TCPControllerSubUnit Class Reference

#include <RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h>

+ Inheritance diagram for TCPControllerSubUnit:

Public Member Functions

void componentPropertiesUpdated (const std::set< std::string > &changedProperties) override
 Implement this function if you would like to react to changes in the properties. More...
 
UnitExecutionState getExecutionState (const Ice::Current &) override
 
void init (const Ice::Current &) override
 
bool isRequested (const Ice::Current &=Ice::emptyCurrent) override
 
void release (const Ice::Current &) override
 
void reportControlModeChanged (const NameControlModeMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointAccelerations (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointAngles (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointCurrents (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointMotorTemperatures (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointStatuses (const NameStatusMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointTorques (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointVelocities (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void request (const Ice::Current &) override
 
void setCycleTime (Ice::Int milliseconds, const Ice::Current &c=Ice::emptyCurrent) override
 
void setTCPVelocity (const std::string &nodeSetName, const std::string &tcpName, const ::armarx::FramedDirectionBasePtr &translationVelocity, const ::armarx::FramedDirectionBasePtr &orientationVelocityRPY, const Ice::Current &c=Ice::emptyCurrent) override
 
void setup (RobotUnit *rUnit, VirtualRobot::RobotPtr robot)
 
void start (const Ice::Current &) override
 
void stop (const Ice::Current &) override
 
void update (const SensorAndControl &sc, const JointAndNJointControllers &c) override
 
- 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 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 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
 

Protected Member Functions

PropertyDefinitionsPtr createPropertyDefinitions () override
 
std::string getDefaultName () const override
 Retrieve default name of component. More...
 
void onConnectComponent () override
 Pure virtual hook for the subclass. More...
 
void onInitComponent () override
 Pure virtual hook for the subclass. 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 onDisconnectComponent ()
 Hook for subclass. More...
 
virtual void onExitComponent ()
 Hook for subclass. 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
 
- 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...
 
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...
 
virtual void icePropertiesInitialized ()
 

Additional Inherited Members

- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- 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)
 
- 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 Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr NullPtr
 A nullptr to be used when a const ref to a nullptr is required. More...
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

Definition at line 55 of file TCPControllerSubUnit.h.

Member Function Documentation

◆ componentPropertiesUpdated()

void componentPropertiesUpdated ( const std::set< std::string > &  changedProperties)
overridevirtual

Implement this function if you would like to react to changes in the properties.

Parameters
changedPropertiesSet of changed properties. Retrieve the values with getProperty()

Reimplemented from Component.

Definition at line 221 of file TCPControllerSubUnit.cpp.

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )
overrideprotectedvirtual
See also
PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 40 of file TCPControllerSubUnit.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const
inlineoverrideprotectedvirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns
default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 95 of file TCPControllerSubUnit.h.

◆ getExecutionState()

UnitExecutionState getExecutionState ( const Ice::Current &  )
inlineoverride

Definition at line 132 of file TCPControllerSubUnit.h.

◆ init()

void init ( const Ice::Current &  )
inlineoverride

Definition at line 117 of file TCPControllerSubUnit.h.

◆ isRequested()

bool isRequested ( const Ice::Current &  = Ice::emptyCurrent)
override

Definition at line 206 of file TCPControllerSubUnit.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )
inlineoverrideprotectedvirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also
onDisconnectComponent()

Implements ManagedIceObject.

Definition at line 90 of file TCPControllerSubUnit.h.

◆ onInitComponent()

void onInitComponent ( )
inlineoverrideprotectedvirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

Definition at line 85 of file TCPControllerSubUnit.h.

◆ release()

void release ( const Ice::Current &  )
inlineoverride

Definition at line 110 of file TCPControllerSubUnit.h.

◆ reportControlModeChanged()

void reportControlModeChanged ( const NameControlModeMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 140 of file TCPControllerSubUnit.h.

◆ reportJointAccelerations()

void reportJointAccelerations ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 163 of file TCPControllerSubUnit.h.

◆ reportJointAngles()

void reportJointAngles ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 148 of file TCPControllerSubUnit.h.

◆ reportJointCurrents()

void reportJointCurrents ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 168 of file TCPControllerSubUnit.h.

◆ reportJointMotorTemperatures()

void reportJointMotorTemperatures ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 173 of file TCPControllerSubUnit.h.

◆ reportJointStatuses()

void reportJointStatuses ( const NameStatusMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 181 of file TCPControllerSubUnit.h.

◆ reportJointTorques()

void reportJointTorques ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 158 of file TCPControllerSubUnit.h.

◆ reportJointVelocities()

void reportJointVelocities ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 153 of file TCPControllerSubUnit.h.

◆ request()

void request ( const Ice::Current &  )
inlineoverride

Definition at line 105 of file TCPControllerSubUnit.h.

◆ setCycleTime()

void setCycleTime ( Ice::Int  milliseconds,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 59 of file TCPControllerSubUnit.cpp.

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◆ setTCPVelocity()

void setTCPVelocity ( const std::string &  nodeSetName,
const std::string &  tcpName,
const ::armarx::FramedDirectionBasePtr &  translationVelocity,
const ::armarx::FramedDirectionBasePtr &  orientationVelocityRPY,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 66 of file TCPControllerSubUnit.cpp.

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◆ setup()

void setup ( RobotUnit rUnit,
VirtualRobot::RobotPtr  robot 
)

Definition at line 47 of file TCPControllerSubUnit.cpp.

◆ start()

void start ( const Ice::Current &  )
inlineoverride

Definition at line 122 of file TCPControllerSubUnit.h.

◆ stop()

void stop ( const Ice::Current &  )
inlineoverride

Definition at line 127 of file TCPControllerSubUnit.h.

◆ update()

void update ( const SensorAndControl sc,
const JointAndNJointControllers c 
)
overridevirtual

Implements RobotUnitSubUnit.

Definition at line 35 of file TCPControllerSubUnit.cpp.


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