#include <RobotComponents/components/MotionPlanning/MotionPlanningServer.h>

Inheritance diagram for MotionPlanningServer:

Classes
struct	TaskAndRemoteHandle

Public Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

armarx::ClientSideRemoteHandleControlBlockBasePtr	enqueueTask (const MotionPlanningTaskBasePtr &task, const Ice::Current &=Ice::emptyCurrent) override
	Enqueues a task.

TaskInfoSeq	getAllTaskInfo (const Ice::Current &=Ice::emptyCurrent) const override
	Returns information about all tasks.

ClientSideRemoteHandleControlBlockBasePtr	getCurrentTaskHandle (const Ice::Current &) override

std::string	getDefaultName () const override
	Returns the server's default name.

Ice::Long	getNumberOfQueuedTasks (const Ice::Current &) const override
	Returns the number of queued tasks.

Ice::Long	getNumberOfTasks (const Ice::Current &=Ice::emptyCurrent) const override
	Returns the number of tasks.

CSpaceAndPaths	getTaskCSpaceAndPathsById (Ice::Long id, const Ice::Current &=Ice::emptyCurrent) override
	Returns a task's cspace and all found paths.

bool	loadLibFromPackage (const std::string &package, const std::string &lib, const Ice::Current &=Ice::emptyCurrent) override

bool	loadLibFromPath (const std::string &path, const Ice::Current &=Ice::emptyCurrent) override

	MotionPlanningServer ()=default
	ctor

void	onConnectComponent () override
	Connects to the used RemoteObjectNodes.

void	onDisconnectComponent () override
	noop

void	onExitComponent () override
	cleans up and joins the dispatcher

void	onInitComponent () override
	Initializes the server and starts the dispatcher thread.

	~MotionPlanningServer () override
	dtor

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties.

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

Protected Types
using	TaskMap = std::unordered_map<Ice::Long, TaskAndRemoteHandle>
	The type of the map of tasks.

Protected Member Functions
bool	deleteTaskById (Ice::Long id)

void	dispatcherTask ()
	the dispatcher task.

Ice::Long	getNewTaskId ()
	Returns a new task id.

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.

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.

virtual void	icePropertiesInitialized ()

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

Protected Attributes
SimoxCSpacePtr	cacheCSpace

TaskAndRemoteHandle	currentTask
	currentTask stores a handle to the currently dispatched planning task.

std::atomic_bool	dispatcherKillRequest {false}
	Whether the dispatcher should shut down.

std::thread	dispatcherThread
	The dispatcher's thread.

std::map< std::string, DynamicLibraryPtr >	loadedLibs

RemoteObjectNodePtr	localNode

float	localNodePercent
	Percentage of cores used by the local ron (if started).

std::atomic< Ice::Long >	nextTaskId {std::numeric_limits<Ice::Long>::min()}
	the next task id.

std::recursive_mutex	queueMutex
	mutex protecting the task queue

std::vector< std::string >	remoteObjectNodeNames
	The used remote object nodes' names.

std::vector< armarx::RemoteObjectNodeInterfacePrx >	remoteObjectNodes
	The used remote object nodes.

bool	startLocalNode
	Whether a local node should be started, if no rons were provided.

std::set< Ice::Long >	taskQueue
	Contains the queue of task ids to execute.

TaskMap	tasks
	The map of tasks.

std::condition_variable_any	waitForTaskOrDispatcherKill
	The dispatcher's cv.

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

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

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)

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

Member Typedef Documentation

◆ TaskMap

using TaskMap = std::unordered_map<Ice::Long, TaskAndRemoteHandle>

protected

The type of the map of tasks.

Constructor & Destructor Documentation

◆ MotionPlanningServer()

MotionPlanningServer ( )

default

ctor

◆ ~MotionPlanningServer()

~MotionPlanningServer ( )

inlineoverride

dtor

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Returns: The planning server's PropertyDefinitions

Reimplemented from Component.

◆ deleteTaskById()

bool deleteTaskById ( Ice::Long id )

protected

◆ dispatcherTask()

void dispatcherTask ( )

protected

the dispatcher task.

(executed by the dispatcherThread)

◆ enqueueTask()

armarx::ClientSideRemoteHandleControlBlockBasePtr enqueueTask	(	const MotionPlanningTaskBasePtr &	task,
		const Ice::Current &	= Ice::emptyCurrent )

override

Enqueues a task.

Parameters

task The task.

Returns: The task's proxy.

◆ getAllTaskInfo()

TaskInfoSeq getAllTaskInfo ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns information about all tasks.

Returns: Information about all tasks.

◆ getCurrentTaskHandle()

ClientSideRemoteHandleControlBlockBasePtr getCurrentTaskHandle ( const Ice::Current & )

override

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

Returns the server's default name.

Returns: The server's default name.

Implements ManagedIceObject.

◆ getNewTaskId()

Ice::Long getNewTaskId ( )

inlineprotected

Returns a new task id.

Returns: A new task id.

◆ getNumberOfQueuedTasks()

Ice::Long getNumberOfQueuedTasks ( const Ice::Current & ) const

override

Returns the number of queued tasks.

Returns: The number of queued tasks.

◆ getNumberOfTasks()

Ice::Long getNumberOfTasks ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns the number of tasks.

Returns: The number of tasks.

◆ getTaskCSpaceAndPathsById()

CSpaceAndPaths getTaskCSpaceAndPathsById	(	Ice::Long	id,
		const Ice::Current &	= Ice::emptyCurrent )

override

Returns a task's cspace and all found paths.

Parameters

id The id.

Returns: The task's cspace and all found paths.

◆ loadLibFromPackage()

bool loadLibFromPackage	(	const std::string &	package,
		const std::string &	lib,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ loadLibFromPath()

bool loadLibFromPath	(	const std::string &	path,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Connects to the used RemoteObjectNodes.

Implements ManagedIceObject.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

inlineoverridevirtual

noop

Reimplemented from ManagedIceObject.

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

cleans up and joins the dispatcher

Reimplemented from ManagedIceObject.

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Initializes the server and starts the dispatcher thread.

Implements ManagedIceObject.

Member Data Documentation

◆ cacheCSpace

SimoxCSpacePtr cacheCSpace

protected

◆ currentTask

TaskAndRemoteHandle currentTask

protected

currentTask stores a handle to the currently dispatched planning task.

◆ dispatcherKillRequest

std::atomic_bool dispatcherKillRequest {false}

protected

Whether the dispatcher should shut down.

◆ dispatcherThread

std::thread dispatcherThread

protected

The dispatcher's thread.

◆ loadedLibs

std::map<std::string, DynamicLibraryPtr> loadedLibs

protected

◆ localNode

RemoteObjectNodePtr localNode

protected

◆ localNodePercent

float localNodePercent

protected

Percentage of cores used by the local ron (if started).

◆ nextTaskId

std::atomic<Ice::Long> nextTaskId {std::numeric_limits<Ice::Long>::min()}

protected

the next task id.

◆ queueMutex

std::recursive_mutex queueMutex

mutableprotected

mutex protecting the task queue

◆ remoteObjectNodeNames

std::vector<std::string> remoteObjectNodeNames

protected

The used remote object nodes' names.

◆ remoteObjectNodes

std::vector<armarx::RemoteObjectNodeInterfacePrx> remoteObjectNodes

protected

The used remote object nodes.

◆ startLocalNode

bool startLocalNode

protected

Whether a local node should be started, if no rons were provided.

◆ taskQueue

std::set<Ice::Long> taskQueue

protected

Contains the queue of task ids to execute.

If not empty the first id is the next task to execute A set is used since the queue lacks an erase function and ids are added in ascending order.

◆ tasks

TaskMap tasks

protected

The map of tasks.

◆ waitForTaskOrDispatcherKill

std::condition_variable_any waitForTaskOrDispatcherKill

protected

The dispatcher's cv.

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

RobotComponents/components/MotionPlanning/MotionPlanningServer.h
RobotComponents/components/MotionPlanning/MotionPlanningServer.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Typedef Documentation

◆ TaskMap

Constructor & Destructor Documentation

◆ MotionPlanningServer()

◆ ~MotionPlanningServer()

Member Function Documentation

◆ createPropertyDefinitions()

◆ deleteTaskById()

◆ dispatcherTask()

◆ enqueueTask()

◆ getAllTaskInfo()

◆ getCurrentTaskHandle()

◆ getDefaultName()

◆ getNewTaskId()

◆ getNumberOfQueuedTasks()

◆ getNumberOfTasks()

◆ getTaskCSpaceAndPathsById()

◆ loadLibFromPackage()

◆ loadLibFromPath()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

Member Data Documentation

◆ cacheCSpace

◆ currentTask

◆ dispatcherKillRequest

◆ dispatcherThread

◆ loadedLibs

◆ localNode

◆ localNodePercent

◆ nextTaskId

◆ queueMutex

◆ remoteObjectNodeNames

◆ remoteObjectNodes

◆ startLocalNode

◆ taskQueue

◆ tasks

◆ waitForTaskOrDispatcherKill