This Module manages all communication into and out of the ControlThread. More...

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

Inheritance diagram for ControlThreadDataBuffer:

Public Member Functions
bool	activatedControllersChanged () const
	Returns whether the set of activated Joint- and NJointControllers changed. More...

JointAndNJointControllers	copyRequestedControllers () const
	Returns the set of requsted Joint- and NJointControllers. More...

std::vector< JointController * >	copyRequestedJointControllers () const
	Returns the set of requsted JointControllers. More...

std::vector< NJointControllerBase * >	copyRequestedNJointControllers () const
	Returns the set of requsted NJointControllers. More...

JointAndNJointControllers	getActivatedControllers () const
	TODO private + attorney for publish. More...

std::vector< JointController * >	getActivatedJointControllers () const
	Returns the set of activated JointControllers. More...

std::vector< NJointControllerBase * >	getActivatedNJointControllers () const
	Returns the set of activated NJointControllers. More...

ControlThreadOutputBuffer &	getControlThreadOutputBuffer ()
	Returns the ControlThreadOutputBuffer. More...

const SensorAndControl &	getSensorAndControlBuffer () const
	TODO private + attorney for publish. More...

SensorAndControl &	rtGetSensorAndControlBuffer ()
	Returns the writer buffer for sensor and control values. More...

void	rtSensorAndControlBufferCommitWrite ()
	Commits the writer buffer for sensor and control values. More...

bool	sensorAndControlBufferChanged () const
	Updates the sensor and control buffer and returns whether the buffer was updated. More...

void	setActivateControllersRequest (std::set< NJointControllerBasePtr, std::greater< NJointControllerBasePtr >> ctrls)
	Sets the set of requested NJointControllers to. More...

void	updateVirtualRobot (const VirtualRobot::RobotPtr &robot) const
	Updates the given VirtualRobot with the current joint values. More...

void	updateVirtualRobot (const VirtualRobot::RobotPtr &robot, const std::vector< VirtualRobot::RobotNodePtr > &nodes) const
	Updates the given VirtualRobot with the current joint values. 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< 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

Static Public Member Functions
static ControlThreadDataBuffer &	Instance ()
	Returns the singleton instance of this class. More...

Static Public Member Functions inherited from ModuleBase
static ModuleBase &	Instance ()
	Returns the singleton instance of this class. More...

template<class T >
static T &	Instance ()
	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 Member Functions
virtual void	checkSetOfControllersToActivate (const JointAndNJointControllers &) const
	This hook is called prior to writing the set of requested controllers. 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 LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

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

Friends
class	ControlThreadDataBufferAttorneyForControlThread
	TODO use this mutex instead of the global one. 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...

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

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 all communication into and out of the ControlThread.

Data Buffers

This class holds three data buffers

Buffer for requested controllers

Note: This buffer's direction is ArmarX -> ControlThread

This buffer contains all NJointControllers requested by the user (e.g.: via NJointControllerBase::activate) and the set of JointControllers implicitly defined by this. These controllers will be activated by ControlThread::rtSwitchControllerSetup.

Buffer for activated controllers

Note: This buffer's direction is ControlThread -> ArmarX

This buffer contains all Joint- and NJointControllers executed by the ControlThread.

Buffer for iteration data

Note: This buffer's direction is ControlThread -> ArmarX

This buffer contains all SensorValues and ControlTargets for each iteration. It also contains messages logged via ARMARX_RT_LOGF.

This data is used to update Units and is reported to topics (see Publish).

This buffer is organized as a ringbuffer and holds several old iterations.

See also: ModuleBase

Definition at line 79 of file RobotUnitModuleControlThreadDataBuffer.h.

Member Function Documentation

◆ activatedControllersChanged()

bool activatedControllersChanged ( ) const

Returns whether the set of activated Joint- and NJointControllers changed.

Returns: Whether the set of activated Joint- and NJointControllers changed.

See also: ControlThread; ControlThread::rtSwitchControllerSetup

Definition at line 94 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ checkSetOfControllersToActivate()

virtual void checkSetOfControllersToActivate ( const JointAndNJointControllers & ) const

inlineprotectedvirtual

This hook is called prior to writing the set of requested controllers.

A deriving class can override this function to perform some additional checks (e.g. two controll devices may always need to have the same control mode, this can be checked here) If any check fails, throw an exception with a descriptive message.

Parameters

controllers The controllers to activate

Definition at line 254 of file RobotUnitModuleControlThreadDataBuffer.h.

◆ copyRequestedControllers()

JointAndNJointControllers copyRequestedControllers ( ) const

Returns the set of requsted Joint- and NJointControllers.

Returns: The set of requested Joint- and NJointControllers.

See also: ControllerManagement; ControllerManagement::activateNJointController; ControllerManagement::deactivateNJointController; ControllerManagement::switchNJointControllerSetup; NJointControllerBase::activateController; NJointControllerBase::deactivateController; setActivateControllersRequest

Definition at line 103 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ copyRequestedJointControllers()

std::vector< JointController * > copyRequestedJointControllers ( ) const

Returns the set of requsted JointControllers.

Returns: The set of requested JointControllers.

See also: ControllerManagement; ControllerManagement::activateNJointController; ControllerManagement::deactivateNJointController; ControllerManagement::switchNJointControllerSetup; NJointControllerBase::activateController; NJointControllerBase::deactivateController; setActivateControllersRequest

Definition at line 112 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ copyRequestedNJointControllers()

std::vector< NJointControllerBase * > copyRequestedNJointControllers ( ) const

Returns the set of requsted NJointControllers.

Returns: The set of requested NJointControllers.

See also: ControllerManagement; ControllerManagement::activateNJointController; ControllerManagement::deactivateNJointController; ControllerManagement::switchNJointControllerSetup; NJointControllerBase::activateController; NJointControllerBase::deactivateController; setActivateControllersRequest

Definition at line 121 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ getActivatedControllers()

JointAndNJointControllers getActivatedControllers ( ) const

TODO private + attorney for publish.

Returns the set of activated Joint- and NJointControllers.

Returns: The set of activated Joint- and NJointControllers.

See also: ControlThread; ControlThread::rtSwitchControllerSetup

Definition at line 67 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ getActivatedJointControllers()

std::vector< JointController * > getActivatedJointControllers ( ) const

Returns the set of activated JointControllers.

Returns: The set of activated JointControllers.

See also: ControlThread; ControlThread::rtSwitchControllerSetup

Definition at line 76 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ getActivatedNJointControllers()

std::vector< NJointControllerBase * > getActivatedNJointControllers ( ) const

Returns the set of activated NJointControllers.

Returns: The set of activated NJointControllers.

See also: ControlThread; ControlThread::rtSwitchControllerSetup

Definition at line 85 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ getControlThreadOutputBuffer()

ControlThreadOutputBuffer& getControlThreadOutputBuffer ( )

inline

Returns the ControlThreadOutputBuffer.

Warning: This function is dangerous to use.

Returns: The ControlThreadOutputBuffer TODO refactor logging and remove this function

Definition at line 206 of file RobotUnitModuleControlThreadDataBuffer.h.

◆ getSensorAndControlBuffer()

const SensorAndControl & getSensorAndControlBuffer ( ) const

TODO private + attorney for publish.

Returns the last updated sensor and control buffer.

Returns: The last updated sensor and control buffer.

Definition at line 138 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ Instance()

static ControlThreadDataBuffer& Instance ( )

inlinestatic

Returns the singleton instance of this class.

Returns: The singleton instance of this class

Definition at line 89 of file RobotUnitModuleControlThreadDataBuffer.h.

◆ rtGetSensorAndControlBuffer()

SensorAndControl& rtGetSensorAndControlBuffer ( )

inline

Returns the writer buffer for sensor and control values.

Returns: The writer buffer for sensor and control values. TODO move to attorney

Definition at line 216 of file RobotUnitModuleControlThreadDataBuffer.h.

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◆ rtSensorAndControlBufferCommitWrite()

void rtSensorAndControlBufferCommitWrite ( )

inline

Commits the writer buffer for sensor and control values.

TODO move to attorney

Definition at line 225 of file RobotUnitModuleControlThreadDataBuffer.h.

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◆ sensorAndControlBufferChanged()

bool sensorAndControlBufferChanged ( ) const

Updates the sensor and control buffer and returns whether the buffer was updated.

Returns: Whether the buffer was updated.

Definition at line 130 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ setActivateControllersRequest()

void setActivateControllersRequest ( std::set< NJointControllerBasePtr, std::greater< NJointControllerBasePtr >> ctrls )

Sets the set of requested NJointControllers to.

Parameters

ctrls.
ctrls	NJointControllers requested.

See also: ControllerManagement; ControllerManagement::activateNJointController; ControllerManagement::deactivateNJointController; ControllerManagement::switchNJointControllerSetup; NJointControllerBase::activateController; NJointControllerBase::deactivateController

Definition at line 261 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ updateVirtualRobot() [1/2]

void updateVirtualRobot ( const VirtualRobot::RobotPtr & robot ) const

Updates the given VirtualRobot with the current joint values.

Parameters

robot The robot to update

Definition at line 361 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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◆ updateVirtualRobot() [2/2]

void updateVirtualRobot	(	const VirtualRobot::RobotPtr &	robot,
		const std::vector< VirtualRobot::RobotNodePtr > &	nodes
	)		const

Updates the given VirtualRobot with the current joint values.

Parameters

robot	The robot to update
nodes	The robot's nodes

Definition at line 351 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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Friends And Related Function Documentation

◆ ControlThreadDataBufferAttorneyForControlThread

friend class ControlThreadDataBufferAttorneyForControlThread

friend

TODO use this mutex instead of the global one.

This class allows minimal access to private members of ControlThreadDataBuffer in a sane fashion for 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 293 of file RobotUnitModuleControlThreadDataBuffer.h.

◆ ModuleBase

friend class ModuleBase

friend

Definition at line 81 of file RobotUnitModuleControlThreadDataBuffer.h.

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

RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.h
RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Data Buffers

Buffer for requested controllers

Buffer for activated controllers

Buffer for iteration data

Member Function Documentation

◆ activatedControllersChanged()

◆ checkSetOfControllersToActivate()

◆ copyRequestedControllers()

◆ copyRequestedJointControllers()

◆ copyRequestedNJointControllers()

◆ getActivatedControllers()

◆ getActivatedJointControllers()

◆ getActivatedNJointControllers()

◆ getControlThreadOutputBuffer()

◆ getSensorAndControlBuffer()

◆ Instance()

◆ rtGetSensorAndControlBuffer()

◆ rtSensorAndControlBufferCommitWrite()

◆ sensorAndControlBufferChanged()

◆ setActivateControllersRequest()

◆ updateVirtualRobot() [1/2]

◆ updateVirtualRobot() [2/2]

Friends And Related Function Documentation

◆ ControlThreadDataBufferAttorneyForControlThread

◆ ModuleBase