Base class for all Engines. More...

#include <engine_client_interface.h>

Inheritance diagram for EngineClient< ENGINE, SCHEMA >:

Classes
class	EngineLauncher
	Class for launching engine. More...

Public Types
using	engine_t = ENGINE

Public Types inherited from PtrTemplates< EngineClientInterface >
using	shared_ptr = std::shared_ptr< EngineClientInterface >

using	const_shared_ptr = std::shared_ptr< const EngineClientInterface >

using	unique_ptr = std::unique_ptr< EngineClientInterface >

using	const_unique_ptr = std::unique_ptr< const EngineClientInterface >

Public Member Functions
	EngineClient (nlohmann::json &engineConfig, ProcessLauncherInterface::unique_ptr &&launcher)
	Constructor. More...

	~EngineClient () override=default

const std::string	engineName () const override final
	Get Engine Name. More...

SimulationTime	getEngineTimestep () const override final
	Get engine timestep. More...

const nlohmann::json &	engineConfig () const override final
	Get Engine Configuration. More...

nlohmann::json &	engineConfig () override final
	Get Engine Configuration. More...

const std::string	engineSchema () const override final
	Get json schema for this engine type. More...

SimulationTime	getEngineTime () const override
	Returns current engine (simulation) time. More...

void	runLoopStepAsync (SimulationTime timeStep) override
	Concrete implementation of EngineClientInterface::runLoopStepAsync() More...

void	runLoopStepAsyncGet (SimulationTime timeOut) override
	Concrete implementation of EngineClientInterface::runLoopStepAsyncGet() More...

Public Member Functions inherited from EngineClientInterface
	EngineClientInterface (ProcessLauncherInterface::unique_ptr &&launcher)

virtual	~EngineClientInterface ()

virtual const std::vector< std::string >	engineProcStartParams () const =0
	Get all Engine Process Startup parameters. More...

virtual pid_t	launchEngine ()
	Launch the engine. More...

virtual void	initialize ()=0
	Initialize engine. More...

virtual void	reset ()=0
	Reset engine. More...

virtual void	shutdown ()=0
	Shutdown engine. More...

virtual void	sendDataPacksToEngine (const datapacks_set_t &dataPacks)=0
	Sends datapacks to engine. More...

virtual datapacks_vector_t	getDataPacksFromEngine (const datapack_identifiers_set_t &datapackIdentifiers)=0
	Gets requested datapacks from engine. More...

Protected Member Functions
virtual void	resetEngineTime ()

template<class T >
void	setDefaultProperty (std::string key, T value)
	Attempts to set a default value for a property in the engine configuration. If the property has been already set either in the engine configuration file or from the engine schema, its value is not overwritten. More...

virtual SimulationTime	runLoopStepCallback (SimulationTime timeStep)=0
	Executes a single loop step. More...

Additional Inherited Members
Protected Attributes inherited from EngineClientInterface
ProcessLauncherInterface::unique_ptr	_process
	Process Launcher. Will be used to stop process at end. More...

Detailed Description

template<class ENGINE, const char * SCHEMA>
class EngineClient< ENGINE, SCHEMA >

Base class for all Engines.

Template Parameters

ENGINE Final derived engine class

Member Typedef Documentation

◆ engine_t

template<class ENGINE , const char * SCHEMA>

using EngineClient< ENGINE, SCHEMA >::engine_t = ENGINE

Constructor & Destructor Documentation

◆ EngineClient()

template<class ENGINE , const char * SCHEMA>

EngineClient< ENGINE, SCHEMA >::EngineClient	(	nlohmann::json &	engineConfig,
		ProcessLauncherInterface::unique_ptr &&	launcher
	)

inline

Constructor.

Parameters

engineConfig	Engine Configuration
launcher	Process Forker

◆ ~EngineClient()

template<class ENGINE , const char * SCHEMA>

EngineClient< ENGINE, SCHEMA >::~EngineClient ( )

overridedefault

Member Function Documentation

◆ engineConfig() [1/2]

template<class ENGINE , const char * SCHEMA>

const nlohmann::json& EngineClient< ENGINE, SCHEMA >::engineConfig ( ) const

inlinefinaloverridevirtual

Get Engine Configuration.

Implements EngineClientInterface.

◆ engineConfig() [2/2]

template<class ENGINE , const char * SCHEMA>

nlohmann::json& EngineClient< ENGINE, SCHEMA >::engineConfig ( )

inlinefinaloverridevirtual

Get Engine Configuration.

Implements EngineClientInterface.

◆ engineName()

template<class ENGINE , const char * SCHEMA>

const std::string EngineClient< ENGINE, SCHEMA >::engineName ( ) const

inlinefinaloverridevirtual

Get Engine Name.

Returns: Returns engine name

Implements EngineClientInterface.

◆ engineSchema()

template<class ENGINE , const char * SCHEMA>

const std::string EngineClient< ENGINE, SCHEMA >::engineSchema ( ) const

inlinefinaloverridevirtual

Get json schema for this engine type.

Implements EngineClientInterface.

◆ getEngineTime()

template<class ENGINE , const char * SCHEMA>

SimulationTime EngineClient< ENGINE, SCHEMA >::getEngineTime ( ) const

inlineoverridevirtual

Returns current engine (simulation) time.

The time is updated by EngineClient::runLoopStepAsyncGet() method.

Returns: Current engine (simulation) time

Implements EngineClientInterface.

◆ getEngineTimestep()

template<class ENGINE , const char * SCHEMA>

SimulationTime EngineClient< ENGINE, SCHEMA >::getEngineTimestep ( ) const

inlinefinaloverridevirtual

Get engine timestep.

Exceptions

Throws on error

Implements EngineClientInterface.

◆ resetEngineTime()

template<class ENGINE , const char * SCHEMA>

virtual void EngineClient< ENGINE, SCHEMA >::resetEngineTime ( )

inlineprotectedvirtual

Reimplemented in EngineGrpcClient< ENGINE, SCHEMA >, EngineGrpcClient< PythonEngineGRPCNRPClient, PythonGrpcConfigConst::EngineSchema >, and EngineGrpcClient< GazeboEngineGrpcNRPClient, GazeboGrpcConfigConst::EngineSchema >.

◆ runLoopStepAsync()

template<class ENGINE , const char * SCHEMA>

void EngineClient< ENGINE, SCHEMA >::runLoopStepAsync ( SimulationTime timeStep )

inlineoverridevirtual

Concrete implementation of EngineClientInterface::runLoopStepAsync()

The function starts EngineClient::runLoopStepCallback() asynchronously using std::async. The callback function should be provided by concrete engine implementation. The result of the callback is going to be retrieved using an std::future object in EngineClient::runLoopStepAsyncGet().

Parameters

[in] timeStep Requested duration of the simulation loop step.

Exceptions

NRPException If the future object is still valid (EngineClient::runLoopStepAsyncGet() was not called)

Implements EngineClientInterface.

◆ runLoopStepAsyncGet()

template<class ENGINE , const char * SCHEMA>

void EngineClient< ENGINE, SCHEMA >::runLoopStepAsyncGet ( SimulationTime timeOut )

inlineoverridevirtual

Concrete implementation of EngineClientInterface::runLoopStepAsyncGet()

The function should be called after EngineClient::runLoopStepAsync(). It will wait for the worker thread to finish and retrieve the results from the future object. The value returned by the future should be the simulation (engine) time after running the loop step. It will be saved in the engine object, and can be accessed with EngineClient::getEngineTime().

Parameters

[in] timeOut Timeout of the loop step. If it's less or equal to 0, the function will wait indefinitely.

Exceptions

NRPException On timeout

Implements EngineClientInterface.

◆ runLoopStepCallback()

template<class ENGINE , const char * SCHEMA>

virtual SimulationTime EngineClient< ENGINE, SCHEMA >::runLoopStepCallback ( SimulationTime timeStep )

protectedpure virtual

Executes a single loop step.

This function is going to be called by runLoopStep using std::async. It will be executed by a worker thread, which allows for runLoopStepFunction from multiple engines to run simultaneously.

Parameters

[in] timeStep A time step by which the simulation should be advanced

Returns: Engine time after loop step execution

Implemented in NestEngineServerNRPClient, EngineGrpcClient< ENGINE, SCHEMA >, EngineGrpcClient< PythonEngineGRPCNRPClient, PythonGrpcConfigConst::EngineSchema >, and EngineGrpcClient< GazeboEngineGrpcNRPClient, GazeboGrpcConfigConst::EngineSchema >.

◆ setDefaultProperty()

template<class ENGINE , const char * SCHEMA>

template<class T >

void EngineClient< ENGINE, SCHEMA >::setDefaultProperty	(	std::string	key,
		T	value
	)

inlineprotected

Attempts to set a default value for a property in the engine configuration. If the property has been already set either in the engine configuration file or from the engine schema, its value is not overwritten.

Parameters

key	Name of the property to be set
value	Default value to set

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

nrp_general_library/nrp_general_library/engine_interfaces/engine_client_interface.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<class ENGINE, const char * SCHEMA> class EngineClient< ENGINE, SCHEMA >

Member Typedef Documentation

◆ engine_t

Constructor & Destructor Documentation

◆ EngineClient()

◆ ~EngineClient()

Member Function Documentation

◆ engineConfig() [1/2]

◆ engineConfig() [2/2]

◆ engineName()

◆ engineSchema()

◆ getEngineTime()

◆ getEngineTimestep()

◆ resetEngineTime()

◆ runLoopStepAsync()

◆ runLoopStepAsyncGet()

◆ runLoopStepCallback()

◆ setDefaultProperty()

template<class ENGINE, const char * SCHEMA>
class EngineClient< ENGINE, SCHEMA >