NRP - Gazebo Communicator on the NRP side. Converts DataPackInterface classes from/to JSON objects. More...

#include <engine_json_nrp_client.h>

Inheritance diagram for EngineJSONNRPClient< ENGINE, SCHEMA >:

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

	EngineJSONNRPClient (const std::string &serverAddress, nlohmann::json &config, ProcessLauncherInterface::unique_ptr &&launcher)
	Constructor. More...

virtual	~EngineJSONNRPClient () override=default

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

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

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

virtual datapacks_vector_t	getDataPacksFromEngine (const datapack_identifiers_set_t &requestedDataPackIds) override
	Gets requested datapacks from engine. More...

Public Member Functions inherited from EngineClient< ENGINE, SCHEMA >
	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 void	initialize ()=0
	Initialize engine. More...

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

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

Protected Member Functions
nlohmann::json	sendInitCommand (const nlohmann::json &data)
	Send an initialization command. More...

nlohmann::json	sendResetCommand (const nlohmann::json &data)
	Send a reset command. More...

nlohmann::json	sendShutdownCommand (const nlohmann::json &data)
	Send a shutdown command. More...

std::string	waitForRegistration (unsigned int numTries, unsigned int waitTime) const
	Wait for the engine registration server to receive a call from the engine. More...

Protected Member Functions inherited from EngineClient< ENGINE, SCHEMA >
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...

Additional Inherited Members
Public Types inherited from EngineClient< ENGINE, SCHEMA >
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 >

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 EngineJSONNRPClient< ENGINE, SCHEMA >

NRP - Gazebo Communicator on the NRP side. Converts DataPackInterface classes from/to JSON objects.

Template Parameters

ENGINE_INTERFACE Class derived from GeneralInterface. Currently either PhysicsInterface or BrainInterface

Constructor & Destructor Documentation

◆ EngineJSONNRPClient() [1/2]

template<class ENGINE , const char * SCHEMA>

EngineJSONNRPClient< ENGINE, SCHEMA >::EngineJSONNRPClient	(	nlohmann::json &	config,
		ProcessLauncherInterface::unique_ptr &&	launcher
	)

inline

Constructor.

Parameters

config	Engine Config
launcher	Process launcher

◆ EngineJSONNRPClient() [2/2]

template<class ENGINE , const char * SCHEMA>

EngineJSONNRPClient< ENGINE, SCHEMA >::EngineJSONNRPClient	(	const std::string &	serverAddress,
		nlohmann::json &	config,
		ProcessLauncherInterface::unique_ptr &&	launcher
	)

inline

Constructor.

Parameters

serverAddress	Server Address to send requests to
config	Engine Config
launcher	Process launcher

◆ ~EngineJSONNRPClient()

template<class ENGINE , const char * SCHEMA>

virtual EngineJSONNRPClient< ENGINE, SCHEMA >::~EngineJSONNRPClient ( )

overridevirtualdefault

Member Function Documentation

◆ engineProcStartParams()

template<class ENGINE , const char * SCHEMA>

virtual const std::vector<std::string> EngineJSONNRPClient< ENGINE, SCHEMA >::engineProcStartParams ( ) const

inlineoverridevirtual

Get all Engine Process Startup parameters.

Implements EngineClientInterface.

◆ getDataPacksFromEngine()

template<class ENGINE , const char * SCHEMA>

virtual datapacks_vector_t EngineJSONNRPClient< ENGINE, SCHEMA >::getDataPacksFromEngine ( const datapack_identifiers_set_t & datapackIdentifiers )

inlineoverridevirtual

Gets requested datapacks from engine.

Parameters

datapackNames All requested datapack ids

Returns: Returns all requested datapacks

Exceptions

Throws on error

Implements EngineClientInterface.

◆ launchEngine()

template<class ENGINE , const char * SCHEMA>

virtual pid_t EngineJSONNRPClient< ENGINE, SCHEMA >::launchEngine ( )

inlineoverridevirtual

Launch the engine.

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

Reimplemented from EngineClientInterface.

◆ sendDataPacksToEngine()

template<class ENGINE , const char * SCHEMA>

virtual void EngineJSONNRPClient< ENGINE, SCHEMA >::sendDataPacksToEngine ( const datapacks_set_t & dataPacks )

inlineoverridevirtual

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

Implements EngineClientInterface.

◆ sendInitCommand()

template<class ENGINE , const char * SCHEMA>

nlohmann::json EngineJSONNRPClient< ENGINE, SCHEMA >::sendInitCommand ( const nlohmann::json & data )

inlineprotected

Send an initialization command.

Parameters

data	Data that should be passed to the engine

Returns: Returns init data from engine

◆ sendResetCommand()

template<class ENGINE , const char * SCHEMA>

nlohmann::json EngineJSONNRPClient< ENGINE, SCHEMA >::sendResetCommand ( const nlohmann::json & data )

inlineprotected

Send a reset command.

Parameters

data	Data that should be passed to the engine

Returns: Returns reset data from engine

◆ sendShutdownCommand()

template<class ENGINE , const char * SCHEMA>

nlohmann::json EngineJSONNRPClient< ENGINE, SCHEMA >::sendShutdownCommand ( const nlohmann::json & data )

inlineprotected

Send a shutdown command.

Parameters

data	Data that should be passed to the engine

Returns: Returns init data from engine

◆ waitForRegistration()

template<class ENGINE , const char * SCHEMA>

std::string EngineJSONNRPClient< ENGINE, SCHEMA >::waitForRegistration	(	unsigned int	numTries,
		unsigned int	waitTime
	)		const

inlineprotected

Wait for the engine registration server to receive a call from the engine.

Parameters

numTries	Number of times to check the registration server for an address
waitTime	Wait time (in seconds) between checks

Returns: Returns engine server address if present, empty string otherwise

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

nrp_engine_protocols/nrp_json_engine_protocol/nrp_json_engine_protocol/nrp_client/engine_json_nrp_client.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ EngineJSONNRPClient() [1/2]

◆ EngineJSONNRPClient() [2/2]

◆ ~EngineJSONNRPClient()

Member Function Documentation

◆ engineProcStartParams()

◆ getDataPacksFromEngine()

◆ launchEngine()

◆ sendDataPacksToEngine()

◆ sendInitCommand()

◆ sendResetCommand()

◆ sendShutdownCommand()

◆ waitForRegistration()

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