ControllerManagement Class Reference

This Module manages NJointControllers. More...

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

+ Inheritance diagram for ControllerManagement:

Public Member Functions

void activateNJointController (const NJointControllerBasePtr &ctrl)
 Requests activation for the given NJointControllerBase. More...
 
void activateNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) override
 Requests activation for the given NJointControllerBase. More...
 
void activateNJointControllers (const Ice::StringSeq &names, const Ice::Current &=Ice::emptyCurrent) override
 Requests activation for the given NJointControllers. More...
 
void activateNJointControllers (const std::vector< NJointControllerBasePtr > &ctrls)
 Requests activation for the given NJointControllers. More...
 
const NJointControllerBasePtr & createNJointController (const std::string &className, const std::string &instanceName, const NJointControllerConfigPtr &config, bool deletable, bool internal)
 Cretes a NJointControllerBase. More...
 
NJointControllerInterfacePrx createNJointController (const std::string &className, const std::string &instanceName, const NJointControllerConfigPtr &config, const Ice::Current &=Ice::emptyCurrent) override
 Cretes a NJointControllerBase. More...
 
NJointControllerInterfacePrx createNJointControllerFromVariantConfig (const std::string &className, const std::string &instanceName, const StringVariantBaseMap &variants, const Ice::Current &=Ice::emptyCurrent) override
 Cretes a NJointControllerBase. More...
 
NJointControllerInterfacePrx createOrReplaceNJointController (const std::string &className, const std::string &instanceName, const NJointControllerConfigPtr &config, const Ice::Current &=Ice::emptyCurrent) override
 Deletes any NJointControllerBase with the given name and creates a new one. More...
 
void deactivateAndDeleteNJointController (const NJointControllerBasePtr &ctrl)
 Queues the given NJointControllerBase for deletion and deactivates it if necessary. More...
 
void deactivateAndDeleteNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) override
 Queues the given NJointControllerBase for deletion and deactivates it if necessary. More...
 
void deactivateAndDeleteNJointControllers (const Ice::StringSeq &names, const Ice::Current &) override
 Queues the given NJointControllers for deletion and deactivates them if necessary. More...
 
void deactivateAndDeleteNJointControllers (const std::vector< NJointControllerBasePtr > &ctrls)
 Queues the given NJointControllers for deletion and deactivates them if necessary. More...
 
void deactivateNJointController (const NJointControllerBasePtr &ctrl)
 Requests deactivation for the given NJointControllerBase. More...
 
void deactivateNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) override
 Requests deactivation for the given NJointControllerBase. More...
 
void deactivateNJointControllers (const Ice::StringSeq &names, const Ice::Current &=Ice::emptyCurrent) override
 Requests deactivation for the given NJointControllers. More...
 
void deactivateNJointControllers (const std::vector< NJointControllerBasePtr > &ctrls)
 Requests deactivation for the given NJointControllers. More...
 
void deleteNJointController (const NJointControllerBasePtr &ctrl)
 Queues the given NJointControllerBase for deletion. More...
 
void deleteNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) override
 Queues the given NJointControllerBase for deletion. More...
 
void deleteNJointControllers (const Ice::StringSeq &names, const Ice::Current &=Ice::emptyCurrent) override
 Queues the given NJointControllers for deletion. More...
 
void deleteNJointControllers (const std::vector< NJointControllerBasePtr > &ctrls)
 Queues the given NJointControllers for deletion. More...
 
Ice::StringSeq getActivatedNJointControllerNames (const Ice::Current &=Ice::emptyCurrent) const override
 Returns the names of all activated NJointControllers. More...
 
StringNJointControllerPrxDictionary getAllNJointControllers (const Ice::Current &=Ice::emptyCurrent) const override
 Returns proxies to all NJointControllers. More...
 
NJointControllerInterfacePrx getNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) const override
 Returns a proxy to the NJointControllerBase. More...
 
NJointControllerClassDescription getNJointControllerClassDescription (const std::string &className, const Ice::Current &=Ice::emptyCurrent) const override
 getNJointControllerClassDescription More...
 
NJointControllerClassDescriptionSeq getNJointControllerClassDescriptions (const Ice::Current &=Ice::emptyCurrent) const override
 getNJointControllerClassDescriptions More...
 
Ice::StringSeq getNJointControllerClassNames (const Ice::Current &=Ice::emptyCurrent) const override
 Returns the names of all available classes of NJointControllerBase. More...
 
NJointControllerDescription getNJointControllerDescription (const std::string &name, const Ice::Current &=Ice::emptyCurrent) const override
 Returns the description of the NJointControllerBase. More...
 
NJointControllerDescriptionSeq getNJointControllerDescriptions (const Ice::Current &=Ice::emptyCurrent) const override
 Returns the description of all NJointControllers. More...
 
NJointControllerDescriptionWithStatusSeq getNJointControllerDescriptionsWithStatuses (const Ice::Current &=Ice::emptyCurrent) const override
 Returns the status and description of all NJointControllers. More...
 
NJointControllerDescriptionWithStatus getNJointControllerDescriptionWithStatus (const std::string &name, const Ice::Current &=Ice::emptyCurrent) const override
 Returns the status and description of the NJointControllerBase. More...
 
Ice::StringSeq getNJointControllerNames (const Ice::Current &=Ice::emptyCurrent) const override
 Returns the names of all NJointControllers. More...
 
std::vector< std::string > getNJointControllerNames (const std::vector< armarx::NJointControllerBasePtr > &ctrls) const
 Returns the names of given NJointControllers. More...
 
const NJointControllerBasePtr & getNJointControllerNotNull (const std::string &name) const
 Returns a pointer to the NJointControllerBase. More...
 
std::vector< armarx::NJointControllerBasePtr > getNJointControllersNotNull (const std::vector< std::string > &names) const
 Returns pointers to the NJointControllers. More...
 
NJointControllerStatus getNJointControllerStatus (const std::string &name, const Ice::Current &=Ice::emptyCurrent) const override
 Returns the status of the NJointControllerBase. More...
 
NJointControllerStatusSeq getNJointControllerStatuses (const Ice::Current &=Ice::emptyCurrent) const override
 Returns the status of all NJointControllers. More...
 
Ice::StringSeq getRequestedNJointControllerNames (const Ice::Current &=Ice::emptyCurrent) const override
 Returns the names of all requested NJointControllers. More...
 
bool loadLibFromPackage (const std::string &package, const std::string &lib, const Ice::Current &=Ice::emptyCurrent) override
 Loads the given lib. More...
 
bool loadLibFromPath (const std::string &path, const Ice::Current &=Ice::emptyCurrent) override
 Loads the given lib. More...
 
void switchNJointControllerSetup (const Ice::StringSeq &newSetup, const Ice::Current &=Ice::emptyCurrent) override
 Changes the set of requested NJointControllers to the given set. More...
 
 ~ControllerManagement ()
 
- 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 ControllerManagementInstance ()
 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)
 

Friends

class ControllerManagementAttorneyForControlThreadDataBuffer
 This class allows minimal access to private members of ControllerManagement in a sane fashion for ControlThreadDataBuffer. More...
 
class ControllerManagementAttorneyForPublisher
 This class allows minimal access to private members of ControllerManagement in a sane fashion for Publisher. 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
 
- 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
 
- 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 NJointControllers.

See also
ModuleBase

Definition at line 39 of file RobotUnitModuleControllerManagement.h.

Constructor & Destructor Documentation

◆ ~ControllerManagement()

Member Function Documentation

◆ activateNJointController() [1/2]

void activateNJointController ( const NJointControllerBasePtr &  ctrl)

Requests activation for the given NJointControllerBase.

Parameters
ctrlThe requested NJointControllerBase.
See also
activateNJointControllers

Definition at line 379 of file RobotUnitModuleControllerManagement.cpp.

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◆ activateNJointController() [2/2]

void activateNJointController ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Requests activation for the given NJointControllerBase.

Parameters
nameThe requested NJointControllerBase.
See also
activateNJointControllers

Definition at line 364 of file RobotUnitModuleControllerManagement.cpp.

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◆ activateNJointControllers() [1/2]

void activateNJointControllers ( const Ice::StringSeq &  names,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Requests activation for the given NJointControllers.

Parameters
namesThe requested NJointControllers.
See also
activateNJointController

Definition at line 371 of file RobotUnitModuleControllerManagement.cpp.

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◆ activateNJointControllers() [2/2]

void activateNJointControllers ( const std::vector< NJointControllerBasePtr > &  ctrls)

Requests activation for the given NJointControllers.

Parameters
ctrlsThe requested NJointControllers.
See also
activateNJointController

Definition at line 386 of file RobotUnitModuleControllerManagement.cpp.

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◆ createNJointController() [1/2]

const NJointControllerBasePtr & createNJointController ( const std::string &  className,
const std::string &  instanceName,
const NJointControllerConfigPtr &  config,
bool  deletable,
bool  internal 
)

Cretes a NJointControllerBase.

Parameters
classNameThe NJointControllerBase's class.
instanceNameThe NJointControllerBase's name.
configA config passed to the NJointControllerBase's ctor.
deletableWhether the NJointControllerBase can be deleted.
internalWhether the NJointControllerBase should be tagged as internal.
Returns
A pointer to the created NJointControllerBase

Definition at line 262 of file RobotUnitModuleControllerManagement.cpp.

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◆ createNJointController() [2/2]

NJointControllerInterfacePrx createNJointController ( const std::string &  className,
const std::string &  instanceName,
const NJointControllerConfigPtr &  config,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Cretes a NJointControllerBase.

Parameters
classNameThe NJointControllerBase's class.
instanceNameThe NJointControllerBase's name.
configA config passed to the NJointControllerBase's ctor.
Returns
A proxy to the created NJointControllerBase.

Definition at line 176 of file RobotUnitModuleControllerManagement.cpp.

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◆ createNJointControllerFromVariantConfig()

NJointControllerInterfacePrx createNJointControllerFromVariantConfig ( const std::string &  className,
const std::string &  instanceName,
const StringVariantBaseMap variants,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Cretes a NJointControllerBase.

Parameters
classNameThe NJointControllerBase's class.
instanceNameThe NJointControllerBase's name.
variantsA map of Variants passed to the NJointControllerBase's ctor.
Returns
A proxy to the created NJointControllerBase.

Definition at line 189 of file RobotUnitModuleControllerManagement.cpp.

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◆ createOrReplaceNJointController()

NJointControllerInterfacePrx createOrReplaceNJointController ( const std::string &  className,
const std::string &  instanceName,
const NJointControllerConfigPtr &  config,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Deletes any NJointControllerBase with the given name and creates a new one.

Parameters
classNameThe NJointControllerBase's class.
instanceNameThe NJointControllerBase's name.
configA config passed to the NJointControllerBase's ctor.
Returns
A proxy to the created NJointControllerBase.

Definition at line 219 of file RobotUnitModuleControllerManagement.cpp.

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◆ deactivateAndDeleteNJointController() [1/2]

void deactivateAndDeleteNJointController ( const NJointControllerBasePtr &  ctrl)

Queues the given NJointControllerBase for deletion and deactivates it if necessary.

Parameters
ctrlThe NJointControllerBase to delete.
See also
removeNJointControllersToBeDeleted
nJointControllersToBeDeleted
deleteNJointController
deleteNJointControllers
deactivateAnddeleteNJointControllers

Definition at line 600 of file RobotUnitModuleControllerManagement.cpp.

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◆ deactivateAndDeleteNJointController() [2/2]

void deactivateAndDeleteNJointController ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Queues the given NJointControllerBase for deletion and deactivates it if necessary.

Parameters
nameThe NJointControllerBase to delete.
See also
removeNJointControllersToBeDeleted
nJointControllersToBeDeleted
deleteNJointController
deleteNJointControllers
deactivateAnddeleteNJointControllers

Definition at line 584 of file RobotUnitModuleControllerManagement.cpp.

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◆ deactivateAndDeleteNJointControllers() [1/2]

void deactivateAndDeleteNJointControllers ( const Ice::StringSeq &  names,
const Ice::Current &   
)
override

Queues the given NJointControllers for deletion and deactivates them if necessary.

Parameters
namesThe NJointControllers to delete.
See also
removeNJointControllersToBeDeleted
nJointControllersToBeDeleted
deleteNJointController
deleteNJointControllers
deactivateAnddeleteNJointController

Definition at line 592 of file RobotUnitModuleControllerManagement.cpp.

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◆ deactivateAndDeleteNJointControllers() [2/2]

void deactivateAndDeleteNJointControllers ( const std::vector< NJointControllerBasePtr > &  ctrls)

Queues the given NJointControllers for deletion and deactivates them if necessary.

Parameters
ctrlsThe NJointControllers to delete.
See also
removeNJointControllersToBeDeleted
nJointControllersToBeDeleted
deleteNJointController
deleteNJointControllers
deactivateAnddeleteNJointController

Definition at line 607 of file RobotUnitModuleControllerManagement.cpp.

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◆ deactivateNJointController() [1/2]

void deactivateNJointController ( const NJointControllerBasePtr &  ctrl)

Requests deactivation for the given NJointControllerBase.

Parameters
ctrlThe NJointControllerBase to be deactivated.
See also
deactivateNJointControllers

Definition at line 487 of file RobotUnitModuleControllerManagement.cpp.

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◆ deactivateNJointController() [2/2]

void deactivateNJointController ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Requests deactivation for the given NJointControllerBase.

Parameters
nameThe NJointControllerBase to be deactivated.
See also
deactivateNJointControllers

Definition at line 472 of file RobotUnitModuleControllerManagement.cpp.

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◆ deactivateNJointControllers() [1/2]

void deactivateNJointControllers ( const Ice::StringSeq &  names,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Requests deactivation for the given NJointControllers.

Parameters
namesThe NJointControllers to be deactivated.
See also
deactivateNJointController

Definition at line 479 of file RobotUnitModuleControllerManagement.cpp.

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◆ deactivateNJointControllers() [2/2]

void deactivateNJointControllers ( const std::vector< NJointControllerBasePtr > &  ctrls)

Requests deactivation for the given NJointControllers.

Parameters
ctrlsThe NJointControllers to be deactivated.
See also
deactivateNJointController

Definition at line 494 of file RobotUnitModuleControllerManagement.cpp.

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◆ deleteNJointController() [1/2]

void deleteNJointController ( const NJointControllerBasePtr &  ctrl)

Queues the given NJointControllerBase for deletion.

Parameters
ctrlThe NJointControllerBase to delete.
See also
removeNJointControllersToBeDeleted
nJointControllersToBeDeleted
deleteNJointControllers

Definition at line 150 of file RobotUnitModuleControllerManagement.cpp.

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◆ deleteNJointController() [2/2]

void deleteNJointController ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Queues the given NJointControllerBase for deletion.

Parameters
nameThe NJointControllerBase to delete.
See also
removeNJointControllersToBeDeleted
nJointControllersToBeDeleted
deleteNJointControllers

Definition at line 520 of file RobotUnitModuleControllerManagement.cpp.

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◆ deleteNJointControllers() [1/2]

void deleteNJointControllers ( const Ice::StringSeq &  names,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Queues the given NJointControllers for deletion.

Parameters
namesThe NJointControllers to delete.
See also
removeNJointControllersToBeDeleted
nJointControllersToBeDeleted
deleteNJointController

Definition at line 527 of file RobotUnitModuleControllerManagement.cpp.

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◆ deleteNJointControllers() [2/2]

void deleteNJointControllers ( const std::vector< NJointControllerBasePtr > &  ctrls)

Queues the given NJointControllers for deletion.

Parameters
ctrlsThe NJointControllers to delete.
See also
removeNJointControllersToBeDeleted
nJointControllersToBeDeleted
deleteNJointController

Definition at line 547 of file RobotUnitModuleControllerManagement.cpp.

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◆ getActivatedNJointControllerNames()

Ice::StringSeq getActivatedNJointControllerNames ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns the names of all activated NJointControllers.

Returns
The names of all activated NJointControllers

Definition at line 83 of file RobotUnitModuleControllerManagement.cpp.

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◆ getAllNJointControllers()

StringNJointControllerPrxDictionary getAllNJointControllers ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns proxies to all NJointControllers.

Returns
Proxies to all NJointControllers
See also
getNJointController

Definition at line 157 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointController()

NJointControllerInterfacePrx getNJointController ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
) const
override

Returns a proxy to the NJointControllerBase.

Parameters
nameThe NJointControllerBase's name.
Returns
A proxy to the NJointControllerBase.
See also
getAllNJointControllers

Definition at line 686 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerClassDescription()

NJointControllerClassDescription getNJointControllerClassDescription ( const std::string &  className,
const Ice::Current &  = Ice::emptyCurrent 
) const
override

getNJointControllerClassDescription

Parameters
className
Returns

Definition at line 633 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerClassDescriptions()

NJointControllerClassDescriptionSeq getNJointControllerClassDescriptions ( const Ice::Current &  = Ice::emptyCurrent) const
override

getNJointControllerClassDescriptions

Returns

Definition at line 660 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerClassNames()

Ice::StringSeq getNJointControllerClassNames ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns the names of all available classes of NJointControllerBase.

Returns
The names of all available classes of NJointControllerBase.

Definition at line 332 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerDescription()

NJointControllerDescription getNJointControllerDescription ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
) const
override

Returns the description of the NJointControllerBase.

Parameters
nameThe NJointControllerBase's name.
Returns
The description of the NJointControllerBase.
See also
NJointControllerDescription
getNJointControllerDescriptions
getNJointControllerDescriptionWithStatus
getNJointControllerDescriptionsWithStatuses

Definition at line 731 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerDescriptions()

NJointControllerDescriptionSeq getNJointControllerDescriptions ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns the description of all NJointControllers.

Returns
The description of all NJointControllers.
See also
NJointControllerDescription
getNJointControllerDescription
getNJointControllerDescriptionWithStatus
getNJointControllerDescriptionsWithStatuses

Definition at line 745 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerDescriptionsWithStatuses()

NJointControllerDescriptionWithStatusSeq getNJointControllerDescriptionsWithStatuses ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns the status and description of all NJointControllers.

Returns
The status and description of all NJointControllers.
See also
getNJointControllerDescriptionsWithStatus
NJointControllerStatus
getNJointControllerStatus
getNJointControllerStatuses
NJointControllerDescription
getNJointControllerDescription
getNJointControllerDescriptions

Definition at line 781 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerDescriptionWithStatus()

NJointControllerDescriptionWithStatus getNJointControllerDescriptionWithStatus ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
) const
override

Returns the status and description of the NJointControllerBase.

Parameters
nameThe NJointControllerBase's name.
Returns
The status and description of the NJointControllerBase.
See also
getNJointControllerDescriptionsWithStatuses
NJointControllerStatus
getNJointControllerStatus
getNJointControllerStatuses
NJointControllerDescription
getNJointControllerDescription
getNJointControllerDescriptions

Definition at line 767 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerNames() [1/2]

Ice::StringSeq getNJointControllerNames ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns the names of all NJointControllers.

Returns
The names of all NJointControllers

Definition at line 339 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerNames() [2/2]

std::vector<std::string> getNJointControllerNames ( const std::vector< armarx::NJointControllerBasePtr > &  ctrls) const

Returns the names of given NJointControllers.

Parameters
ctrlsThe NJointControllers
Returns
The names of given NJointControllers

◆ getNJointControllerNotNull()

const NJointControllerBasePtr & getNJointControllerNotNull ( const std::string &  name) const

Returns a pointer to the NJointControllerBase.

(If it does not exist, an exception is thrown.)

Parameters
nameThe NJointControllerBase
Returns
A pointer to the NJointControllerBase.
Exceptions
Ifthere is no NJointControllerBase for
Parameters
name

Definition at line 124 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllersNotNull()

std::vector< NJointControllerBasePtr > getNJointControllersNotNull ( const std::vector< std::string > &  names) const

Returns pointers to the NJointControllers.

(If one does not exist, an exception is thrown.)

Parameters
namesThe NJointControllers names.
Returns
Pointers to the NJointControllers.
Exceptions
Ifthere is no NJointControllerBase for
Parameters
name

Definition at line 109 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerStatus()

NJointControllerStatus getNJointControllerStatus ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
) const
override

Returns the status of the NJointControllerBase.

Parameters
nameThe NJointControllerBase's name.
Returns
The status of the NJointControllerBase.
See also
NJointControllerStatus
getNJointControllerStatuses
getNJointControllerDescriptionWithStatus
getNJointControllerDescriptionsWithStatuses

Definition at line 703 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerStatuses()

NJointControllerStatusSeq getNJointControllerStatuses ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns the status of all NJointControllers.

Returns
The status of all NJointControllers.
See also
NJointControllerStatus
getNJointControllerStatus
getNJointControllerDescriptionWithStatus
getNJointControllerDescriptionsWithStatuses

Definition at line 713 of file RobotUnitModuleControllerManagement.cpp.

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◆ getRequestedNJointControllerNames()

Ice::StringSeq getRequestedNJointControllerNames ( const Ice::Current &  = Ice::emptyCurrent) const
override

Returns the names of all requested NJointControllers.

Returns
The names of all requested NJointControllers

Definition at line 75 of file RobotUnitModuleControllerManagement.cpp.

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◆ Instance()

static ControllerManagement& Instance ( )
inlinestatic

Returns the singleton instance of this class.

Returns
The singleton instance of this class

Definition at line 51 of file RobotUnitModuleControllerManagement.h.

◆ loadLibFromPackage()

bool loadLibFromPackage ( const std::string &  package,
const std::string &  lib,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Loads the given lib.

(calls getArmarXManager()->loadLibFromPath(package, lib))

Parameters
packageThe armarx package containing the lib
libThe lib name to load.
Returns
Whether loading the lib was successful.
See also
ArmarXManager::loadLibFromPackage

Definition at line 318 of file RobotUnitModuleControllerManagement.cpp.

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◆ loadLibFromPath()

bool loadLibFromPath ( const std::string &  path,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Loads the given lib.

(calls getArmarXManager()->loadLibFromPath(path))

Parameters
pathPath to the lib to load.
Returns
Whether loading the lib was successful.
See also
ArmarXManager::loadLibFromPath

Definition at line 306 of file RobotUnitModuleControllerManagement.cpp.

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◆ switchNJointControllerSetup()

void switchNJointControllerSetup ( const Ice::StringSeq &  newSetup,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Changes the set of requested NJointControllers to the given set.

Parameters
newSetupThe new set of requested NJointControllers

Definition at line 534 of file RobotUnitModuleControllerManagement.cpp.

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Friends And Related Function Documentation

◆ ControllerManagementAttorneyForControlThreadDataBuffer

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

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 507 of file RobotUnitModuleControllerManagement.h.

◆ ControllerManagementAttorneyForPublisher

This class allows minimal access to private members of ControllerManagement 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 502 of file RobotUnitModuleControllerManagement.h.

◆ ModuleBase

friend class ModuleBase
friend

Definition at line 43 of file RobotUnitModuleControllerManagement.h.


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