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...

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< 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 ControllerManagement &	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)

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 LogSenderPtr &	getLogSender () 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()

~ControllerManagement ( )

Definition at line 832 of file RobotUnitModuleControllerManagement.cpp.

Member Function Documentation

◆ activateNJointController() [1/2]

void activateNJointController ( const NJointControllerBasePtr & ctrl )

Requests activation for the given NJointControllerBase.

Parameters

ctrl	The requested NJointControllerBase.

See also: activateNJointControllers

Definition at line 353 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

name	The requested NJointControllerBase.

See also: activateNJointControllers

Definition at line 338 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

names The requested NJointControllers.

See also: activateNJointController

Definition at line 345 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

ctrls The requested NJointControllers.

See also: activateNJointController

Definition at line 360 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

className	The NJointControllerBase's class.
instanceName	The NJointControllerBase's name.
config	A config passed to the NJointControllerBase's ctor.
deletable	Whether the NJointControllerBase can be deleted.
internal	Whether 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

className	The NJointControllerBase's class.
instanceName	The NJointControllerBase's name.
config	A 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

className	The NJointControllerBase's class.
instanceName	The NJointControllerBase's name.
variants	A 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

className	The NJointControllerBase's class.
instanceName	The NJointControllerBase's name.
config	A 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

ctrl	The NJointControllerBase to delete.

See also: removeNJointControllersToBeDeleted; nJointControllersToBeDeleted; deleteNJointController; deleteNJointControllers; deactivateAnddeleteNJointControllers

Definition at line 574 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

name	The NJointControllerBase to delete.

See also: removeNJointControllersToBeDeleted; nJointControllersToBeDeleted; deleteNJointController; deleteNJointControllers; deactivateAnddeleteNJointControllers

Definition at line 558 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

names The NJointControllers to delete.

See also: removeNJointControllersToBeDeleted; nJointControllersToBeDeleted; deleteNJointController; deleteNJointControllers; deactivateAnddeleteNJointController

Definition at line 566 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

ctrls The NJointControllers to delete.

See also: removeNJointControllersToBeDeleted; nJointControllersToBeDeleted; deleteNJointController; deleteNJointControllers; deactivateAnddeleteNJointController

Definition at line 581 of file RobotUnitModuleControllerManagement.cpp.

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◆ deactivateNJointController() [1/2]

void deactivateNJointController ( const NJointControllerBasePtr & ctrl )

Requests deactivation for the given NJointControllerBase.

Parameters

ctrl	The NJointControllerBase to be deactivated.

See also: deactivateNJointControllers

Definition at line 461 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

name	The NJointControllerBase to be deactivated.

See also: deactivateNJointControllers

Definition at line 446 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

names The NJointControllers to be deactivated.

See also: deactivateNJointController

Definition at line 453 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

ctrls The NJointControllers to be deactivated.

See also: deactivateNJointController

Definition at line 468 of file RobotUnitModuleControllerManagement.cpp.

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◆ deleteNJointController() [1/2]

void deleteNJointController ( const NJointControllerBasePtr & ctrl )

Queues the given NJointControllerBase for deletion.

Parameters

ctrl	The 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

name	The NJointControllerBase to delete.

See also: removeNJointControllersToBeDeleted; nJointControllersToBeDeleted; deleteNJointControllers

Definition at line 494 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

names The NJointControllers to delete.

See also: removeNJointControllersToBeDeleted; nJointControllersToBeDeleted; deleteNJointController

Definition at line 501 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

ctrls The NJointControllers to delete.

See also: removeNJointControllersToBeDeleted; nJointControllersToBeDeleted; deleteNJointController

Definition at line 521 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

name	The NJointControllerBase's name.

Returns: A proxy to the NJointControllerBase.

See also: getAllNJointControllers

Definition at line 660 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 607 of file RobotUnitModuleControllerManagement.cpp.

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◆ getNJointControllerClassDescriptions()

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

override

getNJointControllerClassDescriptions

Returns

Definition at line 634 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 306 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

name	The NJointControllerBase's name.

Returns: The description of the NJointControllerBase.

See also: NJointControllerDescription; getNJointControllerDescriptions; getNJointControllerDescriptionWithStatus; getNJointControllerDescriptionsWithStatuses

Definition at line 705 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 719 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 755 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

name	The NJointControllerBase's name.

Returns: The status and description of the NJointControllerBase.

See also: getNJointControllerDescriptionsWithStatuses; NJointControllerStatus; getNJointControllerStatus; getNJointControllerStatuses; NJointControllerDescription; getNJointControllerDescription; getNJointControllerDescriptions

Definition at line 741 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 313 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

ctrls The 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

name	The NJointControllerBase

Returns: A pointer to the NJointControllerBase.

Exceptions

If	there 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

names The NJointControllers names.

Returns: Pointers to the NJointControllers.

Exceptions

If	there 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

name	The NJointControllerBase's name.

Returns: The status of the NJointControllerBase.

See also: NJointControllerStatus; getNJointControllerStatuses; getNJointControllerDescriptionWithStatus; getNJointControllerDescriptionsWithStatuses

Definition at line 677 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 687 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.

◆ switchNJointControllerSetup()

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

override

Changes the set of requested NJointControllers to the given set.

Parameters

newSetup The new set of requested NJointControllers

Definition at line 508 of file RobotUnitModuleControllerManagement.cpp.

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Friends And Related Function Documentation

◆ ControllerManagementAttorneyForControlThreadDataBuffer

friend class ControllerManagementAttorneyForControlThreadDataBuffer

friend

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 490 of file RobotUnitModuleControllerManagement.h.

◆ ControllerManagementAttorneyForPublisher

friend class ControllerManagementAttorneyForPublisher

friend

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 485 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:

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

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~ControllerManagement()

Member Function Documentation

◆ activateNJointController() [1/2]

◆ activateNJointController() [2/2]

◆ activateNJointControllers() [1/2]

◆ activateNJointControllers() [2/2]

◆ createNJointController() [1/2]

◆ createNJointController() [2/2]

◆ createNJointControllerFromVariantConfig()

◆ createOrReplaceNJointController()

◆ deactivateAndDeleteNJointController() [1/2]

◆ deactivateAndDeleteNJointController() [2/2]

◆ deactivateAndDeleteNJointControllers() [1/2]

◆ deactivateAndDeleteNJointControllers() [2/2]

◆ deactivateNJointController() [1/2]

◆ deactivateNJointController() [2/2]

◆ deactivateNJointControllers() [1/2]

◆ deactivateNJointControllers() [2/2]

◆ deleteNJointController() [1/2]

◆ deleteNJointController() [2/2]

◆ deleteNJointControllers() [1/2]

◆ deleteNJointControllers() [2/2]

◆ getActivatedNJointControllerNames()

◆ getAllNJointControllers()

◆ getNJointController()

◆ getNJointControllerClassDescription()

◆ getNJointControllerClassDescriptions()

◆ getNJointControllerClassNames()

◆ getNJointControllerDescription()

◆ getNJointControllerDescriptions()

◆ getNJointControllerDescriptionsWithStatuses()

◆ getNJointControllerDescriptionWithStatus()

◆ getNJointControllerNames() [1/2]

◆ getNJointControllerNames() [2/2]

◆ getNJointControllerNotNull()

◆ getNJointControllersNotNull()

◆ getNJointControllerStatus()

◆ getNJointControllerStatuses()

◆ getRequestedNJointControllerNames()

◆ Instance()

◆ switchNJointControllerSetup()

Friends And Related Function Documentation

◆ ControllerManagementAttorneyForControlThreadDataBuffer

◆ ControllerManagementAttorneyForPublisher

◆ ModuleBase