Brief description of class RTUnit. More...

#include <armarx/control/ethercat/RTUnit.h>

Inheritance diagram for RTUnit:

Public Member Functions
std::string	getDefaultName () const override

	RTUnit ()

	~RTUnit () override

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 RobotUnit
	~RobotUnit ()

Public Member Functions inherited from Units
const EmergencyStopMasterInterfacePtr &	getEmergencyStopMaster () const
	Returns a pointer to the EmergencyStopMaster. More...

ForceTorqueUnitInterfacePtr	getForceTorqueUnit () const
	Returns a pointer to the ForceTorqueUnit. More...

ForceTorqueUnitInterfacePrx	getForceTorqueUnit (const Ice::Current &) const override
	Returns a proxy to the ForceTorqueUnit. More...

InertialMeasurementUnitInterfacePtr	getInertialMeasurementUnit () const
	Returns a pointer to the InertialMeasurementUnit. More...

InertialMeasurementUnitInterfacePrx	getInertialMeasurementUnit (const Ice::Current &) const override
	Returns a proxy to the InertialMeasurementUnit. More...

KinematicUnitInterfacePtr	getKinematicUnit () const
	Returns a pointer to the KinematicUnit. More...

KinematicUnitInterfacePrx	getKinematicUnit (const Ice::Current &) const override
	Returns a proxy to the KinematicUnit. More...

PlatformUnitInterfacePtr	getPlatformUnit () const
	Returns a pointer to the PlatformUnit. More...

PlatformUnitInterfacePrx	getPlatformUnit (const Ice::Current &) const override
	Returns a proxy to the PlatformUnit. More...

TCPControlUnitInterfacePtr	getTCPControlUnit () const
	Returns a pointer to the TCPControlUnit. More...

TCPControlUnitInterfacePrx	getTCPControlUnit (const Ice::Current &) const override
	Returns a proxy to the TCPControlUnit. More...

TrajectoryPlayerInterfacePtr	getTrajectoryPlayer () const
	Returns a pointer to the TrajectoryPlayer. More...

TrajectoryPlayerInterfacePrx	getTrajectoryPlayer (const Ice::Current &) const override
	Returns a proxy to the TrajectoryPlayer. More...

template<class T >
T::PointerType	getUnit () const
	Returns a pointer to the Unit for the given type (or null if there is none) More...

const ManagedIceObjectPtr &	getUnit (const std::string &staticIceId) const
	Returns a pointer to the Unit with the given ice id (or null if there is none) More...

Ice::ObjectPrx	getUnit (const std::string &staticIceId, const Ice::Current &) const override
	Returns a proxy to the Unit with the given ice id (or null if there is none) More...

template<class T >
T::ProxyType	getUnitPrx () const
	Returns a proxy to the Unit for the given type (or null if there is none) More...

Ice::ObjectProxySeq	getUnits (const Ice::Current &) const override
	Returns proxies to all units. 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...

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...

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 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

Public Member Functions inherited from Logging
void	addMarkerToRtLog (const SimpleRemoteReferenceCounterBasePtr &token, const std::string &marker, const Ice::Current &=Ice::emptyCurrent) override
	Adds a string to the log (it is added in a special column). More...

Ice::StringSeq	getLoggingNames (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the names of all loggable data fields. More...

RobotUnitDataStreaming::DataStreamingDescription	startDataStreaming (const RobotUnitDataStreaming::ReceiverPrx &receiver, const RobotUnitDataStreaming::Config &config, const Ice::Current &=Ice::emptyCurrent) override

SimpleRemoteReferenceCounterBasePtr	startRtLogging (const std::string &formatString, const Ice::StringSeq &loggingNames, const Ice::Current &=Ice::emptyCurrent) override
	Starts logging to a CSV file. More...

SimpleRemoteReferenceCounterBasePtr	startRtLoggingWithAliasNames (const std::string &formatString, const StringStringDictionary &aliasNames, const Ice::Current &=Ice::emptyCurrent) override
	Starts logging to a CSV file. More...

void	stopDataStreaming (const RobotUnitDataStreaming::ReceiverPrx &receiver, const Ice::Current &=Ice::emptyCurrent) override

void	stopRtLogging (const armarx::SimpleRemoteReferenceCounterBasePtr &token, const Ice::Current &=Ice::emptyCurrent) override
	Stops logging to the given log. More...

void	writeRecentIterationsToFile (const std::string &formatString, const Ice::Current &=Ice::emptyCurrent) const override
	Dumps the backlog of all recent iterations to the given file. More...

Public Member Functions inherited from Devices
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 Publisher
DebugDrawerInterfacePrx	getDebugDrawerProxy (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the used DebugDrawerProxy. More...

std::string	getDebugDrawerTopicName (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the name of the used DebugDrawerTopic. More...

DebugObserverInterfacePrx	getDebugObserverProxy (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the used DebugObserverProxy. More...

std::string	getDebugObserverTopicName (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the name of the used DebugObserverTopic. More...

RobotUnitListenerPrx	getRobotUnitListenerProxy (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the used RobotUnitListenerProxy. More...

std::string	getRobotUnitListenerTopicName (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the name of the used RobotUnitListenerTopic. More...

Public Member Functions inherited from RobotData
bool	arePlatformAndLocalizationUnitsEnabled () const

VirtualRobot::RobotPtr	cloneRobot (bool updateCollisionModel=false) const
	Returns a clone of the robot's model. More...

const std::string &	getRobotFileName () const
	Returns the file name of the robot's model. More...

std::string	getRobotName () const
	Returns the robot's name. More...

const std::string &	getRobotNodetSeName () const
	Returns the name of the robot's RobotNodeSet. More...

std::string	getRobotPlatformInstanceName () const
	Returns the name of the robot platform instance. More...

const std::string &	getRobotPlatformName () const
	Returns the name of the robot's platform. More...

const std::string &	getRobotProjectName () const
	Returns the name of the project containing the robot's model. More...

Public Member Functions inherited from Management
void	aggregatedHeartbeat (RobotHealthState overallHealthState, const Ice::Current &) override

bool	isRunning (const Ice::Current &=Ice::emptyCurrent) const override
	Returns whether the RobotUnit is running. More...

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

Public Member Functions inherited from ControlThread
std::thread::id	getControlThreadId () const
	Teturns he ControlThread's thread id. More...

EmergencyStopState	getEmergencyStopState () const
	Returns the ControlThread's target EmergencyStopState. More...

EmergencyStopState	getRtEmergencyStopState () const
	Returns the ControlThread's EmergencyStopState. More...

void	setEmergencyStopState (EmergencyStopState state)
	Sets the EmergencyStopState. More...

Public Member Functions inherited from SelfCollisionChecker
float	getSelfCollisionAvoidanceDistance (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the minimal distance (mm) between a pair of bodies. More...

float	getSelfCollisionAvoidanceFrequency (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the frequency of self collision checks. More...

bool	isSelfCollisionCheckEnabled (const Ice::Current &=Ice::emptyCurrent) const override
	Returns whether the frequency of self collision checks is above 0. More...

void	setSelfCollisionAvoidanceDistance (Ice::Float distance, const Ice::Current &=Ice::emptyCurrent) override
	Sets the minimal distance (mm) between a configured pair of bodies to 'distance'. More...

void	setSelfCollisionAvoidanceFrequency (Ice::Float freq, const Ice::Current &=Ice::emptyCurrent) override
	Sets the frequency of self collision checks. More...

Public Member Functions inherited from ControllerManagement
void	activateNJointController (const NJointControllerBasePtr &ctrl)
	Requests activation for the given NJointControllerBase. More...

void	activateNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) override
	Requests activation for the given NJointControllerBase. More...

void	activateNJointControllers (const Ice::StringSeq &names, const Ice::Current &=Ice::emptyCurrent) override
	Requests activation for the given NJointControllers. More...

void	activateNJointControllers (const std::vector< NJointControllerBasePtr > &ctrls)
	Requests activation for the given NJointControllers. More...

const NJointControllerBasePtr &	createNJointController (const std::string &className, const std::string &instanceName, const NJointControllerConfigPtr &config, bool deletable, bool internal)
	Cretes a NJointControllerBase. More...

NJointControllerInterfacePrx	createNJointController (const std::string &className, const std::string &instanceName, const NJointControllerConfigPtr &config, const Ice::Current &=Ice::emptyCurrent) override
	Cretes a NJointControllerBase. More...

NJointControllerInterfacePrx	createNJointControllerFromVariantConfig (const std::string &className, const std::string &instanceName, const StringVariantBaseMap &variants, const Ice::Current &=Ice::emptyCurrent) override
	Cretes a NJointControllerBase. More...

NJointControllerInterfacePrx	createOrReplaceNJointController (const std::string &className, const std::string &instanceName, const NJointControllerConfigPtr &config, const Ice::Current &=Ice::emptyCurrent) override
	Deletes any NJointControllerBase with the given name and creates a new one. More...

void	deactivateAndDeleteNJointController (const NJointControllerBasePtr &ctrl)
	Queues the given NJointControllerBase for deletion and deactivates it if necessary. More...

void	deactivateAndDeleteNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) override
	Queues the given NJointControllerBase for deletion and deactivates it if necessary. More...

void	deactivateAndDeleteNJointControllers (const Ice::StringSeq &names, const Ice::Current &) override
	Queues the given NJointControllers for deletion and deactivates them if necessary. More...

void	deactivateAndDeleteNJointControllers (const std::vector< NJointControllerBasePtr > &ctrls)
	Queues the given NJointControllers for deletion and deactivates them if necessary. More...

void	deactivateNJointController (const NJointControllerBasePtr &ctrl)
	Requests deactivation for the given NJointControllerBase. More...

void	deactivateNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) override
	Requests deactivation for the given NJointControllerBase. More...

void	deactivateNJointControllers (const Ice::StringSeq &names, const Ice::Current &=Ice::emptyCurrent) override
	Requests deactivation for the given NJointControllers. More...

void	deactivateNJointControllers (const std::vector< NJointControllerBasePtr > &ctrls)
	Requests deactivation for the given NJointControllers. More...

void	deleteNJointController (const NJointControllerBasePtr &ctrl)
	Queues the given NJointControllerBase for deletion. More...

void	deleteNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) override
	Queues the given NJointControllerBase for deletion. More...

void	deleteNJointControllers (const Ice::StringSeq &names, const Ice::Current &=Ice::emptyCurrent) override
	Queues the given NJointControllers for deletion. More...

void	deleteNJointControllers (const std::vector< NJointControllerBasePtr > &ctrls)
	Queues the given NJointControllers for deletion. More...

Ice::StringSeq	getActivatedNJointControllerNames (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the names of all activated NJointControllers. More...

StringNJointControllerPrxDictionary	getAllNJointControllers (const Ice::Current &=Ice::emptyCurrent) const override
	Returns proxies to all NJointControllers. More...

NJointControllerInterfacePrx	getNJointController (const std::string &name, const Ice::Current &=Ice::emptyCurrent) const override
	Returns a proxy to the NJointControllerBase. More...

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

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

Ice::StringSeq	getNJointControllerClassNames (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the names of all available classes of NJointControllerBase. More...

NJointControllerDescription	getNJointControllerDescription (const std::string &name, const Ice::Current &=Ice::emptyCurrent) const override
	Returns the description of the NJointControllerBase. More...

NJointControllerDescriptionSeq	getNJointControllerDescriptions (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the description of all NJointControllers. More...

NJointControllerDescriptionWithStatusSeq	getNJointControllerDescriptionsWithStatuses (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the status and description of all NJointControllers. More...

NJointControllerDescriptionWithStatus	getNJointControllerDescriptionWithStatus (const std::string &name, const Ice::Current &=Ice::emptyCurrent) const override
	Returns the status and description of the NJointControllerBase. More...

Ice::StringSeq	getNJointControllerNames (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the names of all NJointControllers. More...

std::vector< std::string >	getNJointControllerNames (const std::vector< armarx::NJointControllerBasePtr > &ctrls) const
	Returns the names of given NJointControllers. More...

const NJointControllerBasePtr &	getNJointControllerNotNull (const std::string &name) const
	Returns a pointer to the NJointControllerBase. More...

std::vector< armarx::NJointControllerBasePtr >	getNJointControllersNotNull (const std::vector< std::string > &names) const
	Returns pointers to the NJointControllers. More...

NJointControllerStatus	getNJointControllerStatus (const std::string &name, const Ice::Current &=Ice::emptyCurrent) const override
	Returns the status of the NJointControllerBase. More...

NJointControllerStatusSeq	getNJointControllerStatuses (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the status of all NJointControllers. More...

Ice::StringSeq	getRequestedNJointControllerNames (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the names of all requested NJointControllers. More...

void	switchNJointControllerSetup (const Ice::StringSeq &newSetup, const Ice::Current &=Ice::emptyCurrent) override
	Changes the set of requested NJointControllers to the given set. More...

	~ControllerManagement ()

Public Member Functions inherited from ControlThreadDataBuffer
bool	activatedControllersChanged () const
	Returns whether the set of activated Joint- and NJointControllers changed. More...

JointAndNJointControllers	copyRequestedControllers () const
	Returns the set of requsted Joint- and NJointControllers. More...

std::vector< JointController * >	copyRequestedJointControllers () const
	Returns the set of requsted JointControllers. More...

std::vector< NJointControllerBase * >	copyRequestedNJointControllers () const
	Returns the set of requsted NJointControllers. More...

JointAndNJointControllers	getActivatedControllers () const
	TODO private + attorney for publish. More...

std::vector< JointController * >	getActivatedJointControllers () const
	Returns the set of activated JointControllers. More...

std::vector< NJointControllerBase * >	getActivatedNJointControllers () const
	Returns the set of activated NJointControllers. More...

ControlThreadOutputBuffer &	getControlThreadOutputBuffer ()
	Returns the ControlThreadOutputBuffer. More...

const SensorAndControl &	getSensorAndControlBuffer () const
	TODO private + attorney for publish. More...

SensorAndControl &	rtGetSensorAndControlBuffer ()
	Returns the writer buffer for sensor and control values. More...

void	rtSensorAndControlBufferCommitWrite ()
	Commits the writer buffer for sensor and control values. More...

bool	sensorAndControlBufferChanged () const
	Updates the sensor and control buffer and returns whether the buffer was updated. More...

void	setActivateControllersRequest (std::set< NJointControllerBasePtr, std::greater< NJointControllerBasePtr >> ctrls)
	Sets the set of requested NJointControllers to. More...

void	updateVirtualRobot (const VirtualRobot::RobotPtr &robot) const
	Updates the given VirtualRobot with the current joint values. More...

void	updateVirtualRobot (const VirtualRobot::RobotPtr &robot, const std::vector< VirtualRobot::RobotNodePtr > &nodes) const
	Updates the given VirtualRobot with the current joint values. More...

Protected Types
enum	CalibrationStatus { Calibrating, Done }

enum	PeriodicLoggingMode { None, OnlyBusErrors, OnlyRtLogging, Both }

Protected Types inherited from ModuleBase
using	ClockType = std::chrono::high_resolution_clock

using	GuardType = std::unique_lock< MutexType >

using	MutexType = std::recursive_timed_mutex
	The type of recursive_mutex used in this class. More...

using	TimePointType = std::chrono::high_resolution_clock::time_point

Protected Types inherited from ControlThread
enum	SwitchControllerMode { RTThread, IceRequests }

Protected Member Functions
void	computeInertiaTorque ()

void	controlLoopRTThread ()

armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

IceUtil::Time	getControlThreadTargetPeriod () const override
	The ControlThread's period. More...

std::uintmax_t	getIterationCount ()

bool	initBusRTThread ()

void	initializeKinematicUnit () override
	Initializes the KinematicUnit. More...

void	joinControlThread () override
	Implementations have to join their ControlThread in this hook. (used by RobotUnit::finishRunning()) More...

void	onConnectRobotUnit () override
	called in onConnectComponent More...

void	onDisconnectRobotUnit () override
	called in onDisconnecComponent More...

void	onExitRobotUnit () override
	called in onExitComponent before calling finishRunning More...

void	onInitRobotUnit () override
	called in onInitComponent More...

void	periodicBackupLoggingRun ()

void	publish (armarx::StringVariantBaseMap debugObserverMap={}, armarx::StringVariantBaseMap timingMap={}) override
	Publishes data. More...

virtual CalibrationStatus	rtCalibrate ()
	Hook to add calibration code. More...

virtual void	rtCalibrateActivateControlers ()
	Allows to switch controllers while calibrating. More...

bool	rtIsCalibrating () const

virtual void	rtRun ()
	the run method of the rt thread More...

void	startBackupLogging ()

void	startRTThread ()

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

Protected Member Functions inherited from Units
void	addUnit (ManagedIceObjectPtr unit)
	Registers a unit for management (the Unit is added and removed to the ArmarXManager and updated with new values. More...

ManagedIceObjectPtr	createKinematicSubUnit (const Ice::PropertiesPtr &properties, const std::string &positionControlMode=ControlModes::Position1DoF, const std::string &velocityControlMode=ControlModes::Velocity1DoF, const std::string &torqueControlMode=ControlModes::Torque1DoF, const std::string &pwmControlMode=ControlModes::PWM1DoF)
	Create the KinematicUnit (this function should be called in initializeKinematicUnit) More...

virtual void	initializeDefaultUnits ()
	Calls all init hooks for all managed Units. More...

virtual void	initializeDiagnosticsUnit ()
	Initialize the diagnostics unit. More...

virtual void	initializeForceTorqueUnit ()
	Initializes the ForceTorqueUnit. More...

virtual void	initializeInertialMeasurementUnit ()
	Initializes the InertialMeasurementUnit. More...

virtual void	initializeLocalizationUnit ()
	Initializes the TcpControllerUnit. More...

virtual void	initializePlatformUnit ()
	Initializes the PlatformUnit. More...

virtual void	initializeTcpControllerUnit ()
	Initializes the TcpControllerUnit. More...

virtual void	initializeTrajectoryControllerUnit ()
	Initializes the TrajectoryControllerUnit. 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...

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...

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 Devices
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 ControlThread
void	rtDeactivateAssignedNJointControllerBecauseOfError (std::size_t ctrlDevIndex)
	Searches for the NJointControllerBase responsible for the given JointController and deactivates it. More...

virtual void	rtDeactivatedNJointControllerBecauseOfError (const NJointControllerBasePtr &)
	Hook for deriving classes (called AFTER a NJointControllerBase is deactivated due to an error) More...

void	rtDeactivateNJointControllerBecauseOfError (std::size_t nJointCtrlIndex)
	Deactivates a NJointControllerBase and sets all used ControlDevices to EmergencyStop. More...

const std::vector< ControlDevicePtr > &	rtGetControlDevices () const
	Returns all ControlDevices. More...

EmergencyStopState	rtGetEmergencyStopState () const
	Returns the ControlThread's emergency stop state. More...

const VirtualRobot::RobotPtr &	rtGetRobot () const
	Returns the simox robot used in the control thread. More...

const std::vector< SensorDevicePtr > &	rtGetSensorDevices ()
	Returns all SensorDevices. More...

RTThreadTimingsSensorDevice &	rtGetThreadTimingsSensorDevice ()
	Returns the RTThreadTimingsSensorDevice. More...

void	rtHandleInvalidTargets ()
	Deactivates all NJointControllers generating invalid targets. More...

bool	rtIsInEmergencyStop () const
	Returns whether the rt thread is in emergency stop. More...

virtual void	rtPostReadSensorDeviceValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Execute code after updating the sensor values. More...

void	rtReadSensorDeviceValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Calls SensorDevice::rtReadSensorValues for all SensorDevices. More...

void	rtResetAllTargets ()
	Calls JointController::rtResetTarget for all active Joint controllers. More...

void	rtRunJointControllers (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Runs Joint controllers and writes target values to ControlDevices. More...

void	rtRunNJointControllers (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Runs NJoint controllers. More...

void	rtSetEmergencyStopState (EmergencyStopState state)
	Set an EmergencyStopState request. More...

void	rtSetJointController (JointController *c, std::size_t index)
	Activate a joint controller from the rt loop (only works in switch mode RTThread) More...

void	rtSetRobotGlobalPose (const Eigen::Matrix4f &gp, bool updateRobot=true)

bool	rtSwitchControllerSetup (SwitchControllerMode mode=SwitchControllerMode::IceRequests)
	Changes the set of active controllers. More...

void	rtUpdateRobotGlobalPose ()

void	rtUpdateSensorAndControlBuffer (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Updates the current SensorValues and ControlTargets for code running outside of the ControlThread. More...

Protected Member Functions inherited from ControlThreadDataBuffer
virtual void	checkSetOfControllersToActivate (const JointAndNJointControllers &) const
	This hook is called prior to writing the set of requested controllers. More...

Static Protected Member Functions
static MultiNodeRapidXMLReader	ReadHardwareConfigFile (std::string hardwareConfigFilePath, std::string rootNodeName)

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
std::atomic_bool	backupLoggingRunning {false}

std::thread	backupLoggingTask

IceUtil::Time	currentPDOUpdateTimestamp

armarx::control::ethercat::Timeouts	ethercatTimeouts

std::vector< std::pair< VirtualRobot::RobotNodePtr, SensorValue1DoFGravityTorque * > >	nodeJointDataVec

struct {
std::string busConfigFilePath

bool enableErrorCountersReading = false

unsigned int errorCountersReadingPeriodInMS = 100

std::string ethercatInterfaceName

std::string periodicLoggingDirectory = "/tmp/periodic_rt_logging/"

unsigned int periodicLoggingHistorySize = 2

unsigned int periodicLoggingIntervalInSeconds = 300

PeriodicLoggingMode periodicLoggingMode = PeriodicLoggingMode::Both

bool resetErrorRegistersAtStartup = false

std::string robotColNodeSet = "RobotCol"

std::string robotJointsNodeSet = "RobotJoints"

int rtLoopTimeInUS = 1000

double rTLoopTimingCheckToleranceFactor = 1.0f

int socketFileDescriptor = 777

bool useTorqueVelocityModeAsDefault = false

}	properties

VirtualRobot::RobotPtr	robot

VirtualRobot::RobotNodeSetPtr	rtRobotBodySet

VirtualRobot::RobotNodeSetPtr	rtRobotJointSet

std::thread	rtTask

std::atomic_bool	taskRunning {false}

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from RobotUnit
static RobotUnit &	Instance ()

Static Public Member Functions inherited from Units
static Units &	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)

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

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

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

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

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

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

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

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

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

Detailed Description

Brief description of class RTUnit.

Detailed description of class RTUnit.

Definition at line 57 of file RTUnit.h.

Member Enumeration Documentation

◆ CalibrationStatus

enum CalibrationStatus

strongprotected

Enumerator
Calibrating
Done

Definition at line 108 of file RTUnit.h.

◆ PeriodicLoggingMode

enum PeriodicLoggingMode

strongprotected

Enumerator
None
OnlyBusErrors
OnlyRtLogging
Both

Definition at line 185 of file RTUnit.h.

Constructor & Destructor Documentation

◆ RTUnit()

RTUnit ( )

Definition at line 63 of file RTUnit.cpp.

◆ ~RTUnit()

~RTUnit ( )

override

Definition at line 288 of file RTUnit.cpp.

Member Function Documentation

◆ computeInertiaTorque()

void computeInertiaTorque ( )

protected

◆ controlLoopRTThread()

void controlLoopRTThread ( )

protected

Definition at line 549 of file RTUnit.cpp.

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from RobotUnit.

Definition at line 208 of file RTUnit.cpp.

◆ getControlThreadTargetPeriod()

IceUtil::Time getControlThreadTargetPeriod ( ) const

inlineoverrideprotectedvirtual

The ControlThread's period.

Implements ModuleBase.

Definition at line 175 of file RTUnit.h.

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Reimplemented from ModuleBase.

Definition at line 68 of file RTUnit.h.

◆ getIterationCount()

std::uintmax_t getIterationCount ( )

inlineprotected

Definition at line 150 of file RTUnit.h.

◆ initBusRTThread()

bool initBusRTThread ( )

protected

Definition at line 485 of file RTUnit.cpp.

◆ initializeKinematicUnit()

void initializeKinematicUnit ( )

overrideprotectedvirtual

Initializes the KinematicUnit.

Reimplemented from Units.

Definition at line 143 of file RTUnit.cpp.

◆ joinControlThread()

void joinControlThread ( )

overrideprotectedvirtual

Implementations have to join their ControlThread in this hook. (used by RobotUnit::finishRunning())

Implements ModuleBase.

Definition at line 193 of file RTUnit.cpp.

◆ onConnectRobotUnit()

void onConnectRobotUnit ( )

overrideprotectedvirtual

called in onConnectComponent

Warning: This function is not protected with getGuard()

See also: onConnectComponent

Reimplemented from ModuleBase.

Definition at line 115 of file RTUnit.cpp.

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◆ onDisconnectRobotUnit()

void onDisconnectRobotUnit ( )

overrideprotectedvirtual

called in onDisconnecComponent

Warning: This function is not protected with getGuard()

See also: onDisconnecComponent

Reimplemented from ModuleBase.

Definition at line 127 of file RTUnit.cpp.

◆ onExitRobotUnit()

void onExitRobotUnit ( )

overrideprotectedvirtual

called in onExitComponent before calling finishRunning

Note: This function is protected with getGuard()

See also: finishRunning; onExitComponent

Reimplemented from ModuleBase.

Definition at line 133 of file RTUnit.cpp.

◆ onInitRobotUnit()

void onInitRobotUnit ( )

overrideprotectedvirtual

called in onInitComponent

Note: This function is protected with getGuard()

See also: onInitComponent

Reimplemented from ModuleBase.

Definition at line 69 of file RTUnit.cpp.

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◆ periodicBackupLoggingRun()

void periodicBackupLoggingRun ( )

protected

Definition at line 853 of file RTUnit.cpp.

◆ publish()

void publish	(	armarx::StringVariantBaseMap	additionalMap = `{}`,
		armarx::StringVariantBaseMap	timingMap = `{}`
	)

overrideprotectedvirtual

Publishes data.

Parameters

additionalMap	Data published to the RobotUnitObserver's additional channel (This field is used by deriving classes)
timingMap	Data published to the RobotUnitObserver's timing channel (This field is used by deriving classes)

TODO copy buffer

Reimplemented from Publisher.

Definition at line 202 of file RTUnit.cpp.

◆ ReadHardwareConfigFile()

MultiNodeRapidXMLReader ReadHardwareConfigFile	(	std::string	hardwareConfigFilePath,
		std::string	rootNodeName
	)

staticprotected

Definition at line 430 of file RTUnit.cpp.

◆ rtCalibrate()

virtual CalibrationStatus rtCalibrate ( )

inlineprotectedvirtual

Hook to add calibration code.

This function is called in the rt loop! So you should not take too long!

read sensors and write targets while calibrating return CalibrationStatus::Calibrating if done return CalibrationStatus::Done

Returns: Whether done or still calibrating

Definition at line 138 of file RTUnit.h.

◆ rtCalibrateActivateControlers()

virtual void rtCalibrateActivateControlers ( )

inlineprotectedvirtual

Allows to switch controllers while calibrating.

use rtSetJointController(JointController* c, std::size_t index) to switch controllers

Definition at line 122 of file RTUnit.h.

◆ rtIsCalibrating()

bool rtIsCalibrating ( ) const

inlineprotected

Definition at line 144 of file RTUnit.h.

◆ rtRun()

void rtRun ( )

protectedvirtual

the run method of the rt thread

Definition at line 300 of file RTUnit.cpp.

◆ startBackupLogging()

void startBackupLogging ( )

protected

Definition at line 828 of file RTUnit.cpp.

◆ startRTThread()

void startRTThread ( )

protected

Definition at line 168 of file RTUnit.cpp.

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Member Data Documentation

◆ backupLoggingRunning

std::atomic_bool backupLoggingRunning {false}

protected

Definition at line 183 of file RTUnit.h.

◆ backupLoggingTask

std::thread backupLoggingTask

protected

Definition at line 182 of file RTUnit.h.

◆ busConfigFilePath

std::string busConfigFilePath

Definition at line 195 of file RTUnit.h.

◆ currentPDOUpdateTimestamp

IceUtil::Time currentPDOUpdateTimestamp

protected

Definition at line 166 of file RTUnit.h.

◆ enableErrorCountersReading

bool enableErrorCountersReading = false

Definition at line 207 of file RTUnit.h.

◆ errorCountersReadingPeriodInMS

unsigned int errorCountersReadingPeriodInMS = 100

Definition at line 208 of file RTUnit.h.

◆ ethercatInterfaceName

std::string ethercatInterfaceName

Definition at line 197 of file RTUnit.h.

◆ ethercatTimeouts

armarx::control::ethercat::Timeouts ethercatTimeouts

protected

Definition at line 215 of file RTUnit.h.

◆ nodeJointDataVec

std::vector<std::pair<VirtualRobot::RobotNodePtr, SensorValue1DoFGravityTorque*> > nodeJointDataVec

protected

Definition at line 172 of file RTUnit.h.

◆ periodicLoggingDirectory

std::string periodicLoggingDirectory = "/tmp/periodic_rt_logging/"

Definition at line 205 of file RTUnit.h.

◆ periodicLoggingHistorySize

unsigned int periodicLoggingHistorySize = 2

Definition at line 204 of file RTUnit.h.

◆ periodicLoggingIntervalInSeconds

unsigned int periodicLoggingIntervalInSeconds = 300

Definition at line 203 of file RTUnit.h.

◆ periodicLoggingMode

PeriodicLoggingMode periodicLoggingMode = PeriodicLoggingMode::Both

Definition at line 202 of file RTUnit.h.

◆ properties

struct { ... } properties

◆ resetErrorRegistersAtStartup

bool resetErrorRegistersAtStartup = false

Definition at line 209 of file RTUnit.h.

◆ robot

VirtualRobot::RobotPtr robot

protected

Definition at line 168 of file RTUnit.h.

◆ robotColNodeSet

std::string robotColNodeSet = "RobotCol"

Definition at line 212 of file RTUnit.h.

◆ robotJointsNodeSet

std::string robotJointsNodeSet = "RobotJoints"

Definition at line 211 of file RTUnit.h.

◆ rtLoopTimeInUS

int rtLoopTimeInUS = 1000

Definition at line 199 of file RTUnit.h.

◆ rTLoopTimingCheckToleranceFactor

double rTLoopTimingCheckToleranceFactor = 1.0f

Definition at line 200 of file RTUnit.h.

◆ rtRobotBodySet

VirtualRobot::RobotNodeSetPtr rtRobotBodySet

protected

Definition at line 170 of file RTUnit.h.

◆ rtRobotJointSet

VirtualRobot::RobotNodeSetPtr rtRobotJointSet

protected

Definition at line 170 of file RTUnit.h.

◆ rtTask

std::thread rtTask

protected

Definition at line 162 of file RTUnit.h.

◆ socketFileDescriptor

int socketFileDescriptor = 777

Definition at line 196 of file RTUnit.h.

◆ taskRunning

std::atomic_bool taskRunning {false}

protected

Definition at line 163 of file RTUnit.h.

◆ useTorqueVelocityModeAsDefault

bool useTorqueVelocityModeAsDefault = false

Definition at line 198 of file RTUnit.h.

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

armarx/control/ethercat/RTUnit.h
armarx/control/ethercat/RTUnit.cpp

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ CalibrationStatus

◆ PeriodicLoggingMode

Constructor & Destructor Documentation

◆ RTUnit()

◆ ~RTUnit()

Member Function Documentation

◆ computeInertiaTorque()

◆ controlLoopRTThread()

◆ createPropertyDefinitions()

◆ getControlThreadTargetPeriod()

◆ getDefaultName()

◆ getIterationCount()

◆ initBusRTThread()

◆ initializeKinematicUnit()

◆ joinControlThread()

◆ onConnectRobotUnit()

◆ onDisconnectRobotUnit()

◆ onExitRobotUnit()

◆ onInitRobotUnit()

◆ periodicBackupLoggingRun()

◆ publish()

◆ ReadHardwareConfigFile()

◆ rtCalibrate()

◆ rtCalibrateActivateControlers()

◆ rtIsCalibrating()

◆ rtRun()

◆ startBackupLogging()

◆ startRTThread()

Member Data Documentation

◆ backupLoggingRunning

◆ backupLoggingTask

◆ busConfigFilePath

◆ currentPDOUpdateTimestamp

◆ enableErrorCountersReading

◆ errorCountersReadingPeriodInMS

◆ ethercatInterfaceName

◆ ethercatTimeouts

◆ nodeJointDataVec

◆ periodicLoggingDirectory

◆ periodicLoggingHistorySize

◆ periodicLoggingIntervalInSeconds

◆ periodicLoggingMode

◆ properties

◆ resetErrorRegistersAtStartup

◆ robot

◆ robotColNodeSet

◆ robotJointsNodeSet

◆ rtLoopTimeInUS

◆ rTLoopTimingCheckToleranceFactor

◆ rtRobotBodySet

◆ rtRobotJointSet

◆ rtTask

◆ socketFileDescriptor

◆ taskRunning

◆ useTorqueVelocityModeAsDefault