyStopState request.

This request will be executed by the Publisher

Parameters
stateThe EmergencyStopState to set

Definition at line 903 of file RobotUnitModuleControlThread.cpp.

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◆ rtSetJointController()

void rtSetJointController ( JointController c,
std::size_t  index 
)
protected

Activate a joint controller from the rt loop (only works in switch mode RTThread)

Definition at line 1228 of file RobotUnitModuleControlThread.cpp.

◆ rtSetRobotGlobalPose()

void rtSetRobotGlobalPose ( const Eigen::Matrix4f &  gp,
bool  updateRobot = true 
)
protected

Definition at line 1222 of file RobotUnitModuleControlThread.cpp.

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◆ rtSwitchControllerSetup()

bool rtSwitchControllerSetup ( SwitchControllerMode  mode = SwitchControllerMode::IceRequests)
protected

Changes the set of active controllers.

Changes can be caused by a new set of requested controllers or emergency stop

Returns
Whether active controllers were changed

Definition at line 291 of file RobotUnitModuleControlThread.cpp.

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◆ rtUpdateRobotGlobalPose()

void rtUpdateRobotGlobalPose ( )
protected

Definition at line 1201 of file RobotUnitModuleControlThread.cpp.

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◆ rtUpdateSensorAndControlBuffer()

void rtUpdateSensorAndControlBuffer ( const IceUtil::Time &  sensorValuesTimestamp,
const IceUtil::Time &  timeSinceLastIteration 
)
protected

Updates the current SensorValues and ControlTargets for code running outside of the ControlThread.

Parameters
sensorValuesTimestampTimestamp of the current SensorValueBase SensorValues
timeSinceLastIterationTime between the last two updates of SensorValueBase SensorValues

Definition at line 846 of file RobotUnitModuleControlThread.cpp.

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◆ setEmergencyStopState()

void setEmergencyStopState ( EmergencyStopState  state)

Sets the EmergencyStopState.

Parameters
stateThe EmergencyStopState to set

Definition at line 999 of file RobotUnitModuleControlThread.cpp.

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Friends And Related Function Documentation

◆ ControlThreadAttorneyForPublisher

friend class ControlThreadAttorneyForPublisher
friend

This class allows minimal access to private members of ControlThread in a sane fashion for 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 413 of file RobotUnitModuleControlThread.h.

◆ ControlThreadAttorneyForRobotUnitEmergencyStopMaster

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

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 418 of file RobotUnitModuleControlThread.h.

◆ ModuleBase

friend class ModuleBase
friend

Definition at line 85 of file RobotUnitModuleControlThread.h.


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