This Module manages the ControlThread. More...

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

Inheritance diagram for ControlThread:

Public Member Functions
std::thread::id	getControlThreadId () const
	Teturns he ControlThread's thread id. More...

EmergencyStopState	getEmergencyStopState () const
	Returns the ControlThread's target EmergencyStopState. More...

EmergencyStopState	getRtEmergencyStopState () const
	Returns the ControlThread's EmergencyStopState. More...

void	setEmergencyStopState (EmergencyStopState state)
	Sets the EmergencyStopState. More...

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

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

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

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

bool	areDevicesReady () const
	Returns whether Devices are ready. More...

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

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

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

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

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

virtual void	onConnectRobotUnit ()
	called in onConnectComponent More...

virtual void	onDisconnectRobotUnit ()
	called in onDisconnecComponent More...

virtual void	onExitRobotUnit ()
	called in onExitComponent before calling finishRunning More...

virtual void	onInitRobotUnit ()
	called in onInitComponent More...

void	shutDown ()
	Requests the RobotUnit to shut down. More...

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

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

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

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

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. More...

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

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 More...

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. More...

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. More...

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. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

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

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. More...

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

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) More...

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

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

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

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

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

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

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

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

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. More...

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`. More...

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

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). More...

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

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

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

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

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

	ManagedIceObject (ManagedIceObject const &other)

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

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. More...

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. More...

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

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

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

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. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

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

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. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

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. More...

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. More...

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 ControlThread &	Instance ()
	Returns the singleton instance of this class. More...

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

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

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. More...

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. More...

static std::string	GetObjectStateAsString (int state)

Protected Types
enum	SwitchControllerMode { RTThread, IceRequests }

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. More...

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

Protected Member Functions
void	rtDeactivateAssignedNJointControllerBecauseOfError (std::size_t ctrlDevIndex)
	Searches for the NJointControllerBase responsible for the given JointController and deactivates it. More...

virtual void	rtDeactivatedNJointControllerBecauseOfError (const NJointControllerBasePtr &)
	Hook for deriving classes (called AFTER a NJointControllerBase is deactivated due to an error) More...

void	rtDeactivateNJointControllerBecauseOfError (std::size_t nJointCtrlIndex)
	Deactivates a NJointControllerBase and sets all used ControlDevices to EmergencyStop. More...

const std::vector< ControlDevicePtr > &	rtGetControlDevices () const
	Returns all ControlDevices. More...

EmergencyStopState	rtGetEmergencyStopState () const
	Returns the ControlThread's emergency stop state. More...

const VirtualRobot::RobotPtr &	rtGetRobot () const
	Returns the simox robot used in the control thread. More...

const std::vector< SensorDevicePtr > &	rtGetSensorDevices ()
	Returns all SensorDevices. More...

RTThreadTimingsSensorDevice &	rtGetThreadTimingsSensorDevice ()
	Returns the RTThreadTimingsSensorDevice. More...

void	rtHandleInvalidTargets ()
	Deactivates all NJointControllers generating invalid targets. More...

bool	rtIsInEmergencyStop () const
	Returns whether the rt thread is in emergency stop. More...

virtual void	rtPostReadSensorDeviceValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Execute code after updating the sensor values. More...

void	rtReadSensorDeviceValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Calls SensorDevice::rtReadSensorValues for all SensorDevices. More...

void	rtResetAllTargets ()
	Calls JointController::rtResetTarget for all active Joint controllers. More...

void	rtRunJointControllers (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Runs Joint controllers and writes target values to ControlDevices. More...

void	rtRunNJointControllers (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Runs NJoint controllers. More...

void	rtSetEmergencyStopState (EmergencyStopState state)
	Set an EmergencyStopState request. More...

void	rtSetJointController (JointController *c, std::size_t index)
	Activate a joint controller from the rt loop (only works in switch mode RTThread) More...

void	rtSetRobotGlobalPose (const Eigen::Matrix4f &gp, bool updateRobot=true)

bool	rtSwitchControllerSetup (SwitchControllerMode mode=SwitchControllerMode::IceRequests)
	Changes the set of active controllers. More...

void	rtUpdateRobotGlobalPose ()

void	rtUpdateSensorAndControlBuffer (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	Updates the current SensorValues and ControlTargets for code running outside of the ControlThread. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual void	finishComponentInitialization ()
	Transition RobotUnitState::InitializingComponent -> RobotUnitState::InitializingDevices. More...

virtual void	finishControlThreadInitialization ()
	Transition RobotUnitState::InitializingControlThread -> RobotUnitState::Running. More...

virtual void	finishDeviceInitialization ()
	Transition RobotUnitState::InitializingDevices -> RobotUnitState::InitializingUnits. More...

virtual void	finishRunning ()
	Transition RobotUnitState::Running -> RobotUnitState::Exiting. More...

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

std::string	getDefaultName () const override

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

void	icePropertiesInitialized () override

	ModuleBase ()
	Ctor. More...

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. More...

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

PropertyDefinitionsPtr	createPropertyDefinitions () override

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

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

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

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. More...

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. More...

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

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

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

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

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

Friends
class	ControlThreadAttorneyForPublisher
	This class allows minimal access to private members of ControlThread in a sane fashion for Publisher. More...

class	ControlThreadAttorneyForRobotUnitEmergencyStopMaster
	This class allows minimal access to private members of ControlThread in a sane fashion for RobotUnitEmergencyStopMaster. More...

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. More...

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()) More...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

This Module manages the ControlThread.

It offers the basic functions called in the ControlThread.

See also: ModuleBase

Definition at line 83 of file RobotUnitModuleControlThread.h.

Member Enumeration Documentation

◆ SwitchControllerMode

enum SwitchControllerMode

strongprotected

Enumerator

RTThread

This modus is used if the RTThread is supported to control which controllers are running.

(e.g. for Calibrating)

IceRequests

Definition at line 94 of file RobotUnitModuleControlThread.h.

Member Function Documentation

◆ getControlThreadId()

std::thread::id getControlThreadId ( ) const

inline

Teturns he ControlThread's thread id.

Returns: The ControlThread's thread id

See also: controlThreadId

Definition at line 154 of file RobotUnitModuleControlThread.h.

◆ getEmergencyStopState()

EmergencyStopState getEmergencyStopState ( ) const

Returns the ControlThread's target EmergencyStopState.

Returns: The EmergencyStopState

Definition at line 1015 of file RobotUnitModuleControlThread.cpp.

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◆ getRtEmergencyStopState()

EmergencyStopState getRtEmergencyStopState ( ) const

Returns the ControlThread's EmergencyStopState.

Returns: The EmergencyStopState

Definition at line 1023 of file RobotUnitModuleControlThread.cpp.

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◆ Instance()

static ControlThread& Instance ( )

inlinestatic

Returns the singleton instance of this class.

Returns: The singleton instance of this class

Definition at line 110 of file RobotUnitModuleControlThread.h.

◆ rtDeactivateAssignedNJointControllerBecauseOfError()

void rtDeactivateAssignedNJointControllerBecauseOfError ( std::size_t ctrlDevIndex )

protected

Searches for the NJointControllerBase responsible for the given JointController and deactivates it.

Does not commit the new set of activated controllers)

Parameters

ctrlDevIndex The control device index causing the problem.

Definition at line 838 of file RobotUnitModuleControlThread.cpp.

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◆ rtDeactivatedNJointControllerBecauseOfError()

virtual void rtDeactivatedNJointControllerBecauseOfError ( const NJointControllerBasePtr & )

inlineprotectedvirtual

Hook for deriving classes (called AFTER a NJointControllerBase is deactivated due to an error)

This is useful when two Control devices can be controlled by different NJointControllers but either both or none have to be controlled.

Since this hook is called after the controller with an error was deactivated an other call to rtDeactivateAssignedNJointControllerBecauseOfError can't lead to a cyclic execution.

Definition at line 248 of file RobotUnitModuleControlThread.h.

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◆ rtDeactivateNJointControllerBecauseOfError()

void rtDeactivateNJointControllerBecauseOfError ( std::size_t nJointCtrlIndex )

protected

Deactivates a NJointControllerBase and sets all used ControlDevices to EmergencyStop.

Does not commit the new set of activated controllers)

Parameters

nJointCtrlIndex The NJointControllerBase to deactivate (index in controllersActivated)

Definition at line 769 of file RobotUnitModuleControlThread.cpp.

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◆ rtGetControlDevices()

const std::vector< ControlDevicePtr > & rtGetControlDevices ( ) const

protected

Returns all ControlDevices.

Returns: All ControlDevices

Definition at line 894 of file RobotUnitModuleControlThread.cpp.

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◆ rtGetEmergencyStopState()

EmergencyStopState rtGetEmergencyStopState ( ) const

inlineprotected

Returns the ControlThread's emergency stop state.

(This function is for use in the ControlThread)

Returns: The ControlThread's emergency stop state

Definition at line 292 of file RobotUnitModuleControlThread.h.

◆ rtGetRobot()

const VirtualRobot::RobotPtr& rtGetRobot ( ) const

inlineprotected

Returns the simox robot used in the control thread.

Returns: The simox robot used in the control thread

Definition at line 181 of file RobotUnitModuleControlThread.h.

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◆ rtGetSensorDevices()

const std::vector< SensorDevicePtr > & rtGetSensorDevices ( )

protected

Returns all SensorDevices.

Returns: All SensorDevices

Definition at line 900 of file RobotUnitModuleControlThread.cpp.

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◆ rtGetThreadTimingsSensorDevice()

RTThreadTimingsSensorDevice & rtGetThreadTimingsSensorDevice ( )

protected

Returns the RTThreadTimingsSensorDevice.

Returns: The RTThreadTimingsSensorDevice

Definition at line 906 of file RobotUnitModuleControlThread.cpp.

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◆ rtHandleInvalidTargets()

void rtHandleInvalidTargets ( )

protected

Deactivates all NJointControllers generating invalid targets.

Definition at line 511 of file RobotUnitModuleControlThread.cpp.

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◆ rtIsInEmergencyStop()

bool rtIsInEmergencyStop ( ) const

inlineprotected

Returns whether the rt thread is in emergency stop.

(This function is for use in the ControlThread)

Returns: Whether the rt thread is in emergency stop.

Definition at line 282 of file RobotUnitModuleControlThread.h.

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◆ rtPostReadSensorDeviceValues()

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

protectedvirtual

Execute code after updating the sensor values.

Default implementation calculates the inverse dynamics.

Parameters

sensorValuesTimestamp	Timestamp of the current SensorValueBase SensorValues
timeSinceLastIteration	Time between the last two updates of SensorValueBase SensorValues

Definition at line 555 of file RobotUnitModuleControlThread.cpp.

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◆ rtReadSensorDeviceValues()

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

protected

Calls SensorDevice::rtReadSensorValues for all SensorDevices.

Parameters

sensorValuesTimestamp	Timestamp of the current SensorValueBase SensorValues
timeSinceLastIteration	Time between the last two updates of SensorValueBase SensorValues

Definition at line 534 of file RobotUnitModuleControlThread.cpp.

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◆ rtResetAllTargets()

void rtResetAllTargets ( )

protected

Calls JointController::rtResetTarget for all active Joint controllers.

Definition at line 500 of file RobotUnitModuleControlThread.cpp.

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◆ rtRunJointControllers()

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

protected

Runs Joint controllers and writes target values to ControlDevices.

Parameters

sensorValuesTimestamp	Timestamp of the current SensorValueBase SensorValues
timeSinceLastIteration	Time between the last two updates of SensorValueBase SensorValues

Definition at line 568 of file RobotUnitModuleControlThread.cpp.

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◆ rtRunNJointControllers()

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

protected

Runs NJoint controllers.

Parameters

sensorValuesTimestamp	Timestamp of the current SensorValueBase SensorValues
timeSinceLastIteration	Time between the last two updates of SensorValueBase SensorValues

Definition at line 580 of file RobotUnitModuleControlThread.cpp.

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◆ rtSetEmergencyStopState()

void rtSetEmergencyStopState ( EmergencyStopState state )

protected

Set an EmergencyStopState request.

This request will be executed by the Publisher

Parameters

state The EmergencyStopState to set

Definition at line 912 of file RobotUnitModuleControlThread.cpp.

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◆ rtSetJointController()

void rtSetJointController	(	JointController *	c,
		std::size_t	index
	)

protected

Activate a joint controller from the rt loop (only works in switch mode RTThread)

Definition at line 1237 of file RobotUnitModuleControlThread.cpp.

◆ rtSetRobotGlobalPose()

void rtSetRobotGlobalPose	(	const Eigen::Matrix4f &	gp,
		bool	updateRobot = `true`
	)

protected

Definition at line 1231 of file RobotUnitModuleControlThread.cpp.

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◆ rtSwitchControllerSetup()

bool rtSwitchControllerSetup ( SwitchControllerMode mode = SwitchControllerMode::IceRequests )

protected

Changes the set of active controllers.

Changes can be caused by a new set of requested controllers or emergency stop

Returns: Whether active controllers were changed

Definition at line 293 of file RobotUnitModuleControlThread.cpp.

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◆ rtUpdateRobotGlobalPose()

void rtUpdateRobotGlobalPose ( )

protected

Definition at line 1210 of file RobotUnitModuleControlThread.cpp.

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◆ rtUpdateSensorAndControlBuffer()

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

protected

Updates the current SensorValues and ControlTargets for code running outside of the ControlThread.

Parameters

sensorValuesTimestamp	Timestamp of the current SensorValueBase SensorValues
timeSinceLastIteration	Time between the last two updates of SensorValueBase SensorValues

Definition at line 855 of file RobotUnitModuleControlThread.cpp.

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◆ setEmergencyStopState()

void setEmergencyStopState ( EmergencyStopState state )

Sets the EmergencyStopState.

Parameters

state The EmergencyStopState to set

Definition at line 1008 of file RobotUnitModuleControlThread.cpp.

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Friends And Related Function Documentation

◆ ControlThreadAttorneyForPublisher

friend class ControlThreadAttorneyForPublisher

friend

This class allows minimal access to private members of ControlThread in a sane fashion for Publisher.

Warning: !! DO NOT ADD ADDITIONAL FRIENDS IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!

Definition at line 413 of file RobotUnitModuleControlThread.h.

◆ ControlThreadAttorneyForRobotUnitEmergencyStopMaster

friend class ControlThreadAttorneyForRobotUnitEmergencyStopMaster

friend

This class allows minimal access to private members of ControlThread in a sane fashion for RobotUnitEmergencyStopMaster.

Warning: !! DO NOT ADD ADDITIONAL FRIENDS IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!

Definition at line 418 of file RobotUnitModuleControlThread.h.

◆ ModuleBase

friend class ModuleBase

friend

Definition at line 85 of file RobotUnitModuleControlThread.h.

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

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

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ SwitchControllerMode

Member Function Documentation

◆ getControlThreadId()

◆ getEmergencyStopState()

◆ getRtEmergencyStopState()

◆ Instance()

◆ rtDeactivateAssignedNJointControllerBecauseOfError()

◆ rtDeactivatedNJointControllerBecauseOfError()

◆ rtDeactivateNJointControllerBecauseOfError()

◆ rtGetControlDevices()

◆ rtGetEmergencyStopState()

◆ rtGetRobot()

◆ rtGetSensorDevices()

◆ rtGetThreadTimingsSensorDevice()

◆ rtHandleInvalidTargets()

◆ rtIsInEmergencyStop()

◆ rtPostReadSensorDeviceValues()

◆ rtReadSensorDeviceValues()

◆ rtResetAllTargets()

◆ rtRunJointControllers()

◆ rtRunNJointControllers()

◆ rtSetEmergencyStopState()

◆ rtSetJointController()

◆ rtSetRobotGlobalPose()

◆ rtSwitchControllerSetup()

◆ rtUpdateRobotGlobalPose()

◆ rtUpdateSensorAndControlBuffer()

◆ setEmergencyStopState()

Friends And Related Function Documentation

◆ ControlThreadAttorneyForPublisher

◆ ControlThreadAttorneyForRobotUnitEmergencyStopMaster

◆ ModuleBase