Main class of an ArmarX process. More...

#include <ArmarXCore/core/ArmarXManager.h>

Inheritance diagram for ArmarXManager:

Public Member Functions
void	addObject (const ManagedIceObjectPtr &object, bool addWithOwnAdapter=true, const std::string &objectName="", bool useOwnScheduleThread=true) override
	Add a ManagedIceObject to the manager.

virtual void	addObject (const ManagedIceObjectPtr &object, const std::string &objectName, bool addWithOwnAdapter=true, bool useOwnScheduleThread=true)

virtual void	addObject (const ManagedIceObjectPtr &object, Ice::ObjectAdapterPtr objectAdapterToAddTo, const std::string &objectName="", bool useOwnScheduleThread=true)

virtual void	addObjectAsync (const ManagedIceObjectPtr &object, const std::string &objectName, bool addWithOwnAdapter=true, bool useOwnScheduleThread=true)

	ArmarXManager (std::string applicationName, const Ice::CommunicatorPtr &communicator)
	Constructs an ArmarXManager by passing a communicator.

	ArmarXManager (std::string applicationName, int port=4061, std::string host="localhost", std::string locatorName="IceGrid/Locator", Ice::StringSeq args=Ice::StringSeq())
	ArmarXManager constructor.

void	asyncShutdown (std::size_t timeoutMs=0)
	Calls shutdown() after a timeout.

bool	checkIceConnection (bool printHint=true) const

template<class Function>
RemoteReferenceCountControlBlockPtr< Function >	createRemoteReferenceCount (Function f, const std::string &id="", IceUtil::Time deletionDelay=IceUtil::Time::seconds(3), IceUtil::Time orphantDeletionDelay=IceUtil::Time::seconds(6), long heartBeatMs=1000)

template<class Function, class Data>
RemoteReferenceCountControlBlockPtr< Function, Data >	createRemoteReferenceCount (Function f, Data d, const std::string &id="", IceUtil::Time deletionDelay=IceUtil::Time::seconds(3), IceUtil::Time orphantDeletionDelay=IceUtil::Time::seconds(6), long heartBeatMs=1000)

template<class Function>
SimpleRemoteReferenceCountControlBlockPtr< Function >	createSimpleRemoteReferenceCount (Function f, const std::string &id="", IceUtil::Time deletionDelay=IceUtil::Time::seconds(3))

template<class Function, class Data>
SimpleRemoteReferenceCountControlBlockPtr< Function, Data >	createSimpleRemoteReferenceCount (Function f, Data d, const std::string &id="", IceUtil::Time deletionDelay=IceUtil::Time::seconds(3))

void	enableLogging (bool enable)
	Enable or disable logging.

void	enableProfiling (bool enable)
	Enable or disable profiling of CPU Usage.

const Ice::ObjectAdapterPtr &	getAdapter () const

ObjectPropertyInfos	getApplicationPropertyInfos (const ::Ice::Current &) override

const Ice::CommunicatorPtr &	getCommunicator () const

std::string	getHostname (const Ice::Current &c=Ice::emptyCurrent) override
	Gets the hostname of the host running the manager.

const IceManagerPtr &	getIceManager () const
	Retrieve the instance of the icemanager.

Ice::StringSeq	getManagedObjectNames (const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve the names of all ManagedIceObject.

std::vector< ManagedIceObjectPtr >	getManagedObjects () override
	Retrieve pointers to all ManagedIceObject.

StringVariantBaseMap	getMetaInfo (const std::string &, const Ice::Current &) override

IceMX::MetricsAdminPrx	getMetricsAdmin (const Ice::Current &=Ice::emptyCurrent) override

mice::MiceObjectConnectivity	getMiceObjectConnectivity (const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve connectivity of a ManagedIceObject.

ManagedIceObjectConnectivity	getObjectConnectivity (const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve connectivity of a ManagedIceObject.

Ice::StringSeq	getObjectNames (const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve the names of all ManagedIceObject.

::armarx::StringStringDictionary	getObjectProperties (const ::std::string &objectName, const ::Ice::Current &=Ice::emptyCurrent) override
	getObjectProperties is used to retrieve the properties of an object

ObjectPropertyInfos	getObjectPropertyInfos (const ::std::string &objectName, const ::Ice::Current &) override

ManagedIceObjectState	getObjectState (const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve state of a ManagedIceObject.

Ice::PropertiesAdminPrx	getPropertiesAdmin (const Ice::Current &=Ice::emptyCurrent) override

const std::shared_ptr< SharedRemoteHandleState > &	getSharedRemoteHandleState () const

void	increaseSchedulers (int increaseBy)
	increased the number of single threaded schedulers.

bool	isShutdown ()
	Whether ArmarXManager shutdown has been finished.

void	registerKnownObjectFactoriesWithIce ()
	non static convenience version of ArmarXManager::RegisterKnownObjectFactoriesWithIce()

void	removeObjectBlocking (const ManagedIceObjectPtr &object) override
	Removes an object from the manager.

void	removeObjectBlocking (const std::string &objectName) override
	Removes an object from the manager.

void	removeObjectNonBlocking (const ManagedIceObjectPtr &object) override
	Removes an object from the manager.

void	removeObjectNonBlocking (const std::string &objectName) override
	Removes an object from the manager.

void	setComponentIceProperties (const Ice::PropertiesPtr &properties)
	Calls Component::setIceProperties() on all components assigend to this ArmarXManager Instance.

void	setDataPaths (std::string dataPaths)
	Set data paths used to search for datafiles.

void	setGlobalMinimumLoggingLevel (MessageTypeT minimumLoggingLevel)
	Set minimum logging level to output in log stream.

void	shutdown ()
	Shuts down the ArmarXManager.

void	updateComponentIceProperties (const Ice::PropertyDict &properties)

void	waitForShutdown ()
	Wait for shutdown.

	~ArmarXManager () 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.

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 ()

Static Public Member Functions
static bool	CheckIceConnection (const Ice::CommunicatorPtr &communicator, bool printHint)

static void	RegisterKnownObjectFactoriesWithIce (const Ice::CommunicatorPtr &ic)
	Registers all object factories that are known with Ice.

Friends
class	ArmarXObjectObserver

class	PeriodicTask< ArmarXManager >

Additional Inherited Members
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

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Main class of an ArmarX process.

The ArmarXManager is the main class for writing distributed applications in the ArmarX framework. The ArmarXManager takes care of handling ManagedIceObjects. ManagedIceObjects are the core elements of ArmarX distributed applications.

Usually, each process creates one ArmarXManager and adds the required ManagedIceObjects to this manager.

The ArmarXManager provides and Ice interface which allows retrieving the state and network connectivity of all ManagedIceObject within the Manager. To provide this functionality it holds one instance of Ice::Communicator

Finally it also does shutdown handling

Constructor & Destructor Documentation

◆ ArmarXManager() [1/2]

ArmarXManager	(	std::string	applicationName,
		int	port = 4061,
		std::string	host = "localhost",
		std::string	locatorName = "IceGrid/Locator",
		Ice::StringSeq	args = Ice::StringSeq() )

ArmarXManager constructor.

With this constructor, the ArmarXManager builds its own communicator using the specified port, host and locatorName (default: –Ice.Default.Locator= IceGrid/Locator:tcp -p 4061 -h localhost)

Parameters

applicationName	name of the application used for registering the manager to Ice and for logging
port	the port of the Ice locator service
host	the host of the Ice locator service
locatorName	the name of the Ice locator service
args	list of arguments for Ice (e.g. "--Ice.ThreadPool.Server.SizeMax=10")

◆ ArmarXManager() [2/2]

ArmarXManager	(	std::string	applicationName,
		const Ice::CommunicatorPtr &	communicator )

Constructs an ArmarXManager by passing a communicator.

This can be used if communicator has already been constructed e.g in Ice::Application.

Parameters

applicationName	name of the application used for registering the manager to Ice and for logging
communicator	configured Ice::Communicator

◆ ~ArmarXManager()

~ArmarXManager ( )

override

Member Function Documentation

◆ addObject() [1/3]

void addObject	(	const ManagedIceObjectPtr &	object,
		bool	addWithOwnAdapter = true,
		const std::string &	objectName = "",
		bool	useOwnScheduleThread = true )

overridevirtual

Add a ManagedIceObject to the manager.

Takes care of the IceManagedObject lifcycle using and ArmarXObjectScheduler. addObject is thread-safe and can be called from any method in order to dynamically add ManagedIceObjects (as e.g. required for GUI).

Parameters

object	object to add
addWithOwnAdapter	If true this object will have it's own adapter
objectName	Name that the object should have. if not empty overrides the currently set name.

Implements ManagedIceObjectRegistryInterface.

◆ addObject() [2/3]

void addObject	(	const ManagedIceObjectPtr &	object,
		const std::string &	objectName,
		bool	addWithOwnAdapter = true,
		bool	useOwnScheduleThread = true )

virtual

◆ addObject() [3/3]

void addObject	(	const ManagedIceObjectPtr &	object,
		Ice::ObjectAdapterPtr	objectAdapterToAddTo,
		const std::string &	objectName = "",
		bool	useOwnScheduleThread = true )

virtual

◆ addObjectAsync()

void addObjectAsync	(	const ManagedIceObjectPtr &	object,
		const std::string &	objectName,
		bool	addWithOwnAdapter = true,
		bool	useOwnScheduleThread = true )

virtual

◆ asyncShutdown()

void asyncShutdown ( std::size_t timeoutMs = 0 )

Calls shutdown() after a timeout.

Parameters

timeoutMs The timeout to wait. (unit ms)

◆ CheckIceConnection()

bool CheckIceConnection	(	const Ice::CommunicatorPtr &	communicator,
		bool	printHint )

static

◆ checkIceConnection()

bool checkIceConnection ( bool printHint = true ) const

◆ createRemoteReferenceCount() [1/2]

template<class Function>

RemoteReferenceCountControlBlockPtr< Function > createRemoteReferenceCount	(	Function	f,
		const std::string &	id = "",
		IceUtil::Time	deletionDelay = IceUtil::Time::seconds(3),
		IceUtil::Time	orphantDeletionDelay = IceUtil::Time::seconds(6),
		long	heartBeatMs = 1000 )

inline

◆ createRemoteReferenceCount() [2/2]

template<class Function, class Data>

RemoteReferenceCountControlBlockPtr< Function, Data > createRemoteReferenceCount	(	Function	f,
		Data	d,
		const std::string &	id = "",
		IceUtil::Time	deletionDelay = IceUtil::Time::seconds(3),
		IceUtil::Time	orphantDeletionDelay = IceUtil::Time::seconds(6),
		long	heartBeatMs = 1000 )

inline

◆ createSimpleRemoteReferenceCount() [1/2]

template<class Function>

SimpleRemoteReferenceCountControlBlockPtr< Function > createSimpleRemoteReferenceCount	(	Function	f,
		const std::string &	id = "",
		IceUtil::Time	deletionDelay = IceUtil::Time::seconds(3) )

inline

◆ createSimpleRemoteReferenceCount() [2/2]

template<class Function, class Data>

SimpleRemoteReferenceCountControlBlockPtr< Function, Data > createSimpleRemoteReferenceCount	(	Function	f,
		Data	d,
		const std::string &	id = "",
		IceUtil::Time	deletionDelay = IceUtil::Time::seconds(3) )

inline

◆ enableLogging()

void enableLogging ( bool enable )

Enable or disable logging.

Parameters

enable whether to enable logging

◆ enableProfiling()

void enableProfiling ( bool enable )

Enable or disable profiling of CPU Usage.

◆ getAdapter()

const Ice::ObjectAdapterPtr & getAdapter ( ) const

◆ getApplicationPropertyInfos()

ObjectPropertyInfos getApplicationPropertyInfos ( const ::Ice::Current & )

override

◆ getCommunicator()

const Ice::CommunicatorPtr & getCommunicator ( ) const

◆ getHostname()

std::string getHostname ( const Ice::Current & c = Ice::emptyCurrent )

override

Gets the hostname of the host running the manager.

Part of the Ice MiceManagerInsightProvider interface.

Parameters

c	Ice context

Returns: hostname

◆ getIceManager()

const IceManagerPtr & getIceManager ( ) const

Retrieve the instance of the icemanager.

Returns: Pointer to the iceManager

See also: ManagedIceObject::getIceManager()

◆ getManagedObjectNames()

Ice::StringSeq getManagedObjectNames ( const Ice::Current & c = Ice::emptyCurrent )

override

Retrieve the names of all ManagedIceObject.

Part of the Ice interface.

Parameters

c	Ice context

Returns: vector of names

◆ getManagedObjects()

std::vector< ManagedIceObjectPtr > getManagedObjects ( )

overridevirtual

Retrieve pointers to all ManagedIceObject.

Returns: vector of pointers

Implements ManagedIceObjectRegistryInterface.

◆ getMetaInfo()

StringVariantBaseMap getMetaInfo	(	const std::string &	objectName,
		const Ice::Current &	)

override

◆ getMetricsAdmin()

IceMX::MetricsAdminPrx getMetricsAdmin ( const Ice::Current & = Ice::emptyCurrent )

override

◆ getMiceObjectConnectivity()

mice::MiceObjectConnectivity getMiceObjectConnectivity	(	const std::string &	objectName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

Retrieve connectivity of a ManagedIceObject.

Part of the Ice MiceManagerInsightProvider interface.

Parameters

objectName	name of the object
c	Ice context

Returns: connectivity of the ManagedIceObject

◆ getObjectConnectivity()

ManagedIceObjectConnectivity getObjectConnectivity	(	const std::string &	objectName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

Retrieve connectivity of a ManagedIceObject.

Part of the Ice interface.

Parameters

objectName	name of the object
c	Ice context

Returns: connectivity of the ManagedIceObject

◆ getObjectNames()

Ice::StringSeq getObjectNames ( const Ice::Current & c = Ice::emptyCurrent )

override

Retrieve the names of all ManagedIceObject.

Part of the Ice MiceManagerInsightProvider interface.

Parameters

c	Ice context

Returns: vector of names

◆ getObjectProperties()

StringStringDictionary getObjectProperties	(	const ::std::string &	objectName,
		const ::Ice::Current &	= Ice::emptyCurrent )

override

getObjectProperties is used to retrieve the properties of an object

Returns

◆ getObjectPropertyInfos()

ObjectPropertyInfos getObjectPropertyInfos	(	const ::std::string &	objectName,
		const ::Ice::Current &	)

override

◆ getObjectState()

ManagedIceObjectState getObjectState	(	const std::string &	objectName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

Retrieve state of a ManagedIceObject.

Part of the Ice interface.

Parameters

objectName	name of the object
c	Ice context

Returns: state of the ManagedIceObject

◆ getPropertiesAdmin()

Ice::PropertiesAdminPrx getPropertiesAdmin ( const Ice::Current & = Ice::emptyCurrent )

override

◆ getSharedRemoteHandleState()

const std::shared_ptr< SharedRemoteHandleState > & getSharedRemoteHandleState ( ) const

◆ increaseSchedulers()

void increaseSchedulers ( int increaseBy )

increased the number of single threaded schedulers.

Decrease is not possible, since the link to objects is fixed.

Parameters

increasyBy Increases the number of single threaded schedulers by this amount.

◆ isShutdown()

bool isShutdown ( )

Whether ArmarXManager shutdown has been finished.

Returns: shutdown finished

◆ RegisterKnownObjectFactoriesWithIce()

void RegisterKnownObjectFactoriesWithIce ( const Ice::CommunicatorPtr & ic )

static

Registers all object factories that are known with Ice.

Object factories are automatically preregistered when their library is linked. Function is idempotent. This function is called in init() of ArmarXManager and needs only be called, if no ArmarXManager is used or libraries are loaded at runtime.

See also: FactoryCollectionBase

◆ registerKnownObjectFactoriesWithIce()

void registerKnownObjectFactoriesWithIce ( )

non static convenience version of ArmarXManager::RegisterKnownObjectFactoriesWithIce()

See also: RegisterKnownObjectFactoriesWithIce()

◆ removeObjectBlocking() [1/2]

void removeObjectBlocking ( const ManagedIceObjectPtr & object )

overridevirtual

Removes an object from the manager.

This version waits until all calls to this component are finished and the has been completely removed.

Parameters

object object to remove

Implements ManagedIceObjectRegistryInterface.

◆ removeObjectBlocking() [2/2]

void removeObjectBlocking ( const std::string & objectName )

overridevirtual

Removes an object from the manager.

This version waits until all calls to this component are finished and the has been completely removed.

Parameters

objectName name of the object to remove

Implements ManagedIceObjectRegistryInterface.

◆ removeObjectNonBlocking() [1/2]

void removeObjectNonBlocking ( const ManagedIceObjectPtr & object )

overridevirtual

Removes an object from the manager.

This version returns immediatly and does not wait for all call to this to finish.

Parameters

object object to remove

Implements ManagedIceObjectRegistryInterface.

◆ removeObjectNonBlocking() [2/2]

void removeObjectNonBlocking ( const std::string & objectName )

overridevirtual

Removes an object from the manager.

This version returns immediatly and does not wait for all call to this to finish.

Parameters

objectName name of the object to remove

Implements ManagedIceObjectRegistryInterface.

◆ setComponentIceProperties()

void setComponentIceProperties ( const Ice::PropertiesPtr & properties )

Calls Component::setIceProperties() on all components assigend to this ArmarXManager Instance.

◆ setDataPaths()

void setDataPaths ( std::string dataPaths )

Set data paths used to search for datafiles.

Parameters

dataPaths semicolon seperated list of paths

◆ setGlobalMinimumLoggingLevel()

void setGlobalMinimumLoggingLevel ( MessageTypeT minimumLoggingLevel )

Set minimum logging level to output in log stream.

Parameters

applicationName	name of the application used for registering the manager to Ice and for logging
communicator	configured Ice::Communicator

◆ shutdown()

void shutdown ( )

Shuts down the ArmarXManager.

If a thread is waiting in waitForShutdown, the thread is activated after shutdown has been completed.

◆ updateComponentIceProperties()

void updateComponentIceProperties ( const Ice::PropertyDict & properties )

◆ waitForShutdown()

void waitForShutdown ( )

Wait for shutdown.

Shutdown is initialized once shutdown() is called on ArmarXManager e.g. from a signal handler.

Friends And Related Symbol Documentation

◆ ArmarXObjectObserver

friend class ArmarXObjectObserver

friend

◆ PeriodicTask< ArmarXManager >

friend class PeriodicTask< ArmarXManager >

friend

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

ArmarXCore/core/ArmarXManager.h
ArmarXCore/core/ArmarXManager.cpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ArmarXManager() [1/2]

◆ ArmarXManager() [2/2]

◆ ~ArmarXManager()

Member Function Documentation

◆ addObject() [1/3]

◆ addObject() [2/3]

◆ addObject() [3/3]

◆ addObjectAsync()

◆ asyncShutdown()

◆ CheckIceConnection()

◆ checkIceConnection()

◆ createRemoteReferenceCount() [1/2]

◆ createRemoteReferenceCount() [2/2]

◆ createSimpleRemoteReferenceCount() [1/2]

◆ createSimpleRemoteReferenceCount() [2/2]

◆ enableLogging()

◆ enableProfiling()

◆ getAdapter()

◆ getApplicationPropertyInfos()

◆ getCommunicator()

◆ getHostname()

◆ getIceManager()

◆ getManagedObjectNames()

◆ getManagedObjects()

◆ getMetaInfo()

◆ getMetricsAdmin()

◆ getMiceObjectConnectivity()

◆ getObjectConnectivity()

◆ getObjectNames()

◆ getObjectProperties()

◆ getObjectPropertyInfos()

◆ getObjectState()

◆ getPropertiesAdmin()

◆ getSharedRemoteHandleState()

◆ increaseSchedulers()

◆ isShutdown()

◆ RegisterKnownObjectFactoriesWithIce()

◆ registerKnownObjectFactoriesWithIce()

◆ removeObjectBlocking() [1/2]

◆ removeObjectBlocking() [2/2]

◆ removeObjectNonBlocking() [1/2]

◆ removeObjectNonBlocking() [2/2]

◆ setComponentIceProperties()

◆ setDataPaths()

◆ setGlobalMinimumLoggingLevel()

◆ shutdown()

◆ updateComponentIceProperties()

◆ waitForShutdown()

Friends And Related Symbol Documentation

◆ ArmarXObjectObserver

◆ PeriodicTask< ArmarXManager >