#include <RobotComponents/components/MotionPlanning/Tasks/RRTConnect/WorkerNode.h>

Inheritance diagram for WorkerNode:

Public Types
using	ConfigType = VectorXf

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

Public Member Functions
void	abort (const ::Ice::Current &=Ice::emptyCurrent) override

void	applyUpdates ()

std::string	getDefaultName () const override
	Retrieve default name of component. More...

Update	getUpdate (Ice::Long updateId, const Ice::Current &=Ice::emptyCurrent) const override

void	ice_postUnmarshal () override

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onExitComponent () override
	Hook for subclass. More...

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

void	setWorkerNodes (const WorkerNodeBasePrxList &workers, const Ice::Current &=Ice::emptyCurrent) override

void	updateTree (const Update &u, const Ice::Current &=Ice::emptyCurrent) override

	~WorkerNode () override
	dtor. 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 ()

Protected Member Functions
NodeId	addNode (const ConfigType &cfg, const NodeId &parent, bool addToPrimaryTree)

NodeId	addNodeToPrimaryTree (const ConfigType &cfg, const NodeId &parent)

NodeId	addNodeToSecondaryTree (const ConfigType &cfg, const NodeId &parent)

std::size_t	getDimensionality ()

Tree &	getPrimaryTree ()

Ice::Byte	getPrimaryTreeId () const

Update	getRemoteUpdate (Ice::Long workerNodeId, Ice::Long updateSubId)

Tree &	getSecondaryTree ()

Ice::Byte	getSecondaryTreeId () const

void	prepareNextUpdate ()

void	sendUpdate ()

void	swapTrees ()

	WorkerNode ()=default
	Only used when transmitting through ice. More...

void	workerTask ()
	The worker task. 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	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

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

Protected Attributes
std::atomic_bool	abortRequest

std::atomic_bool	doApplyUpdates {false}

bool	fromStartIsPrimaryTree = true

TreeUpdateInterfacePrx	globalWorkers

std::deque< Update >	localUpdates

std::unique_ptr< CuboidSampler >	sampler

Tree	treeFromGoal

Tree	treeFromStart

std::mutex	updateMutex

Updater	updater

WorkerNodeBasePrxList	workers

std::thread	workerThread

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Friends
class	GenericFactory< WorkerNodeBase, WorkerNode >

Additional Inherited Members
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 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

Definition at line 53 of file WorkerNode.h.

Member Typedef Documentation

◆ ConfigType

using ConfigType = VectorXf

Definition at line 58 of file WorkerNode.h.

Constructor & Destructor Documentation

◆ ~WorkerNode()

~WorkerNode ( )

inlineoverride

dtor.

Asserts the worker thread was joined.

Definition at line 66 of file WorkerNode.h.

◆ WorkerNode()

WorkerNode ( )

protecteddefault

Only used when transmitting through ice.

Member Function Documentation

◆ abort()

void abort ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

Definition at line 88 of file WorkerNode.h.

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◆ addNode()

NodeId addNode	(	const ConfigType &	cfg,
		const NodeId &	parent,
		bool	addToPrimaryTree
	)

protected

Definition at line 246 of file WorkerNode.cpp.

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◆ addNodeToPrimaryTree()

NodeId addNodeToPrimaryTree	(	const ConfigType &	cfg,
		const NodeId &	parent
	)

inlineprotected

Definition at line 131 of file WorkerNode.h.

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◆ addNodeToSecondaryTree()

NodeId addNodeToSecondaryTree	(	const ConfigType &	cfg,
		const NodeId &	parent
	)

inlineprotected

Definition at line 135 of file WorkerNode.h.

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◆ applyUpdates()

void applyUpdates ( )

Definition at line 93 of file WorkerNode.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

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 79 of file WorkerNode.h.

◆ getDimensionality()

std::size_t getDimensionality ( )

inlineprotected

Returns: The cspace's dimensionality

Definition at line 143 of file WorkerNode.h.

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◆ getPrimaryTree()

Tree& getPrimaryTree ( )

inlineprotected

Definition at line 148 of file WorkerNode.h.

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◆ getPrimaryTreeId()

Ice::Byte getPrimaryTreeId ( ) const

inlineprotected

Definition at line 157 of file WorkerNode.h.

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◆ getRemoteUpdate()

Update getRemoteUpdate	(	Ice::Long	workerNodeId,
		Ice::Long	updateSubId
	)

inlineprotected

Parameters

workerNodeId	The update's worker id.
updateSubId	The update's sub id.

Returns: The update fetched from the manager node.

Definition at line 113 of file WorkerNode.h.

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◆ getSecondaryTree()

Tree& getSecondaryTree ( )

inlineprotected

Definition at line 152 of file WorkerNode.h.

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◆ getSecondaryTreeId()

Ice::Byte getSecondaryTreeId ( ) const

inlineprotected

Definition at line 161 of file WorkerNode.h.

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◆ getUpdate()

Update getUpdate	(	Ice::Long	updateId,
		const Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Definition at line 68 of file WorkerNode.cpp.

◆ ice_postUnmarshal()

void ice_postUnmarshal ( )

override

Definition at line 109 of file WorkerNode.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

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 39 of file WorkerNode.cpp.

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◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from ManagedIceObject.

Definition at line 62 of file WorkerNode.cpp.

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◆ onInitComponent()

void onInitComponent ( )

overridevirtual

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 29 of file WorkerNode.cpp.

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◆ prepareNextUpdate()

void prepareNextUpdate ( )

protected

Definition at line 240 of file WorkerNode.cpp.

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◆ sendUpdate()

void sendUpdate ( )

protected

Definition at line 223 of file WorkerNode.cpp.

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◆ setWorkerNodes()

void setWorkerNodes	(	const WorkerNodeBasePrxList &	workers,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 76 of file WorkerNode.cpp.

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◆ swapTrees()

void swapTrees ( )

inlineprotected

Definition at line 166 of file WorkerNode.h.

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◆ updateTree()

void updateTree	(	const Update &	u,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 87 of file WorkerNode.cpp.

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◆ workerTask()

void workerTask ( )

protected

The worker task.

It performs all planning.

Definition at line 117 of file WorkerNode.cpp.

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Friends And Related Function Documentation

◆ GenericFactory< WorkerNodeBase, WorkerNode >

friend class GenericFactory< WorkerNodeBase, WorkerNode >

friend

Definition at line 102 of file WorkerNode.h.

Member Data Documentation

◆ abortRequest

std::atomic_bool abortRequest

protected

Definition at line 185 of file WorkerNode.h.

◆ doApplyUpdates

std::atomic_bool doApplyUpdates {false}

protected

Definition at line 178 of file WorkerNode.h.

◆ fromStartIsPrimaryTree

bool fromStartIsPrimaryTree = true

protected

Definition at line 173 of file WorkerNode.h.

◆ globalWorkers

TreeUpdateInterfacePrx globalWorkers

protected

Definition at line 183 of file WorkerNode.h.

◆ localUpdates

std::deque<Update> localUpdates

protected

Definition at line 187 of file WorkerNode.h.

◆ sampler

std::unique_ptr<CuboidSampler> sampler

protected

Definition at line 189 of file WorkerNode.h.

◆ treeFromGoal

Tree treeFromGoal

protected

Definition at line 172 of file WorkerNode.h.

◆ treeFromStart

Tree treeFromStart

protected

Definition at line 171 of file WorkerNode.h.

◆ updateMutex

std::mutex updateMutex

mutableprotected

Definition at line 175 of file WorkerNode.h.

◆ updater

Updater updater

protected

Definition at line 176 of file WorkerNode.h.

◆ workers

WorkerNodeBasePrxList workers

protected

Definition at line 179 of file WorkerNode.h.

◆ workerThread

std::thread workerThread

protected

Definition at line 181 of file WorkerNode.h.

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

RobotComponents/components/MotionPlanning/Tasks/RRTConnect/WorkerNode.h
RobotComponents/components/MotionPlanning/Tasks/RRTConnect/WorkerNode.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConfigType

Constructor & Destructor Documentation

◆ ~WorkerNode()

◆ WorkerNode()

Member Function Documentation

◆ abort()

◆ addNode()

◆ addNodeToPrimaryTree()

◆ addNodeToSecondaryTree()

◆ applyUpdates()

◆ getDefaultName()

◆ getDimensionality()

◆ getPrimaryTree()

◆ getPrimaryTreeId()

◆ getRemoteUpdate()

◆ getSecondaryTree()

◆ getSecondaryTreeId()

◆ getUpdate()

◆ ice_postUnmarshal()

◆ onConnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ prepareNextUpdate()

◆ sendUpdate()

◆ setWorkerNodes()

◆ swapTrees()

◆ updateTree()

◆ workerTask()

Friends And Related Function Documentation

◆ GenericFactory< WorkerNodeBase, WorkerNode >

Member Data Documentation

◆ abortRequest

◆ doApplyUpdates

◆ fromStartIsPrimaryTree

◆ globalWorkers

◆ localUpdates

◆ sampler

◆ treeFromGoal

◆ treeFromStart

◆ updateMutex

◆ updater

◆ workers

◆ workerThread