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 ControlDeviceHardwareControlModeGroups &	getControlModeGroups () 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< 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 Devices &	Instance ()
	Returns the singleton instance of this class. More...

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

template<class T >
static T &	Instance ()
	Returns the singleton instance of the given class. More...

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Protected Member Functions
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...

RTThreadTimingsSensorDevice &	rtGetRTThreadTimingsSensorDevice ()
	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 LogSenderPtr &	getLogSender () 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

cd	The 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

cd	The 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

deviceName ControlDevice'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

name	The 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

idx	The 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

deviceName ControlDevice'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

name	The 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

idx	The 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

deviceName SensorDevice'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

name	The 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

idx	The 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

deviceName SensorDevice'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

name	The 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

idx	The 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

robot	The VirtualRobot to update
sensors	The 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

robot	The VirtualRobot to update
nodes	The VirtualRobot's RobotNodes
sensors	The 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

friend class DevicesAttorneyForControlThreadDataBuffer

friend

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

friend class DevicesAttorneyForNJointController

friend

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:

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addControlDevice()

◆ addSensorDevice()

◆ createRTThreadTimingSensorDevice()

◆ getControlDevice()

◆ getControlDeviceDescription() [1/2]

◆ getControlDeviceDescription() [2/2]

◆ getControlDeviceDescriptions()

◆ getControlDeviceIndex()

◆ getControlDeviceNames()

◆ getControlDevices()

◆ getControlDevicesConstPtr()

◆ getControlDeviceStatus() [1/2]

◆ getControlDeviceStatus() [2/2]

◆ getControlDeviceStatuses()

◆ getControlModeGroups()

◆ getNumberOfControlDevices()

◆ getNumberOfSensorDevices()

◆ getSensorDevice()

◆ getSensorDeviceDescription() [1/2]

◆ getSensorDeviceDescription() [2/2]

◆ getSensorDeviceDescriptions()

◆ getSensorDeviceIndex()

◆ getSensorDeviceNames()

◆ getSensorDevices()

◆ getSensorDevicesConstPtr()

◆ getSensorDeviceStatus() [1/2]

◆ getSensorDeviceStatus() [2/2]

◆ getSensorDeviceStatuses()

◆ Instance()

◆ rtGetRTThreadTimingsSensorDevice()

◆ updateVirtualRobotFromSensorValues() [1/2]

◆ updateVirtualRobotFromSensorValues() [2/2]

Friends And Related Function Documentation

◆ DevicesAttorneyForControlThread

◆ DevicesAttorneyForControlThreadDataBuffer

◆ DevicesAttorneyForNJointController

◆ DevicesAttorneyForPublisher

◆ ModuleBase