Interface to engines. More...

#include <engine_client_interface.h>

Inheritance diagram for EngineClientInterface:

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

virtual	~EngineClientInterface ()

virtual const std::string	engineName () const =0
	Get Engine Name. More...

virtual const nlohmann::json &	engineConfig () const =0
	Get engine config data. More...

virtual nlohmann::json &	engineConfig ()=0
	Get engine config data. More...

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 SimulationTime	getEngineTimestep () const =0
	Get engine timestep. More...

virtual SimulationTime	getEngineTime () const =0
	Get current engine time. More...

virtual const std::string	engineSchema () const =0
	Get json schema for this specific engine type. More...

virtual void	runLoopStepAsync (SimulationTime timeStep)=0
	Starts a single loop step in a separate thread. More...

virtual void	runLoopStepAsyncGet (SimulationTime timeOut)=0
	Waits and gets the results of the loop step started by EngineClientInterface::runLoopStepAsync() 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 Attributes
ProcessLauncherInterface::unique_ptr	_process
	Process Launcher. Will be used to stop process at end. More...

Additional Inherited Members
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 >

Detailed Description

Interface to engines.

Constructor & Destructor Documentation

◆ EngineClientInterface()

EngineClientInterface::EngineClientInterface ( ProcessLauncherInterface::unique_ptr && launcher )

explicit

◆ ~EngineClientInterface()

EngineClientInterface::~EngineClientInterface ( )

virtualdefault

Member Function Documentation

◆ engineConfig() [1/2]

virtual const nlohmann::json& EngineClientInterface::engineConfig ( ) const

pure virtual

Get engine config data.

Implemented in EngineClient< ENGINE, SCHEMA >.

◆ engineConfig() [2/2]

virtual nlohmann::json& EngineClientInterface::engineConfig ( )

pure virtual

Get engine config data.

◆ engineName()

virtual const std::string EngineClientInterface::engineName ( ) const

pure virtual

Get Engine Name.

Returns: Returns engine name

Implemented in EngineClient< ENGINE, SCHEMA >.

◆ engineProcStartParams()

virtual const std::vector<std::string> EngineClientInterface::engineProcStartParams ( ) const

pure virtual

Get all Engine Process Startup parameters.

Implemented in EngineGrpcClient< ENGINE, SCHEMA >, EngineJSONNRPClient< ENGINE, SCHEMA >, PythonEngineGRPCNRPClient, NestEngineServerNRPClient, GazeboEngineGrpcNRPClient, and GazeboEngineJSONNRPClient.

◆ engineSchema()

virtual const std::string EngineClientInterface::engineSchema ( ) const

pure virtual

Get json schema for this specific engine type.

Returns: Returns URI of engine schema

Exceptions

Throws on error

Implemented in EngineClient< ENGINE, SCHEMA >.

◆ getDataPacksFromEngine()

virtual datapacks_vector_t EngineClientInterface::getDataPacksFromEngine ( const datapack_identifiers_set_t & datapackIdentifiers )

pure virtual

Gets requested datapacks from engine.

Parameters

datapackNames All requested datapack ids

Returns: Returns all requested datapacks

Exceptions

Throws on error

Implemented in EngineGrpcClient< ENGINE, SCHEMA >, EngineGrpcClient< PythonEngineGRPCNRPClient, PythonGrpcConfigConst::EngineSchema >, EngineGrpcClient< GazeboEngineGrpcNRPClient, GazeboGrpcConfigConst::EngineSchema >, EngineJSONNRPClient< ENGINE, SCHEMA >, EngineJSONNRPClient< NestEngineJSONNRPClient, NestConfigConst::EngineSchema >, EngineJSONNRPClient< PySimNRPClient, SCHEMA >, EngineJSONNRPClient< PythonEngineJSONNRPClient, SCHEMA >, EngineJSONNRPClient< GazeboEngineJSONNRPClient, GazeboJSONConfigConst::EngineSchema >, and NestEngineServerNRPClient.

◆ getEngineTime()

virtual SimulationTime EngineClientInterface::getEngineTime ( ) const

pure virtual

Get current engine time.

Returns: Returns engine time

Implemented in EngineClient< ENGINE, SCHEMA >.

◆ getEngineTimestep()

virtual SimulationTime EngineClientInterface::getEngineTimestep ( ) const

pure virtual

Get engine timestep.

Exceptions

Throws on error

Implemented in EngineClient< ENGINE, SCHEMA >.

◆ initialize()

virtual void EngineClientInterface::initialize ( )

pure virtual

Initialize engine.

Returns: Returns SUCCESS if no error was encountered

Exceptions

Throws on error

Implemented in PythonEngineJSONNRPClientBase< ENGINE, SCHEMA >, PythonEngineGRPCNRPClient, PythonEngineJSONNRPClientBase< PythonEngineJSONNRPClient, PythonConfigConst::EngineSchema >, PythonEngineJSONNRPClientBase< PySimNRPClient, PySimConfigConst::EngineSchema >, NestEngineServerNRPClient, NestEngineJSONNRPClient, GazeboEngineGrpcNRPClient, and GazeboEngineJSONNRPClient.

◆ launchEngine()

pid_t EngineClientInterface::launchEngine ( )

virtual

Launch the engine.

Returns: Returns engine process ID on success, throws on failure

Reimplemented in EngineGrpcClient< ENGINE, SCHEMA >, EngineGrpcClient< PythonEngineGRPCNRPClient, PythonGrpcConfigConst::EngineSchema >, EngineGrpcClient< GazeboEngineGrpcNRPClient, GazeboGrpcConfigConst::EngineSchema >, EngineJSONNRPClient< ENGINE, SCHEMA >, EngineJSONNRPClient< NestEngineJSONNRPClient, NestConfigConst::EngineSchema >, EngineJSONNRPClient< PySimNRPClient, SCHEMA >, EngineJSONNRPClient< PythonEngineJSONNRPClient, SCHEMA >, and EngineJSONNRPClient< GazeboEngineJSONNRPClient, GazeboJSONConfigConst::EngineSchema >.

◆ reset()

virtual void EngineClientInterface::reset ( )

pure virtual

Reset engine.

Returns: Returns SUCCESS if no error was encountered

Exceptions

Throws on error

Implemented in PythonEngineJSONNRPClientBase< ENGINE, SCHEMA >, PythonEngineGRPCNRPClient, PythonEngineJSONNRPClientBase< PythonEngineJSONNRPClient, PythonConfigConst::EngineSchema >, PythonEngineJSONNRPClientBase< PySimNRPClient, PySimConfigConst::EngineSchema >, NestEngineServerNRPClient, NestEngineJSONNRPClient, GazeboEngineGrpcNRPClient, and GazeboEngineJSONNRPClient.

◆ runLoopStepAsync()

virtual void EngineClientInterface::runLoopStepAsync ( SimulationTime timeStep )

pure virtual

Starts a single loop step in a separate thread.

The function should be called in tandem with EngineClientInterface::runLoopStepAsyncGet(), which will join the worker thread and retrieve the results of the loop step.

Parameters

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

Implemented in EngineClient< ENGINE, SCHEMA >, EngineClient< PySimNRPClient, SCHEMA >, EngineClient< GazeboEngineGrpcNRPClient, SCHEMA >, EngineClient< NestEngineJSONNRPClient, SCHEMA >, EngineClient< NestEngineServerNRPClient, NestServerConfigConst::EngineSchema >, EngineClient< GazeboEngineJSONNRPClient, SCHEMA >, EngineClient< PythonEngineJSONNRPClient, SCHEMA >, and EngineClient< PythonEngineGRPCNRPClient, SCHEMA >.

◆ runLoopStepAsyncGet()

virtual void EngineClientInterface::runLoopStepAsyncGet ( SimulationTime timeOut )

pure virtual

Waits and gets the results of the loop step started by EngineClientInterface::runLoopStepAsync()

The function should be called after calling EngineClientInterface::runLoopStepAsync(). It should join the worker thread and retrieve the results of the loop step.

Parameters

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

Implemented in EngineClient< ENGINE, SCHEMA >, EngineClient< PySimNRPClient, SCHEMA >, EngineClient< GazeboEngineGrpcNRPClient, SCHEMA >, EngineClient< NestEngineJSONNRPClient, SCHEMA >, EngineClient< NestEngineServerNRPClient, NestServerConfigConst::EngineSchema >, EngineClient< GazeboEngineJSONNRPClient, SCHEMA >, EngineClient< PythonEngineJSONNRPClient, SCHEMA >, and EngineClient< PythonEngineGRPCNRPClient, SCHEMA >.

◆ sendDataPacksToEngine()

virtual void EngineClientInterface::sendDataPacksToEngine ( const datapacks_set_t & dataPacks )

pure virtual

Sends datapacks to engine.

Parameters

datapacksArray Array of datapacks that will be send to the engine

Returns: Returns SUCCESS if all datapacks could be handles, ERROR otherwise

Exceptions

Throws on error

Implemented in NestEngineServerNRPClient, EngineGrpcClient< ENGINE, SCHEMA >, EngineGrpcClient< PythonEngineGRPCNRPClient, PythonGrpcConfigConst::EngineSchema >, EngineGrpcClient< GazeboEngineGrpcNRPClient, GazeboGrpcConfigConst::EngineSchema >, EngineJSONNRPClient< ENGINE, SCHEMA >, EngineJSONNRPClient< NestEngineJSONNRPClient, NestConfigConst::EngineSchema >, EngineJSONNRPClient< PySimNRPClient, SCHEMA >, EngineJSONNRPClient< PythonEngineJSONNRPClient, SCHEMA >, and EngineJSONNRPClient< GazeboEngineJSONNRPClient, GazeboJSONConfigConst::EngineSchema >.

◆ shutdown()

virtual void EngineClientInterface::shutdown ( )

pure virtual

Shutdown engine.

Returns: Return SUCCESS if no error was encountered

Exceptions

Throws on error

Implemented in PythonEngineJSONNRPClientBase< ENGINE, SCHEMA >, PythonEngineJSONNRPClientBase< PythonEngineJSONNRPClient, PythonConfigConst::EngineSchema >, PythonEngineJSONNRPClientBase< PySimNRPClient, PySimConfigConst::EngineSchema >, PythonEngineGRPCNRPClient, NestEngineServerNRPClient, NestEngineJSONNRPClient, GazeboEngineGrpcNRPClient, and GazeboEngineJSONNRPClient.

Member Data Documentation

◆ _process

ProcessLauncherInterface::unique_ptr EngineClientInterface::_process

protected

Process Launcher. Will be used to stop process at end.

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

nrp_general_library/nrp_general_library/engine_interfaces/engine_client_interface.h
nrp_general_library/nrp_general_library/engine_interfaces/engine_client_interface.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EngineClientInterface()

◆ ~EngineClientInterface()

Member Function Documentation

◆ engineConfig() [1/2]

◆ engineConfig() [2/2]

◆ engineName()

◆ engineProcStartParams()

◆ engineSchema()

◆ getDataPacksFromEngine()

◆ getEngineTime()

◆ getEngineTimestep()

◆ initialize()

◆ launchEngine()

◆ reset()

◆ runLoopStepAsync()

◆ runLoopStepAsyncGet()

◆ sendDataPacksToEngine()

◆ shutdown()

Member Data Documentation

◆ _process