ControlThreadDataBuffer Class Reference

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...
 
ControlThreadOutputBuffergetControlThreadOutputBuffer ()
 Returns the ControlThreadOutputBuffer. More...
 
const SensorAndControlgetSensorAndControlBuffer () const
 TODO private + attorney for publish. More...
 
SensorAndControlrtGetSensorAndControlBuffer ()
 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< 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 ControlThreadDataBufferInstance ()
 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 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 LogSenderPtrgetLogSender () 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
controllersThe 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.
ctrlsNJointControllers 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
robotThe 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
robotThe robot to update
nodesThe robot's nodes

Definition at line 351 of file RobotUnitModuleControlThreadDataBuffer.cpp.

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Friends And Related Function Documentation

◆ ControlThreadDataBufferAttorneyForControlThread

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: