Base class for all RobotUnitModules. More...

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

Inheritance diagram for ModuleBase:

Public Member Functions
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 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 Types
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

Protected Member Functions
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

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

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 Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Base class for all RobotUnitModules.

Since the robot unit is a complex class, it is split into several modules. One reason behind this is stopping developers from accidently using datastructures in the wrong way (e.g. causing racing conditions) For a RobotUnit to work, ALL modules are required (A class has to derive all of them)

Modules

The list of Modules is:

Life cycle

The RobotUnit has multiple Phases (see RobotUnitState) as well as the life cycle of a ManagedIceObject.

ManagedIceObject Life cycle

The hooks (onInitComponent, onConnectComponent, onDisconnectComponent, onExitComponent) for state transitions provided by ManagedIceObject have a final overrider. Deriving classes have to use the replacement hooks:

Hook	Replacement \th
onInitComponent	onInitRobotUnit
onConnectComponent	onConnectRobotUnit
onDisconnectComponent	onDisconnectRobotUnit
onExitComponent	onExitRobotUnit

RobotUnit Life cycle

The initial phase is InitializingComponent. The following table shows all Phase transitions and the functions causing it:

From	To	Transition function	Note \th
InitializingComponent	InitializingDevices	finishComponentInitialization	Called in onInitComponent
InitializingDevices	InitializingUnits	finishDeviceInitialization
InitializingUnits	InitializingControlThread	finishUnitInitialization
InitializingControlThread	Running	finishControlThreadInitialization	Has to be called in the control thread
Running	Exiting	finishRunning	Called in onExitComponent

RobotUnitModule Hooks for Life Cycle transition functions

Each RobotUnitModule has two hooks each transition function ().

The '_pre<TRANSITION_FUNCTION_NAME>' hook is called in the transition function before the state has changed.
The '_post<TRANSITION_FUNCTION_NAME>' hook is called in the transition function after the state has changed.

Warning: The same hook of different modules (e.g.: _preFinishDeviceInitialization, _postOnInitRobotUnit) must not depend on each other.

Definition at line 183 of file RobotUnitModuleBase.h.

Member Typedef Documentation

◆ ClockType

using ClockType = std::chrono::high_resolution_clock

protected

Definition at line 227 of file RobotUnitModuleBase.h.

◆ GuardType

using GuardType = std::unique_lock<MutexType>

protected

Definition at line 226 of file RobotUnitModuleBase.h.

◆ MutexType

using MutexType = std::recursive_timed_mutex

protected

The type of recursive_mutex used in this class.

This typedef is used to quickly replace the mutex type with a logging mutex type for debugging.

Definition at line 225 of file RobotUnitModuleBase.h.

◆ TimePointType

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

protected

Definition at line 228 of file RobotUnitModuleBase.h.

Constructor & Destructor Documentation

◆ ModuleBase()

ModuleBase ( )

protected

Ctor.

Definition at line 539 of file RobotUnitModuleBase.cpp.

Member Function Documentation

◆ _componentPropertiesUpdated()

void _componentPropertiesUpdated ( const std::set< std::string > & )

inlineprotected

Hook for deriving RobotUnitModules called in componentPropertiesUpdated.

Definition at line 413 of file RobotUnitModuleBase.h.

◆ _icePropertiesInitialized()

void _icePropertiesInitialized ( )

inlineprotected

Hook for deriving RobotUnitModules called in icePropertiesInitialized.

Definition at line 419 of file RobotUnitModuleBase.h.

◆ _module() [1/2]

template<class T>

T & _module ( )

inline

Returns this as ref to the given type.

Returns: This as ref to the given type.

Definition at line 249 of file RobotUnitModuleBase.h.

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◆ _module() [2/2]

template<class T>

const T & _module ( ) const

inline

Returns this as ref to the given type.

Returns: This as ref to the given type.

Definition at line 260 of file RobotUnitModuleBase.h.

◆ _modulePtr() [1/2]

template<class T>

T * _modulePtr ( )

inline

Returns this as ptr to the given type.

Returns: This as ptr to the given type.

Definition at line 271 of file RobotUnitModuleBase.h.

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◆ _modulePtr() [2/2]

template<class T>

const T * _modulePtr ( ) const

inline

Returns this as ptr to the given type.

Returns: This as ptr to the given type.

Definition at line 282 of file RobotUnitModuleBase.h.

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◆ _postFinishComponentInitialization()

void _postFinishComponentInitialization ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishComponentInitialization

Definition at line 488 of file RobotUnitModuleBase.h.

◆ _postFinishControlThreadInitialization()

void _postFinishControlThreadInitialization ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishControlThreadInitialization

Definition at line 548 of file RobotUnitModuleBase.h.

◆ _postFinishDeviceInitialization()

void _postFinishDeviceInitialization ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishDeviceInitialization

Definition at line 508 of file RobotUnitModuleBase.h.

◆ _postFinishRunning()

void _postFinishRunning ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishRunning

Definition at line 568 of file RobotUnitModuleBase.h.

◆ _postFinishUnitInitialization()

void _postFinishUnitInitialization ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishUnitInitialization

Definition at line 528 of file RobotUnitModuleBase.h.

◆ _postOnConnectRobotUnit()

void _postOnConnectRobotUnit ( )

inlineprotected

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

Warning: This function is not protected with getGuard()

See also: onConnectComponent

Definition at line 350 of file RobotUnitModuleBase.h.

◆ _postOnDisconnectRobotUnit()

void _postOnDisconnectRobotUnit ( )

inlineprotected

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

Warning: This function is not protected with getGuard()

See also: onDisconnectComponent

Definition at line 370 of file RobotUnitModuleBase.h.

◆ _postOnExitRobotUnit()

void _postOnExitRobotUnit ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: onExitComponent

Definition at line 390 of file RobotUnitModuleBase.h.

◆ _postOnInitRobotUnit()

void _postOnInitRobotUnit ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: onInitComponent

Definition at line 330 of file RobotUnitModuleBase.h.

◆ _preFinishComponentInitialization()

void _preFinishComponentInitialization ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishComponentInitialization

Definition at line 478 of file RobotUnitModuleBase.h.

◆ _preFinishControlThreadInitialization()

void _preFinishControlThreadInitialization ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishControlThreadInitialization

Definition at line 538 of file RobotUnitModuleBase.h.

◆ _preFinishDeviceInitialization()

void _preFinishDeviceInitialization ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishDeviceInitialization

Definition at line 498 of file RobotUnitModuleBase.h.

◆ _preFinishRunning()

void _preFinishRunning ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishRunning

Definition at line 558 of file RobotUnitModuleBase.h.

◆ _preFinishUnitInitialization()

void _preFinishUnitInitialization ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: finishUnitInitialization

Definition at line 518 of file RobotUnitModuleBase.h.

◆ _preOnConnectRobotUnit()

void _preOnConnectRobotUnit ( )

inlineprotected

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

Warning: This function is not protected with getGuard()

See also: onConnectComponent

Definition at line 340 of file RobotUnitModuleBase.h.

◆ _preOnDisconnectRobotUnit()

void _preOnDisconnectRobotUnit ( )

inlineprotected

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

Warning: This function is not protected with getGuard()

See also: onDisconnectComponent

Definition at line 360 of file RobotUnitModuleBase.h.

◆ _preOnExitRobotUnit()

void _preOnExitRobotUnit ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: onExitComponent

Definition at line 380 of file RobotUnitModuleBase.h.

◆ _preOnInitRobotUnit()

void _preOnInitRobotUnit ( )

inlineprotected

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

Note: This function is protected with getGuard()

See also: onInitComponent

Definition at line 320 of file RobotUnitModuleBase.h.

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◆ areDevicesReady()

bool areDevicesReady ( ) const

Returns whether Devices are ready.

Returns: Whether Devices are ready

See also: DevicesReadyStates

Definition at line 405 of file RobotUnitModuleBase.cpp.

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◆ checkDerivedClasses()

void checkDerivedClasses ( ) const

protected

Checks whether the implementing class derives all modules.

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◆ componentPropertiesUpdated()

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

overrideprotectedvirtual

See also: ManagedIceObject::componentPropertiesUpdated

Reimplemented from Component.

Reimplemented in RobotUnitSimulation.

Definition at line 207 of file RobotUnitModuleBase.cpp.

◆ finishComponentInitialization()

void finishComponentInitialization ( )

protectedvirtual

Transition InitializingComponent -> InitializingDevices.

Note: This function is protected with getGuard()

See also: _preFinishComponentInitialization; _postFinishComponentInitialization

Definition at line 228 of file RobotUnitModuleBase.cpp.

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◆ finishControlThreadInitialization()

void finishControlThreadInitialization ( )

protectedvirtual

Transition InitializingControlThread -> Running.

Note: This function is protected with getGuard()

See also: _preFinishControlThreadInitialization; _postFinishControlThreadInitialization

Definition at line 291 of file RobotUnitModuleBase.cpp.

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◆ finishDeviceInitialization()

void finishDeviceInitialization ( )

protectedvirtual

Transition InitializingDevices -> InitializingUnits.

Note: This function is protected with getGuard()

See also: _preFinishDeviceInitialization; _postFinishDeviceInitialization

Definition at line 249 of file RobotUnitModuleBase.cpp.

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◆ finishRunning()

void finishRunning ( )

protectedvirtual

Transition Running -> Exiting.

Note: This function is protected with getGuard()

See also: _preFinishRunning; _postFinishRunning

Definition at line 313 of file RobotUnitModuleBase.cpp.

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◆ finishUnitInitialization()

void finishUnitInitialization ( )

protectedvirtual

Transition InitializingUnits -> RobotUnitState::WaitingForRTThreadInitialization.

Note: This function is protected with getGuard()

See also: _preFinishUnitInitialization; _postFinishUnitInitialization

Definition at line 270 of file RobotUnitModuleBase.cpp.

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◆ getControlThreadTargetPeriod()

virtual IceUtil::Time getControlThreadTargetPeriod ( ) const

pure virtual

The ControlThread's period.

Implemented in RTUnit, and RobotUnitSimulation.

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverrideprotectedvirtual

See also: getDefaultName

Implements ManagedIceObject.

Reimplemented in RobotUnitSimulation.

Definition at line 405 of file RobotUnitModuleBase.h.

◆ getGuard()

ModuleBase::GuardType getGuard ( ) const

protected

Returns a guard to the RobotUnits mutex.

Returns: A guard to the RobotUnits mutex.

Exceptions

throws If called in the ControlThread or on shutdown.

Definition at line 432 of file RobotUnitModuleBase.cpp.

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◆ getRobotUnitState()

RobotUnitState getRobotUnitState ( ) const

inline

Returns the RobotUnit's State.

Returns: The RobotUnit's State

Definition at line 29 of file RobotUnitModuleBase.ipp.

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◆ icePropertiesInitialized()

void icePropertiesInitialized ( )

overrideprotectedvirtual

See also: ManagedIceObject::icePropertiesInitialized

Reimplemented from Component.

Definition at line 217 of file RobotUnitModuleBase.cpp.

◆ inControlThread()

bool inControlThread ( ) const

Returns whether the current thread is the ControlThread.

Returns: Whether the current thread is the ControlThread.

Definition at line 411 of file RobotUnitModuleBase.cpp.

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◆ IndexSentinel()

static constexpr std::size_t IndexSentinel ( )

inlinestaticconstexprprotected

Returns a sentinel value for an index (std::numeric_limits<std::size_t>::max())

Returns: A sentinel value for an index (std::numeric_limits<std::size_t>::max())

Definition at line 720 of file RobotUnitModuleBase.h.

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◆ Instance() [1/2]

static ModuleBase & Instance ( )

inlinestatic

Returns the singleton instance of this class.

Returns: The singleton instance of this class

Definition at line 194 of file RobotUnitModuleBase.h.

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◆ Instance() [2/2]

template<class T>

static T & Instance ( )

inlinestatic

Returns the singleton instance of the given class.

Returns: The singleton instance of the given class

Definition at line 206 of file RobotUnitModuleBase.h.

◆ isShuttingDown()

bool isShuttingDown ( ) const

inline

Returns whether the RobotUnit is shutting down.

Returns: Whether the RobotUnit is shutting down

See also: shutDown TODO use this function in implementations

Definition at line 647 of file RobotUnitModuleBase.h.

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◆ joinControlThread()

virtual void joinControlThread ( )

pure virtual

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

Implemented in RTUnit, and RobotUnitSimulation.

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◆ onConnectComponent()

void onConnectComponent ( )

finaloverrideprotectedvirtual

Warning: This function is not protected with getGuard()

See also: onConnectComponent

Implements ManagedIceObject.

Definition at line 145 of file RobotUnitModuleBase.cpp.

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◆ onConnectRobotUnit()

virtual void onConnectRobotUnit ( )

inlinevirtual

called in onConnectComponent

Warning: This function is not protected with getGuard()

See also: onConnectComponent

Reimplemented in RTUnit, and RobotUnitSimulation.

Definition at line 681 of file RobotUnitModuleBase.h.

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◆ onDisconnectComponent()

void onDisconnectComponent ( )

finaloverrideprotectedvirtual

Warning: This function is not protected with getGuard()

See also: onDisconnectComponent

Reimplemented from ManagedIceObject.

Definition at line 164 of file RobotUnitModuleBase.cpp.

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◆ onDisconnectRobotUnit()

virtual void onDisconnectRobotUnit ( )

inlinevirtual

called in onDisconnecComponent

Warning: This function is not protected with getGuard()

See also: onDisconnecComponent

Reimplemented in RTUnit.

Definition at line 691 of file RobotUnitModuleBase.h.

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◆ onExitComponent()

void onExitComponent ( )

finaloverrideprotectedvirtual

Note: This function is protected with getGuard()

See also: onExitComponent

Reimplemented from ManagedIceObject.

Definition at line 183 of file RobotUnitModuleBase.cpp.

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◆ onExitRobotUnit()

virtual void onExitRobotUnit ( )

inlinevirtual

called in onExitComponent before calling finishRunning

Note: This function is protected with getGuard()

See also: finishRunning; onExitComponent

Reimplemented in RTUnit.

Definition at line 702 of file RobotUnitModuleBase.h.

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◆ onInitComponent()

void onInitComponent ( )

finaloverrideprotectedvirtual

Note: This function is protected with getGuard()

See also: onInitComponent

Implements ManagedIceObject.

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◆ onInitRobotUnit()

virtual void onInitRobotUnit ( )

inlinevirtual

called in onInitComponent

Note: This function is protected with getGuard()

See also: onInitComponent

Reimplemented in RTUnit, and RobotUnitSimulation.

Definition at line 671 of file RobotUnitModuleBase.h.

◆ shutDown()

void shutDown ( )

inline

Requests the RobotUnit to shut down.

See also: isShuttingDown TODO use this function in implementations

Definition at line 657 of file RobotUnitModuleBase.h.

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◆ throwIfDevicesNotReady()

void throwIfDevicesNotReady ( const std::string & fnc ) const

Throws if the Devices are not ready.

Parameters

fnc	The callers function name.

See also: areDevicesReady

Definition at line 532 of file RobotUnitModuleBase.cpp.

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◆ throwIfInControlThread()

void throwIfInControlThread ( const std::string & fnc ) const

Throws if the current thread is the ControlThread.

Parameters

fnc	The callers function name.

Definition at line 418 of file RobotUnitModuleBase.cpp.

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◆ throwIfStateIs() [1/2]

void throwIfStateIs	(	const std::set< RobotUnitState > &	stateSet,
		const std::string &	fnc,
		bool	onlyWarn = false ) const

Throws an exception if the current state is in.

Parameters

stateSet
stateSet	The set of forbidden RobotUnitStates
fnc	The callers function name.
onlyWarn	Only print a warning instead of throwing an exception.

Definition at line 495 of file RobotUnitModuleBase.cpp.

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◆ throwIfStateIs() [2/2]

void throwIfStateIs	(	RobotUnitState	s,
		const std::string &	fnc,
		bool	onlyWarn = false ) const

Throws an exception if the current state is.

Parameters

state
state	The forbidden RobotUnitState
fnc	The callers function name.
onlyWarn	Only print a warning instead of throwing an exception.

Definition at line 526 of file RobotUnitModuleBase.cpp.

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◆ throwIfStateIsNot() [1/2]

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.

Parameters

stateSet
stateSet	The set of acceptable RobotUnitStates
fnc	The callers function name.
onlyWarn	Only print a warning instead of throwing an exception.

Definition at line 458 of file RobotUnitModuleBase.cpp.

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◆ throwIfStateIsNot() [2/2]

void throwIfStateIsNot	(	RobotUnitState	s,
		const std::string &	fnc,
		bool	onlyWarn = false ) const

Throws an exception if the current state is not.

Parameters

state
state	The acceptable RobotUnitState
fnc	The callers function name.
onlyWarn	Only print a warning instead of throwing an exception.

Definition at line 489 of file RobotUnitModuleBase.cpp.

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

RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.ipp

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Modules

Life cycle

ManagedIceObject Life cycle

RobotUnit Life cycle

RobotUnitModule Hooks for Life Cycle transition functions

Member Typedef Documentation

◆ ClockType

◆ GuardType

◆ MutexType

◆ TimePointType

Constructor & Destructor Documentation

◆ ModuleBase()

Member Function Documentation

◆ _componentPropertiesUpdated()

◆ _icePropertiesInitialized()

◆ _module() [1/2]

◆ _module() [2/2]

◆ _modulePtr() [1/2]

◆ _modulePtr() [2/2]

◆ _postFinishComponentInitialization()

◆ _postFinishControlThreadInitialization()

◆ _postFinishDeviceInitialization()

◆ _postFinishRunning()

◆ _postFinishUnitInitialization()

◆ _postOnConnectRobotUnit()

◆ _postOnDisconnectRobotUnit()

◆ _postOnExitRobotUnit()

◆ _postOnInitRobotUnit()

◆ _preFinishComponentInitialization()

◆ _preFinishControlThreadInitialization()

◆ _preFinishDeviceInitialization()

◆ _preFinishRunning()

◆ _preFinishUnitInitialization()

◆ _preOnConnectRobotUnit()

◆ _preOnDisconnectRobotUnit()

◆ _preOnExitRobotUnit()

◆ _preOnInitRobotUnit()

◆ areDevicesReady()

◆ checkDerivedClasses()

◆ componentPropertiesUpdated()

◆ finishComponentInitialization()

◆ finishControlThreadInitialization()

◆ finishDeviceInitialization()

◆ finishRunning()

◆ finishUnitInitialization()

◆ getControlThreadTargetPeriod()

◆ getDefaultName()

◆ getGuard()

◆ getRobotUnitState()

◆ icePropertiesInitialized()

◆ inControlThread()

◆ IndexSentinel()

◆ Instance() [1/2]

◆ Instance() [2/2]

◆ isShuttingDown()

◆ joinControlThread()

◆ onConnectComponent()

◆ onConnectRobotUnit()

◆ onDisconnectComponent()

◆ onDisconnectRobotUnit()

◆ onExitComponent()

◆ onExitRobotUnit()

◆ onInitComponent()

◆ onInitRobotUnit()

◆ shutDown()

◆ throwIfDevicesNotReady()

◆ throwIfInControlThread()

◆ throwIfStateIs() [1/2]

◆ throwIfStateIs() [2/2]

◆ throwIfStateIsNot() [1/2]

◆ throwIfStateIsNot() [2/2]