Application Class Reference

Baseclass for all ArmarX applications. More...

#include <ArmarXCore/core/application/Application.h>

Inheritance diagram for Application:

Public Member Functions
	Application ()
	Application initalizes the Ice::Application base class.
void	enableLibLoading (bool enable=true)
std::vector< std::string >	getArmarXPackageNames ()
	getDefaultPackageNames returns the value of the ArmarX.DefaultPackages property It splits the string by , and returns the elements as a vector.
const std::vector< std::string > &	getCommandLineArguments () const
bool	getForbidThreadCreation () const
std::string	getName () const
	Retrieve name of the application.
const ThreadPoolPtr &	getThreadPool () const
void	icePropertiesUpdated (const std::set< std::string > &changedProperties) override
	This method is called when new Properties are set via setIceProperties().
void	interruptCallback (int signal) override
	Cleans up connections with IceStorm before terminating the app.
bool	isPackageAutoDiscoveryEnabled ()
void	registerDataPathsFromDependencies (std::string dependencies)
int	run (int argc, char *argv[]) override
	Ice::Application replacement for the main function.
void	setForbidThreadCreation (bool value)
void	setIceProperties (Ice::PropertiesPtr properties) override
	Overrides PropertyUser::setIceProperties() which is called internally.
void	setName (const std::string &name)
	Set name of the application.
void	storeCommandLineArguments (int argc, char *argv[])
void	updateIceProperties (const Ice::PropertyDict &properties) override
Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()
Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties.
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval.
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in const-modified methods.
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.
std::vector< std::string >	getSubscribedTopicNames ()
std::vector< std::string >	getTopicProxyNames ()
bool	hasProperty (const std::string &name)
virtual void	injectPropertyDefinitions (PropertyDefinitionsPtr &)
	Called after createPropertyDefinitions by Component to inject propertes of ComponentPlugin.
	PropertyUser ()
bool	tryAddProperty (const std::string &propertyName, const std::string &value)
virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)
void	updateProperties ()
void	updateProxies (IceManagerPtr)
	~PropertyUser () override

Static Public Member Functions
template<class T, typename... Args>
static ApplicationPtr	createInstance (Args &&... args)
	Creates the one application instance of type T.
static std::string	GetArmarXConfigDefaultPath (bool envVarExpanded=true)
static Ice::StringSeq	GetDefaultsPaths ()
static ApplicationPtr	getInstance ()
	Retrieve shared pointer to the application object.
static const Ice::StringSeq &	GetProjectDependencies ()
static const std::string &	GetProjectName ()
static std::string	GetVersion ()
static void	LoadDefaultConfig (Ice::PropertiesPtr properties)
static void	setInstance (ApplicationPtr const &inst)

Static Public Attributes
static const std::string	ArmarXUserConfigDirEnvVar = "ARMARX_CONFIG_DIR"

Protected Member Functions
PropertyDefinitionsPtr	createPropertyDefinitions () override
int	doMain (int argc, char *argv[], const Ice::InitializationData &initData, Ice::Int i) override
	Ice::Application::doMain() is called by Ice::Application::main() and does setup of Ice::Communicator before calling the virtual Ice::Application::run() method.
virtual int	exec (const ArmarXManagerPtr &armarXManager)
	Exec method is the main process of the application.
ArmarXManagerPtr	getArmarXManager ()
virtual std::string	getDomainName ()
	Retrieve the domain name used for property parsing.
void	loadDefaultConfig (int argc, char *argv[], const Ice::InitializationData &initData)
void	loadDependentProjectDatapaths ()
Ice::PropertiesPtr	parseOptionsMergeProperties (int argc, char *argv[])
	Parse options given on the commandline and merge them into the regular properties.
virtual void	setup (const ManagedIceObjectRegistryInterfacePtr &registry, Ice::PropertiesPtr properties)=0
	Setup method to be implemented by user applications.
void	showHelp (ApplicationOptions::Options &options)
	Print help onto the screen or into a file.

Static Protected Member Functions
static void	HandlerFault (int sig)
	handlerFault handles signals sendt to the application such as SIGSEGF or SIGABRT (Linux)
static void	HandlerInterrupt (int sig)
	handlerInterrupt handles interrupt signals sent to the application (Linux)

Detailed Description

Baseclass for all ArmarX applications.

• helper class for ArmarX main programs
• creates an instance of ArmarXManager
• generates properties from commandline parameters
• provides help and automatic generation of properties

Implements the run method from the Ice::Application interface which is called by the automatically generated main.cpp. In order to start writing an ArmarX application, inherit from armarx::Application and implement the setup method to setup and add the required ManagedIceObjects.

class ExampleApp :
    virtual public armarx::Application
{
    void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
               Ice::PropertiesPtr properties)
    {
        registry->addObject(Component::create<Example>(properties));
    };
}

The application automatically loads a default config file (usually ~/.armarx/default.cfg), which is needed to connect to IceGrid etc. This function is also available as a static version: LoadDefaultConfig()

If you only want to use one component (as above), you can use runSimpleComponentApp. In this case, your main function would look like this:

int main(int argc, char* argv[])
{
    return armarx::runSimpleComponentApp<ExampleComponent, ApplicationType>(argc, argv, "ExampleAppName", "ExampleComponentConfigName", "ExampleComponentDomain");
}

If you are using the defaults for ApplicationType (Application) ExampleComponentConfigName (getDefaultName()) and ExampleComponentDomain ("ArmarX"), your main function looks like this:

int main(int argc, char* argv[])
{
    return armarx::runSimpleComponentApp<ExampleComponent>(argc, argv, "ExampleAppName");
}

Application specific configuration files can be passed to the application by using the Ice.Config commandline parameter. The used configuration file format is those of regular Ice configuration files.

Each entry in Ice configuration files is prefixed with a "DomainName" which is "ArmarX" by default. This "DomainName" can be changed by overriding armarx::Application::getDomainName() to return a different string.

Sometimes it is not possible to pass configuration files via the Ice.Config parameter (e.g. when using IceGrid XML deployment files where this paramter is overriden by IceGrid). In this case, the commandline parameter ArmarX.Config can be used. All files specified in this parameter will be merged into the standard properties available inside the armarx::Application.

Special properties:

• ArmarX.Config
• ArmarX.NetworkStats: set to "1" to enable logging of network statistics (use armarx::ProfilerObserver to collect the data)
• ArmarX.DependenciesConfig
• ArmarX.ProjectDatapath
• ArmarX.ProjectName
• ArmarX.ProjectDependencies
• <DomainName>.DisableLogging
• <DomainName>.Verbosity
• <DomainName>.DataPath

Internally, an armarx::Application contains an armarx::ArmarXManger which is responsible for managing they lifecycle of all components inside an application.

Constructor & Destructor Documentation

Application()

Application

(

)

Application initalizes the Ice::Application base class.

Member Function Documentation

createInstance()

template<class T, typename... Args>

static ApplicationPtr createInstance ( Args &&... args )

inlinestatic

Creates the one application instance of type T.

T is usually the type of a sublass as defined in a specific component. This method is called from the automatically generated main.cpp.

Returns

shared pointer to the application

createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also

PropertyUser::createPropertyDefinitions()

Implements PropertyUser.

Reimplemented in ArmarXGuiApp, and SimulatorViewerApp.

doMain()

int doMain ( int argc, char * argv[], const Ice::InitializationData & initData, Ice::Int i )

overrideprotected

Ice::Application::doMain() is called by Ice::Application::main() and does setup of Ice::Communicator before calling the virtual Ice::Application::run() method.

Parameters

argc
argv
initData

Returns

enableLibLoading()

void enableLibLoading

(

bool

enable = true

)

exec()

int exec ( const ArmarXManagerPtr & armarXManager )

protectedvirtual

Exec method is the main process of the application.

The default implementation only calls

armarXManager->waitForShutdown();

If you need to do something in the main process (e.g. processing QT guis) overwrite this method.

Returns

program exit status

Reimplemented in ArmarXGuiApp, ScenarioCli, and SimulatorViewerApp.

GetArmarXConfigDefaultPath()

std::string GetArmarXConfigDefaultPath ( bool envVarExpanded = true )

static

getArmarXManager()

ArmarXManagerPtr getArmarXManager ( )

protected

Returns

an instance of armarx::ArmarXManagerPtr

getArmarXPackageNames()

std::vector< std::string > getArmarXPackageNames

(

)

getDefaultPackageNames returns the value of the ArmarX.DefaultPackages property It splits the string by , and returns the elements as a vector.

Returns

getCommandLineArguments()

const std::vector< std::string > & getCommandLineArguments

(

)

const

GetDefaultsPaths()

Ice::StringSeq GetDefaultsPaths ( )

static

getDomainName()

std::string getDomainName ( )

protectedvirtual

Retrieve the domain name used for property parsing.

Overwrite this in your subclass in order to use another domain name then "ArmarX". The domain name is the first part of the property identifier where each part is separated via a "." (e.g. ArmarX.some.property).

Returns

domain name. Defaults to "ArmarX".

Reimplemented in MemoryXApplication, and VisionXApplication.

getForbidThreadCreation()

bool getForbidThreadCreation

(

)

const

getInstance()

ApplicationPtr getInstance ( )

static

Retrieve shared pointer to the application object.

Use this in order to access is called from the automatically generated main.cpp.

Returns

shared pointer to the application

getName()

std::string getName

(

)

const

Retrieve name of the application.

Returns

application name

GetProjectDependencies()

const Ice::StringSeq & GetProjectDependencies ( )

static

GetProjectName()

const std::string & GetProjectName ( )

static

getThreadPool()

const ThreadPoolPtr & getThreadPool

(

)

const

GetVersion()

static std::string GetVersion ( )

inlinestatic

HandlerFault()

void HandlerFault ( int sig )

staticprotected

handlerFault handles signals sendt to the application such as SIGSEGF or SIGABRT (Linux)

Parameters

sig

HandlerInterrupt()

void HandlerInterrupt ( int sig )

staticprotected

handlerInterrupt handles interrupt signals sent to the application (Linux)

Parameters

sig

icePropertiesUpdated()

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

overridevirtual

This method is called when new Properties are set via setIceProperties().

Each class deriving from PropertyUser can overwrite this method in order to react to changed properties.

Reimplemented from PropertyUser.

interruptCallback()

void interruptCallback ( int signal )

override

Cleans up connections with IceStorm before terminating the app.

Parameters

signal

The signal send to the application

isPackageAutoDiscoveryEnabled()

bool isPackageAutoDiscoveryEnabled

(

)

LoadDefaultConfig()

void LoadDefaultConfig ( Ice::PropertiesPtr properties )

static

loadDefaultConfig()

void loadDefaultConfig ( int argc, char * argv[], const Ice::InitializationData & initData )

protected

loadDependentProjectDatapaths()

void loadDependentProjectDatapaths ( )

protected

parseOptionsMergeProperties()

Ice::PropertiesPtr parseOptionsMergeProperties ( int argc, char * argv[] )

protected

Parse options given on the commandline and merge them into the regular properties.

registerDataPathsFromDependencies()

void registerDataPathsFromDependencies

(

std::string

dependencies

)

run()

int run ( int argc, char * argv[] )

override

Ice::Application replacement for the main function.

setForbidThreadCreation()

void setForbidThreadCreation

(

bool

value

)

setIceProperties()

void setIceProperties ( Ice::PropertiesPtr properties )

overridevirtual

Overrides PropertyUser::setIceProperties() which is called internally.

Additionally it calls Component::updateIceProperties().

Reimplemented from PropertyUser.

setInstance()

void setInstance ( ApplicationPtr const & inst )

static

setName()

void setName

(

const std::string &

name

)

Set name of the application.

Called from main.cpp. This method has an effect only if it is called before Application::main()

Parameters

application

name

setup()

virtual void setup ( const ManagedIceObjectRegistryInterfacePtr & registry, Ice::PropertiesPtr properties )

protectedpure virtual

Setup method to be implemented by user applications.

Use this method to add all required ManagedIceObject to the application

See also

void ManagedIceObjectRegistryInterfacePtr::addObject(ManagedIceObjectPtr object)

Implemented in ArmarXGuiApp, DecoupledSingleComponentApp, DummyApplication, MultipleComponentsApplication, ScenarioCli, and SimulatorViewerApp.

showHelp()

void showHelp ( ApplicationOptions::Options & options )

protected

Print help onto the screen or into a file.

storeCommandLineArguments()

void storeCommandLineArguments	(	int	argc,
		char *	argv[] )

updateIceProperties()

void updateIceProperties ( const Ice::PropertyDict & properties )

override

Member Data Documentation

ArmarXUserConfigDirEnvVar

const std::string ArmarXUserConfigDirEnvVar = "ARMARX_CONFIG_DIR"

static

---

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

• ArmarXCore/core/application/Application.h
• ArmarXCore/core/application/Application.cpp