This Module manages publishing of all data to Topics, updating of all units managed by the Units module and calling of NJointControllerBase hooks. More...

#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h>

Inheritance diagram for Publisher:

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

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

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

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

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

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

Public Member Functions inherited from ModuleBase
template<class T>
T &	_module ()
	Returns this as ref to the given type.

template<class T>
const T &	_module () const
	Returns this as ref to the given type.

template<class T>
T *	_modulePtr ()
	Returns this as ptr to the given type.

template<class T>
const T *	_modulePtr () const
	Returns this as ptr to the given type.

bool	areDevicesReady () const
	Returns whether Devices are ready.

virtual IceUtil::Time	getControlThreadTargetPeriod () const =0
	The ControlThread's period.

RobotUnitState	getRobotUnitState () const
	Returns the RobotUnit's State.

bool	inControlThread () const
	Returns whether the current thread is the ControlThread.

bool	isShuttingDown () const
	Returns whether the RobotUnit is shutting down.

virtual void	joinControlThread ()=0
	Implementations have to join their ControlThread in this hook. (used by RobotUnit::finishRunning())

virtual void	onConnectRobotUnit ()
	called in onConnectComponent

virtual void	onDisconnectRobotUnit ()
	called in onDisconnecComponent

virtual void	onExitRobotUnit ()
	called in onExitComponent before calling finishRunning

virtual void	onInitRobotUnit ()
	called in onInitComponent

void	shutDown ()
	Requests the RobotUnit to shut down.

void	throwIfDevicesNotReady (const std::string &fnc) const
	Throws if the Devices are not ready.

void	throwIfInControlThread (const std::string &fnc) const
	Throws if the current thread is the ControlThread.

void	throwIfStateIs (const std::set< RobotUnitState > &stateSet, const std::string &fnc, bool onlyWarn=false) const
	Throws an exception if the current state is in.

void	throwIfStateIs (RobotUnitState s, const std::string &fnc, bool onlyWarn=false) const
	Throws an exception if the current state is.

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.

void	throwIfStateIsNot (RobotUnitState s, const std::string &fnc, bool onlyWarn=false) const
	Throws an exception if the current state is not.

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

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.

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.

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.

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property.

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.

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property.

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)

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object.

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler

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.

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`.

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)

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).

template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject.

template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.

template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`.

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.

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.

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.

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.

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.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties.

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)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties.

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

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

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

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

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.

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.

static std::string	GetObjectStateAsString (int state)

Protected Member Functions
virtual void	publish (StringVariantBaseMap additionalMap={}, StringVariantBaseMap timingMap={})
	Publishes data.

Protected Member Functions inherited from ModuleBase
void	_componentPropertiesUpdated (const std::set< std::string > &)
	Hook for deriving RobotUnitModules called in componentPropertiesUpdated.

void	_icePropertiesInitialized ()
	Hook for deriving RobotUnitModules called in icePropertiesInitialized.

void	_postFinishComponentInitialization ()
	Hook for deriving RobotUnitModules called in finishComponentInitialization (called after the state has changed)

void	_postFinishControlThreadInitialization ()
	Hook for deriving RobotUnitModules called in finishControlThreadInitialization (called after the state has changed)

void	_postFinishDeviceInitialization ()
	Hook for deriving RobotUnitModules called in finishDeviceInitialization (called after the state has changed)

void	_postFinishRunning ()
	Hook for deriving RobotUnitModules called in finishRunning (called after the state has changed)

void	_postFinishUnitInitialization ()
	Hook for deriving RobotUnitModules called in finishUnitInitialization (called after the state has changed)

void	_postOnConnectRobotUnit ()
	Hook for deriving RobotUnitModules called in onConnectComponent (called after onConnectRobotUnit was called)

void	_postOnDisconnectRobotUnit ()
	Hook for deriving RobotUnitModules called in onDisconnectComponent (called after onDisconnectRobotUnit was called)

void	_postOnExitRobotUnit ()
	Hook for deriving RobotUnitModules called in onExitComponent (called after onExitRobotUnit was called)

void	_postOnInitRobotUnit ()
	Hook for deriving RobotUnitModules called in onInitComponent (called after onInitRobotUnit was called)

void	_preFinishComponentInitialization ()
	Hook for deriving RobotUnitModules called in finishComponentInitialization (called before the state has changed)

void	_preFinishControlThreadInitialization ()
	Hook for deriving RobotUnitModules called in finishControlThreadInitialization (called before the state has changed)

void	_preFinishDeviceInitialization ()
	Hook for deriving RobotUnitModules called in finishDeviceInitialization (called before the state has changed)

void	_preFinishRunning ()
	Hook for deriving RobotUnitModules called in finishRunning (called before the state has changed)

void	_preFinishUnitInitialization ()
	Hook for deriving RobotUnitModules called in finishUnitInitialization (called before the state has changed)

void	_preOnConnectRobotUnit ()
	Hook for deriving RobotUnitModules called in onConnectComponent (called before onConnectRobotUnit was called)

void	_preOnDisconnectRobotUnit ()
	Hook for deriving RobotUnitModules called in onDisconnectComponent (called before onDisconnectRobotUnit was called)

void	_preOnExitRobotUnit ()
	Hook for deriving RobotUnitModules called in onExitComponent (called before onExitRobotUnit was called)

void	_preOnInitRobotUnit ()
	Hook for deriving RobotUnitModules called in onInitComponent (called before onInitRobotUnit was called)

void	checkDerivedClasses () const
	Checks whether the implementing class derives all modules.

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

virtual void	finishComponentInitialization ()
	Transition InitializingComponent -> InitializingDevices.

virtual void	finishControlThreadInitialization ()
	Transition InitializingControlThread -> Running.

virtual void	finishDeviceInitialization ()
	Transition InitializingDevices -> InitializingUnits.

virtual void	finishRunning ()
	Transition Running -> Exiting.

virtual void	finishUnitInitialization ()
	Transition InitializingUnits -> RobotUnitState::WaitingForRTThreadInitialization.

std::string	getDefaultName () const override

GuardType	getGuard () const
	Returns a guard to the RobotUnits mutex.

void	icePropertiesInitialized () override

	ModuleBase ()
	Ctor.

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.

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.

PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor.

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor.

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor.

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.

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.

void	setName (std::string name)
	Override name of well-known object.

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender.

LogSenderPtr	loghelper (const char file, int line, const char function) const

Friends
class	ModuleBase

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

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

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.

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

Static Protected Member Functions inherited from ModuleBase
static constexpr std::size_t	IndexSentinel ()
	Returns a sentinel value for an index (std::numeric_limits<std::size_t>::max())

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

This Module manages publishing of all data to Topics, updating of all units managed by the Units module and calling of NJointControllerBase hooks.

See also: ModuleBase

Definition at line 98 of file RobotUnitModulePublisher.h.

Member Function Documentation

◆ getDebugDrawerProxy()

DebugDrawerInterfacePrx getDebugDrawerProxy ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns the used DebugDrawerProxy.

Returns: The used DebugDrawerProxy

Definition at line 442 of file RobotUnitModulePublisher.cpp.

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◆ getDebugDrawerTopicName()

std::string getDebugDrawerTopicName ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns the name of the used DebugDrawerTopic.

Returns: The name of the used DebugDrawerTopic

Definition at line 408 of file RobotUnitModulePublisher.cpp.

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◆ getDebugObserverProxy()

DebugObserverInterfacePrx getDebugObserverProxy ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns the used DebugObserverProxy.

Returns: The used DebugObserverProxy

Definition at line 433 of file RobotUnitModulePublisher.cpp.

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◆ getDebugObserverTopicName()

std::string getDebugObserverTopicName ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns the name of the used DebugObserverTopic.

Returns: The name of the used DebugObserverTopic

Definition at line 416 of file RobotUnitModulePublisher.cpp.

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◆ getRobotUnitListenerProxy()

RobotUnitListenerPrx getRobotUnitListenerProxy ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns the used RobotUnitListenerProxy.

Returns: The used RobotUnitListenerProxy

Definition at line 424 of file RobotUnitModulePublisher.cpp.

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◆ getRobotUnitListenerTopicName()

std::string getRobotUnitListenerTopicName ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns the name of the used RobotUnitListenerTopic.

Returns: The name of the used RobotUnitListenerTopic

Definition at line 400 of file RobotUnitModulePublisher.cpp.

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◆ Instance()

static Publisher & Instance ( )

inlinestatic

Returns the singleton instance of this class.

Returns: The singleton instance of this class

Definition at line 108 of file RobotUnitModulePublisher.h.

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◆ publish()

void publish	(	StringVariantBaseMap	additionalMap = {},
		StringVariantBaseMap	timingMap = {} )

protectedvirtual

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 in RTUnit.

Definition at line 587 of file RobotUnitModulePublisher.cpp.

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Friends And Related Symbol Documentation

◆ ModuleBase

friend class ModuleBase

friend

Definition at line 100 of file RobotUnitModulePublisher.h.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getDebugDrawerProxy()

◆ getDebugDrawerTopicName()

◆ getDebugObserverProxy()

◆ getDebugObserverTopicName()

◆ getRobotUnitListenerProxy()

◆ getRobotUnitListenerTopicName()

◆ Instance()

◆ publish()

Friends And Related Symbol Documentation

◆ ModuleBase