Devices Class Reference

This Module manages sensor and control devices for a RobotUnit and only allows save and sane access. More...

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

+ Inheritance diagram for Devices:

Classes

struct  ControlDeviceHardwareControlModeGroups
 Holds data about a device group requiring the same hardware control mode. (explained here) More...
 

Public Member Functions

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

Static Public Member Functions

static DevicesInstance ()
 Returns the singleton instance of this class. More...
 
- Static Public Member Functions inherited from ModuleBase
static ModuleBaseInstance ()
 Returns the singleton instance of this class. More...
 
template<class T >
static TInstance ()
 Returns the singleton instance of the given class. More...
 
- Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
 Factory method for a component. More...
 
- Static Public Member Functions inherited from ManagedIceObject
static std::string generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
 Generates a unique name for a sub object from a general name and unique name. More...
 
static std::string GetObjectStateAsString (int state)
 

Protected Member Functions

void addControlDevice (const ControlDevicePtr &cd)
 Adds a ControlDevice to the robot. More...
 
void addSensorDevice (const SensorDevicePtr &sd)
 Adds a SensorDevice to the robot. More...
 
virtual RTThreadTimingsSensorDevicePtr createRTThreadTimingSensorDevice () const
 Creates the SensorDevice used to log timings in the ControlThread (This function is supposed to be used in the ModuleBase::finishDeviceInitialization) More...
 
RTThreadTimingsSensorDevicertGetRTThreadTimingsSensorDevice ()
 Returns the SensorDevice used to log timings in the ControlThread. More...
 
- Protected Member Functions inherited from ModuleBase
void _componentPropertiesUpdated (const std::set< std::string > &)
 Hook for deriving RobotUnitModules called in componentPropertiesUpdated. More...
 
void _icePropertiesInitialized ()
 Hook for deriving RobotUnitModules called in icePropertiesInitialized. More...
 
void _postFinishComponentInitialization ()
 Hook for deriving RobotUnitModules called in finishComponentInitialization (called after the state has changed) More...
 
void _postFinishControlThreadInitialization ()
 Hook for deriving RobotUnitModules called in finishControlThreadInitialization (called after the state has changed) More...
 
void _postFinishDeviceInitialization ()
 Hook for deriving RobotUnitModules called in finishDeviceInitialization (called after the state has changed) More...
 
void _postFinishRunning ()
 Hook for deriving RobotUnitModules called in finishRunning (called after the state has changed) More...
 
void _postFinishUnitInitialization ()
 Hook for deriving RobotUnitModules called in finishUnitInitialization (called after the state has changed) More...
 
void _postOnConnectRobotUnit ()
 Hook for deriving RobotUnitModules called in onConnectComponent (called after onConnectRobotUnit was called) More...
 
void _postOnDisconnectRobotUnit ()
 Hook for deriving RobotUnitModules called in onDisconnectComponent (called after onDisconnectRobotUnit was called) More...
 
void _postOnExitRobotUnit ()
 Hook for deriving RobotUnitModules called in onExitComponent (called after onExitRobotUnit was called) More...
 
void _postOnInitRobotUnit ()
 Hook for deriving RobotUnitModules called in onInitComponent (called after onInitRobotUnit was called) More...
 
void _preFinishComponentInitialization ()
 Hook for deriving RobotUnitModules called in finishComponentInitialization (called before the state has changed) More...
 
void _preFinishControlThreadInitialization ()
 Hook for deriving RobotUnitModules called in finishControlThreadInitialization (called before the state has changed) More...
 
void _preFinishDeviceInitialization ()
 Hook for deriving RobotUnitModules called in finishDeviceInitialization (called before the state has changed) More...
 
void _preFinishRunning ()
 Hook for deriving RobotUnitModules called in finishRunning (called before the state has changed) More...
 
void _preFinishUnitInitialization ()
 Hook for deriving RobotUnitModules called in finishUnitInitialization (called before the state has changed) More...
 
void _preOnConnectRobotUnit ()
 Hook for deriving RobotUnitModules called in onConnectComponent (called before onConnectRobotUnit was called) More...
 
void _preOnDisconnectRobotUnit ()
 Hook for deriving RobotUnitModules called in onDisconnectComponent (called before onDisconnectRobotUnit was called) More...
 
void _preOnExitRobotUnit ()
 Hook for deriving RobotUnitModules called in onExitComponent (called before onExitRobotUnit was called) More...
 
void _preOnInitRobotUnit ()
 Hook for deriving RobotUnitModules called in onInitComponent (called before onInitRobotUnit was called) More...
 
void checkDerivedClasses () const
 Checks whether the implementing class derives all modules. More...
 
void componentPropertiesUpdated (const std::set< std::string > &changedProperties) override
 
virtual void finishComponentInitialization ()
 Transition RobotUnitState::InitializingComponent -> RobotUnitState::InitializingDevices. More...
 
virtual void finishControlThreadInitialization ()
 Transition RobotUnitState::InitializingControlThread -> RobotUnitState::Running. More...
 
virtual void finishDeviceInitialization ()
 Transition RobotUnitState::InitializingDevices -> RobotUnitState::InitializingUnits. More...
 
virtual void finishRunning ()
 Transition RobotUnitState::Running -> RobotUnitState::Exiting. More...
 
virtual void finishUnitInitialization ()
 Transition RobotUnitState::InitializingUnits -> RobotUnitState::WaitingForRTThreadInitialization. More...
 
std::string getDefaultName () const override
 
GuardType getGuard () const
 Returns a guard to the RobotUnits mutex. More...
 
void icePropertiesInitialized () override
 
 ModuleBase ()
 Ctor. More...
 
void onConnectComponent () final override
 
void onDisconnectComponent () final override
 
void onExitComponent () final override
 
void onInitComponent () final override
 
- Protected Member Functions inherited from Component
void addPropertyUser (const PropertyUserPtr &subPropertyUser)
 Add additional property users here that should show up in the application help text. More...
 
 Component ()
 Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...
 
PropertyDefinitionsPtr createPropertyDefinitions () override
 
std::string getConfigDomain ()
 Retrieve config domain for this component as set in constructor. More...
 
std::string getConfigIdentifier ()
 Retrieve config identifier for this component as set in constructor. More...
 
std::string getConfigName ()
 Retrieve config name for this component as set in constructor. More...
 
- Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT * addPlugin (const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)
 
Ice::CommunicatorPtr getCommunicator () const
 
std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer (std::type_info const &type, std::string const &prefix)
 
 ManagedIceObject ()
 Protected default constructor. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
bool removeProxyDependency (const std::string &name)
 This function removes the dependency of this object on the in parameter name specified object. More...
 
void setName (std::string name)
 Override name of well-known object. More...
 
void terminate ()
 Initiates termination of this IceManagedObject. More...
 
 ~ManagedIceObject () override
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Friends

class DevicesAttorneyForControlThread
 This class allows minimal access to private members of Devices in a sane fashion for ControlThread. More...
 
class DevicesAttorneyForControlThreadDataBuffer
 This class allows minimal access to private members of Devices in a sane fashion for ControlThreadDataBuffer. More...
 
class DevicesAttorneyForNJointController
 This class allows minimal access to private members of armarx::RobotUnitModule::Devices in a sane fashion for armarx::NJointControllerBase. More...
 
class DevicesAttorneyForPublisher
 This class allows minimal access to private members of Devices 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
 
- 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 sensor and control devices for a RobotUnit and only allows save and sane access.

See also
ModuleBase

Definition at line 67 of file RobotUnitModuleDevices.h.

Member Function Documentation

◆ addControlDevice()

void addControlDevice ( const ControlDevicePtr &  cd)
protected

Adds a ControlDevice to the robot.

Warning
Must not be called when the RobotUnit's state is not RobotUnitState::InitializingDevices
Parameters
cdThe ControlDevice to add

Definition at line 335 of file RobotUnitModuleDevices.cpp.

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◆ addSensorDevice()

void addSensorDevice ( const SensorDevicePtr &  sd)
protected

Adds a SensorDevice to the robot.

Warning
Must not be called when the RobotUnit's state is not RobotUnitState::InitializingDevices
Parameters
cdThe SensorDevice to add

Definition at line 377 of file RobotUnitModuleDevices.cpp.

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◆ createRTThreadTimingSensorDevice()

RTThreadTimingsSensorDevicePtr createRTThreadTimingSensorDevice ( ) const
protectedvirtual

Creates the SensorDevice used to log timings in the ControlThread (This function is supposed to be used in the ModuleBase::finishDeviceInitialization)

Returns
The SensorDevice used to log timings in the ControlThread
See also
rtGetRTThreadTimingsSensorDevice

Definition at line 447 of file RobotUnitModuleDevices.cpp.

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◆ getControlDevice()

ConstControlDevicePtr getControlDevice ( const std::string &  deviceName) const

Returns the ControlDevice.

Parameters
deviceNameControlDevice's name.
Returns
The ControlDevice

Definition at line 118 of file RobotUnitModuleDevices.cpp.

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◆ getControlDeviceDescription() [1/2]

ControlDeviceDescription getControlDeviceDescription ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
) const
override

Return the ControlDeviceDescription for the given ControlDevice.

Parameters
nameThe ControlDevice
Returns
The ControlDeviceDescription
See also
ControlDeviceDescription
getControlDeviceDescriptions

Definition at line 38 of file RobotUnitModuleDevices.cpp.

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◆ getControlDeviceDescription() [2/2]

ControlDeviceDescription getControlDeviceDescription ( std::size_t  idx) const

Return the ControlDeviceDescription for the given ControlDevice.

Parameters
idxThe ControlDevice's index
Returns
The ControlDeviceDescription for the given ControlDevice
See also
ControlDeviceDescription
getControlDeviceDescription
getControlDeviceDescriptions

Definition at line 136 of file RobotUnitModuleDevices.cpp.

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◆ getControlDeviceDescriptions()

ControlDeviceDescriptionSeq getControlDeviceDescriptions ( const Ice::Current &  = Ice::emptyCurrent) const
override

Return the ControlDeviceDescriptions for all ControlDevices.

Returns
The ControlDeviceDescriptions
See also
ControlDeviceDescription
getControlDeviceDescription

Definition at line 54 of file RobotUnitModuleDevices.cpp.

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◆ getControlDeviceIndex()

std::size_t getControlDeviceIndex ( const std::string &  deviceName) const

Returns the ControlDevice's index.

Parameters
deviceNameControlDevice's name.
Returns
The ControlDevice's index

Definition at line 99 of file RobotUnitModuleDevices.cpp.

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◆ getControlDeviceNames()

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

Returns the names of all ControlDevices for the robot.

Returns
The names of all ControlDevices for the robot.

Definition at line 127 of file RobotUnitModuleDevices.cpp.

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◆ getControlDevices()

const KeyValueVector<std::string, ControlDevicePtr>& getControlDevices ( ) const
inline

Returns all ControlDevices.

Returns
All ControlDevices TODO remove from interface

Definition at line 348 of file RobotUnitModuleDevices.h.

◆ getControlDevicesConstPtr()

const std::map<std::string, ConstControlDevicePtr>& getControlDevicesConstPtr ( ) const
inline

Returns const pointers to all ControlDevices.

Returns
Const pointers to all ControlDevices TODO rename to getControlDevices

Definition at line 368 of file RobotUnitModuleDevices.h.

◆ getControlDeviceStatus() [1/2]

ControlDeviceStatus getControlDeviceStatus ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
) const
override

Return the ControlDeviceStatus for the given ControlDevice.

Parameters
nameThe ControlDevice
Returns
The ControlDeviceStatus
See also
ControlDeviceStatus
getControlDeviceStatuses

Definition at line 187 of file RobotUnitModuleDevices.cpp.

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◆ getControlDeviceStatus() [2/2]

ControlDeviceStatus getControlDeviceStatus ( std::size_t  idx) const

Return the ControlDeviceStatus for the given ControlDevice.

Parameters
idxThe ControlDevice's index
Returns
The ControlDeviceStatus
See also
ControlDeviceStatus
getControlDeviceStatus
getControlDeviceStatuses

Definition at line 157 of file RobotUnitModuleDevices.cpp.

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◆ getControlDeviceStatuses()

ControlDeviceStatusSeq getControlDeviceStatuses ( const Ice::Current &  = Ice::emptyCurrent) const
override

Return the ControlDeviceStatuses for all ControlDevices.

Returns
The ControlDeviceStatuses
See also
ControlDeviceStatus
getControlDeviceStatus

Definition at line 203 of file RobotUnitModuleDevices.cpp.

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◆ getControlModeGroups()

const ControlDeviceHardwareControlModeGroups& getControlModeGroups ( ) const
inline

Returns the groups of ControlDevices required to be in the same hardware control mode.

(explained here)

Returns
The groups of ControlDevices required to be in the same hardware control mode.

Definition at line 300 of file RobotUnitModuleDevices.h.

◆ getNumberOfControlDevices()

std::size_t getNumberOfControlDevices ( ) const

Returns the number of ControlDevices.

Returns
The number of ControlDevices

Definition at line 73 of file RobotUnitModuleDevices.cpp.

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◆ getNumberOfSensorDevices()

std::size_t getNumberOfSensorDevices ( ) const

Returns the number of SensorDevices.

Returns
The number of SensorDevices

Definition at line 81 of file RobotUnitModuleDevices.cpp.

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◆ getSensorDevice()

ConstSensorDevicePtr getSensorDevice ( const std::string &  deviceName) const

TODO move to attorney for NJointControllerBase.

Returns the SensorDevice

Parameters
deviceNameSensorDevice's name.
Returns
The SensorDevice

Definition at line 109 of file RobotUnitModuleDevices.cpp.

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◆ getSensorDeviceDescription() [1/2]

SensorDeviceDescription getSensorDeviceDescription ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
) const
override

Return the SensorDeviceDescription for the given SensorDevice.

Parameters
nameThe SensorDevice
Returns
The SensorDeviceDescription
See also
SensorDeviceDescription
getSensorDeviceDescriptions

Definition at line 266 of file RobotUnitModuleDevices.cpp.

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◆ getSensorDeviceDescription() [2/2]

SensorDeviceDescription getSensorDeviceDescription ( std::size_t  idx) const

Return the SensorDeviceDescription for the given SensorDevice.

Parameters
idxThe SensorDevice's index
Returns
The SensorDeviceDescription for the given SensorDevice
See also
SensorDeviceDescription
getSensorDeviceDescription
getSensorDeviceDescriptions

Definition at line 231 of file RobotUnitModuleDevices.cpp.

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◆ getSensorDeviceDescriptions()

SensorDeviceDescriptionSeq getSensorDeviceDescriptions ( const Ice::Current &  = Ice::emptyCurrent) const
override

Return the SensorDeviceDescriptions for all SensorDevices.

Returns
The SensorDeviceDescriptions
See also
SensorDeviceDescription
getSensorDeviceDescription

Definition at line 282 of file RobotUnitModuleDevices.cpp.

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◆ getSensorDeviceIndex()

std::size_t getSensorDeviceIndex ( const std::string &  deviceName) const

Returns the SensorDevice's index.

Parameters
deviceNameSensorDevice's name.
Returns
The SensorDevice's index

Definition at line 89 of file RobotUnitModuleDevices.cpp.

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◆ getSensorDeviceNames()

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

Returns the names of all SensorDevices for the robot.

Returns
The names of all ControlDevices for the robot.

Definition at line 222 of file RobotUnitModuleDevices.cpp.

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◆ getSensorDevices()

const KeyValueVector<std::string, SensorDevicePtr>& getSensorDevices ( ) const
inline

TODO move to attorney for NJointControllerBase.

Returns all SensorDevices

Returns
All SensorDevices TODO remove from interface

Definition at line 338 of file RobotUnitModuleDevices.h.

◆ getSensorDevicesConstPtr()

const std::map<std::string, ConstSensorDevicePtr>& getSensorDevicesConstPtr ( ) const
inline

Returns const pointers to all SensorDevices.

Returns
Const pointers to all SensorDevices TODO rename to getSensorDevices

Definition at line 358 of file RobotUnitModuleDevices.h.

◆ getSensorDeviceStatus() [1/2]

SensorDeviceStatus getSensorDeviceStatus ( const std::string &  name,
const Ice::Current &  = Ice::emptyCurrent 
) const
override

Return the SensorDeviceStatus for the given SensorDevice.

Parameters
nameThe SensorDevice
Returns
The SensorDeviceStatus
See also
SensorDeviceStatus
getSensorDeviceStatuses

Definition at line 300 of file RobotUnitModuleDevices.cpp.

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◆ getSensorDeviceStatus() [2/2]

SensorDeviceStatus getSensorDeviceStatus ( std::size_t  idx) const

Return the SensorDeviceStatus for the given SensorDevice.

Parameters
idxThe SensorDevice's index
Returns
The SensorDeviceStatus
See also
SensorDeviceStatus
getSensorDeviceStatus
getSensorDeviceStatuses

Definition at line 246 of file RobotUnitModuleDevices.cpp.

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◆ getSensorDeviceStatuses()

SensorDeviceStatusSeq getSensorDeviceStatuses ( const Ice::Current &  = Ice::emptyCurrent) const
override

Return the SensorDeviceStatuses for all SensorDevices.

Returns
The SensorDeviceStatuses
See also
SensorDeviceStatus
getSensorDeviceStatus

Definition at line 316 of file RobotUnitModuleDevices.cpp.

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◆ Instance()

static Devices& Instance ( )
inlinestatic

Returns the singleton instance of this class.

Returns
The singleton instance of this class

Definition at line 79 of file RobotUnitModuleDevices.h.

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◆ rtGetRTThreadTimingsSensorDevice()

RTThreadTimingsSensorDevice& rtGetRTThreadTimingsSensorDevice ( )
inlineprotected

Returns the SensorDevice used to log timings in the ControlThread.

(This function is supposed to be used in the ControlThread)

Returns
The SensorDevice used to log timings in the ControlThread
See also
createRTThreadTimingSensorDevice

Definition at line 401 of file RobotUnitModuleDevices.h.

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◆ updateVirtualRobotFromSensorValues() [1/2]

void updateVirtualRobotFromSensorValues ( const VirtualRobot::RobotPtr robot,
const std::vector< PtrT > &  sensors 
) const
inline

Updates the given VirtualRobot with the given SensorValues.

Parameters
robotThe VirtualRobot to update
sensorsThe SensorValues

Definition at line 248 of file RobotUnitModuleDevices.h.

◆ updateVirtualRobotFromSensorValues() [2/2]

void updateVirtualRobotFromSensorValues ( const VirtualRobot::RobotPtr robot,
const std::vector< VirtualRobot::RobotNodePtr > &  nodes,
const std::vector< PtrT > &  sensors 
) const
inline

Updates the given VirtualRobot with the given SensorValues.

This overload is slightly faster than the other version.

Parameters
robotThe VirtualRobot to update
nodesThe VirtualRobot's RobotNodes
sensorsThe SensorValues

Definition at line 264 of file RobotUnitModuleDevices.h.

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Friends And Related Function Documentation

◆ DevicesAttorneyForControlThread

friend class DevicesAttorneyForControlThread
friend

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

Warning
!! DO NOT ADD ADDITIONAL FRIENDS IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!

Definition at line 498 of file RobotUnitModuleDevices.h.

◆ DevicesAttorneyForControlThreadDataBuffer

This class allows minimal access to private members of Devices 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 503 of file RobotUnitModuleDevices.h.

◆ DevicesAttorneyForNJointController

This class allows minimal access to private members of armarx::RobotUnitModule::Devices in a sane fashion for armarx::NJointControllerBase.

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 508 of file RobotUnitModuleDevices.h.

◆ DevicesAttorneyForPublisher

friend class DevicesAttorneyForPublisher
friend

This class allows minimal access to private members of Devices 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 493 of file RobotUnitModuleDevices.h.

◆ ModuleBase

friend class ModuleBase
friend

Definition at line 69 of file RobotUnitModuleDevices.h.


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