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

#include <gazebo_engine_grpc_nrp_client.h>

Inheritance diagram for GazeboEngineGrpcNRPClient:

Public Member Functions
	GazeboEngineGrpcNRPClient (nlohmann::json &config, ProcessLauncherInterface::unique_ptr &&launcher)

virtual	~GazeboEngineGrpcNRPClient () override=default

virtual void	initialize () override
	Initialize engine. More...

virtual void	reset () override
	Reset engine. More...

virtual void	shutdown () override
	Shutdown engine. More...

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

Public Member Functions inherited from EngineGrpcClient< GazeboEngineGrpcNRPClient, GazeboGrpcConfigConst::EngineSchema >
	EngineGrpcClient (nlohmann::json &config, ProcessLauncherInterface::unique_ptr &&launcher)

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

void	connectToServer ()

void	sendInitializeCommand (const nlohmann::json &data)

void	sendResetCommand ()

void	sendShutdownCommand (const nlohmann::json &data)

SimulationTime	runLoopStepCallback (const SimulationTime timeStep) override
	Executes a single loop step. More...

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

std::string	tryBind (const std::string &address)

void	validateServerAddress ()
	Validates if server address is already in use. More...

const std::string	serverAddress () const
	Returns the address used by the gRPC server. More...

Public Member Functions inherited from EngineClient< GazeboEngineGrpcNRPClient, 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 const std::string	engineName () const =0
	Get Engine Name. More...

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

Additional Inherited Members
Public Types inherited from EngineClient< GazeboEngineGrpcNRPClient, SCHEMA >
using	engine_t = GazeboEngineGrpcNRPClient

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 Member Functions inherited from EngineGrpcClient< GazeboEngineGrpcNRPClient, GazeboGrpcConfigConst::EngineSchema >
void	resetEngineTime () override

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

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

Detailed Description

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

Constructor & Destructor Documentation

◆ GazeboEngineGrpcNRPClient()

GazeboEngineGrpcNRPClient::GazeboEngineGrpcNRPClient	(	nlohmann::json &	config,
		ProcessLauncherInterface::unique_ptr &&	launcher
	)

◆ ~GazeboEngineGrpcNRPClient()

virtual GazeboEngineGrpcNRPClient::~GazeboEngineGrpcNRPClient ( )

overridevirtualdefault

Member Function Documentation

◆ engineProcStartParams()

const std::vector< std::string > GazeboEngineGrpcNRPClient::engineProcStartParams ( ) const

overridevirtual

Get all Engine Process Startup parameters.

Implements EngineClientInterface.

◆ initialize()

void GazeboEngineGrpcNRPClient::initialize ( )

overridevirtual

Initialize engine.

Returns: Returns SUCCESS if no error was encountered

Exceptions

Throws on error

Implements EngineClientInterface.

◆ reset()

void GazeboEngineGrpcNRPClient::reset ( )

overridevirtual

Reset engine.

Returns: Returns SUCCESS if no error was encountered

Exceptions

Throws on error

Implements EngineClientInterface.

◆ shutdown()

void GazeboEngineGrpcNRPClient::shutdown ( )

overridevirtual

Shutdown engine.

Returns: Return SUCCESS if no error was encountered

Exceptions

Throws on error

Implements EngineClientInterface.

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

nrp_gazebo_engines/nrp_gazebo_grpc_engine/nrp_gazebo_grpc_engine/nrp_client/gazebo_engine_grpc_nrp_client.h
nrp_gazebo_engines/nrp_gazebo_grpc_engine/nrp_gazebo_grpc_engine/nrp_client/gazebo_engine_grpc_nrp_client.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GazeboEngineGrpcNRPClient()

◆ ~GazeboEngineGrpcNRPClient()

Member Function Documentation

◆ engineProcStartParams()

◆ initialize()

◆ reset()

◆ shutdown()