ControlDevice Class Reference

The ControlDevice class represents a logical unit accepting commands via its JointControllers. More...

#include <RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h>

Inheritance diagram for ControlDevice:

Public Member Functions
	ControlDevice (const std::string &name)
	Create a ControlDevice with the given name.
const std::vector< std::string > &	getControlModes () const
JointController *	getJointController (const std::string &mode)
const JointController *	getJointController (const std::string &mode) const
JointController *	getJointController (std::size_t i)
const JointController *	getJointController (std::size_t i) const
std::vector< const JointController * >	getJointControllers () const
std::map< std::string, std::string >	getJointControllerToTargetTypeNameMap () const
JointController *	getJointEmergencyStopController ()
JointController *	getJointStopMovementController ()
RobotUnitModule::Devices *	getOwner () const
bool	hasJointController (const std::string &mode) const
JointController *	rtGetActiveJointController ()
const std::vector< JointController * > &	rtGetJointControllers ()
JointController *	rtGetJointEmergencyStopController ()
JointController *	rtGetJointStopMovementController ()
void	rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	runs the active Joint Controller and write the target values into the control device
virtual void	rtSetActiveJointController (JointController *jointCtrl)
	Activates the given JointController for this device.
virtual void	rtWriteTargetValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	This is a hook for implementations to write the setpoints to a bus.
Public Member Functions inherited from DeviceBase
	DeviceBase (const std::string &name)
	Create a Device with the given name.
const std::string &	getDeviceName () const
const std::set< std::string > &	getTags () const
virtual bool	hasError ()
bool	hasTag (const std::string &tag) const
const char *	rtGetDeviceName () const
virtual	~DeviceBase ()=default

Static Public Attributes
static const ControlDevicePtr	NullPtr {nullptr}
	A static const nullptr in case a const ref to a nullptr needs to be returned.

Protected Member Functions
void	addJointController (JointController *jointCtrl)
	adds the Joint controller to this ControlDevice
ControlTargetBase::ControlDeviceAccessToken	getControlTargetAccessToken () const
Protected Member Functions inherited from DeviceBase
void	addDeviceTag (const std::string &tag)
	adds the given tag to the Device

Friends
class	RobotUnitModule::Devices

Detailed Description

The ControlDevice class represents a logical unit accepting commands via its JointControllers.

It holds a set of JointControllers with different Controll modes. It always has a JointController with mode ControlModes::EmergencyStop which is used in case of an error. It always has a JointController with mode ControlModes::StopMovement which is used when the controled device should stop any movement.

It holds a set of tags. These tags are used by different components to create default controllers, check for abilities or present output to the user.

Constructor & Destructor Documentation

ControlDevice()

ControlDevice ( const std::string & name )

inline

Create a ControlDevice with the given name.

Member Function Documentation

addJointController()

void addJointController ( JointController * jointCtrl )

protected

adds the Joint controller to this ControlDevice

Exceptions

std::logic_error	if the JointController was already added to a ControlDevice
std::invalid_argument	if a JointController with the same control mode was already added to this device

getControlModes()

const std::vector< std::string > & getControlModes ( ) const

inline

getControlTargetAccessToken()

ControlTargetBase::ControlDeviceAccessToken getControlTargetAccessToken ( ) const

inlineprotected

getJointController() [1/4]

JointController * getJointController ( const std::string & mode )

inline

Returns

the JointController for the given mode of this ControlDevice (or nullptr if there is no controller for this mode)

getJointController() [2/4]

const JointController * getJointController ( const std::string & mode ) const

inline

getJointController() [3/4]

JointController * getJointController ( std::size_t i )

inline

getJointController() [4/4]

const JointController * getJointController ( std::size_t i ) const

inline

getJointControllers()

std::vector< const JointController * > getJointControllers ( ) const

inline

getJointControllerToTargetTypeNameMap()

std::map< std::string, std::string > getJointControllerToTargetTypeNameMap

(

)

const

getJointEmergencyStopController()

JointController * getJointEmergencyStopController

(

)

Returns

the jointEmergencyStopController of this ControlDevice

getJointStopMovementController()

JointController * getJointStopMovementController

(

)

Returns

the jointStopMovementController of this ControlDevice

getOwner()

RobotUnitModule::Devices * getOwner

(

)

const

hasJointController()

bool hasJointController ( const std::string & mode ) const

inline

rtGetActiveJointController()

JointController * rtGetActiveJointController ( )

inline

Returns

the active JointController of this ControlDevice

rtGetJointControllers()

const std::vector< JointController * > & rtGetJointControllers ( )

inline

Returns

all JointControllers of this ControlDevice

rtGetJointEmergencyStopController()

JointController * rtGetJointEmergencyStopController ( )

inline

Returns

the jointEmergencyStopController of this ControlDevice

rtGetJointStopMovementController()

JointController * rtGetJointStopMovementController ( )

inline

Returns

the jointStopMovementController of this ControlDevice

rtRun()

void rtRun	(	const IceUtil::Time &	sensorValuesTimestamp,
		const IceUtil::Time &	timeSinceLastIteration )

runs the active Joint Controller and write the target values into the control device

Parameters

sensorValuesTimestamp
timeSinceLastIteration

See also

writeTargetValues

rtSetActiveJointController()

void rtSetActiveJointController ( JointController * jointCtrl )

virtual

Activates the given JointController for this device.

Exceptions

std::logic_error

if the Joint controller does not belong to this ControlDevice

Reimplemented in JointSimulationDevice.

rtWriteTargetValues()

virtual void rtWriteTargetValues ( const IceUtil::Time & sensorValuesTimestamp, const IceUtil::Time & timeSinceLastIteration )

inlinevirtual

This is a hook for implementations to write the setpoints to a bus.

Parameters

sensorValuesTimestamp	The timestamp of the current SensorValues
timeSinceLastIteration	The time delta between the last two updates of SensorValues

Friends And Related Symbol Documentation

RobotUnitModule::Devices

friend class RobotUnitModule::Devices

friend

Member Data Documentation

NullPtr

const ControlDevicePtr NullPtr {nullptr}

static

A static const nullptr in case a const ref to a nullptr needs to be returned.

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

• RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
• RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp