Manages communication with the NRP. More...

#include <nrp_communication_controller.h>

Inheritance diagram for NRPGazeboCommunicationController:

Public Types
using	mutex_t = std::timed_mutex

using	lock_t = std::unique_lock< NRPGazeboCommunicationController::mutex_t >

Public Types inherited from EngineProtoWrapper
using	mutex_t = std::timed_mutex

using	lock_t = std::unique_lock< EngineProtoWrapper::mutex_t >

Public Member Functions
	NRPGazeboCommunicationController (const std::string &engineName, const std::string &protobufPluginsPath, const nlohmann::json &protobufPlugins)

void	registerDataPackWithLock (const std::string &datapackName, ProtoDataPackController *interface)
	Registers a datapack controller locking the datapack mutex. More...

void	registerStepController (GazeboStepController *stepController)
	Register a step controller. More...

void	registerSensorPlugin (gazebo::SensorPlugin *sensorPlugin)
	Register a sensor plugin. More...

void	registerModelPlugin (gazebo::ModelPlugin *modelPlugin)
	Register a model plugin. More...

SimulationTime	runLoopStep (SimulationTime timeStep) override
	Runs a single simulation loop step. More...

void	initialize (const nlohmann::json &data) override
	Initializes the simulation. More...

void	reset () override
	Resets the simulation. More...

void	shutdown () override
	Shutdowns the simulation. More...

bool	initRunFlag () const override
	Indicates if the simulation was initialized and is running. More...

bool	shutdownFlag () const override
	Indicates if shutdown was requested by the client. More...

Public Member Functions inherited from EngineProtoWrapper
	EngineProtoWrapper ()=delete
	No dummy wrappers, only those with name. More...

	EngineProtoWrapper (const std::string &engineName, const std::string &protobufPluginsPath, const nlohmann::json &protobufPlugins)
	Constructor. More...

virtual	~EngineProtoWrapper ()=default
	Destructor. More...

void	registerDataPack (const std::string &datapackName, ProtoDataPackController *interface)
	Registers a datapack controller with the given name in the engine. More...

unsigned	getNumRegisteredDataPacks ()

std::vector< std::string >	getNamesRegisteredDataPacks ()
	Get the names of registered datapacks. More...

const std::string &	getEngineName ()
	Get the Engine name. More...

void	setDataPacks (const EngineGrpc::SetDataPacksRequest &data)

void	setDataPack (const EngineGrpc::DataPackMessage &dataPack)

std::unique_ptr< gpb::Message >	unpackFromAny (const gpb::Any &data)

virtual void	getDataPacks (const EngineGrpc::GetDataPacksRequest &request, EngineGrpc::GetDataPacksReply *reply)

bool	getDataPack (const std::string &name, EngineGrpc::DataPackMessage *dpMsg)

void	setDataPackMessageData (gpb::Message data, EngineGrpc::DataPackMessage dpMsg)

Static Public Member Functions
static std::string	createDataPackName (const std::string &modelName, const std::string &objectName)
	Create datapack name from the given plugin and sensor/joint/link. More...

Additional Inherited Members
Protected Member Functions inherited from EngineProtoWrapper
void	clearRegisteredDataPacks ()

ProtoDataPackController *	getDataPackController (const std::string &datapackName)
	Returns the pointer to the DataPackController of the Data Pack with the specified name. More...

Protected Attributes inherited from EngineProtoWrapper
bool	_handleDataPackMessage = false
	If true controllers are sent incoming DataPackMessages, if false only the contained data. More...

std::vector< std::unique_ptr< protobuf_ops::NRPProtobufOpsIface > >	_protoOps

std::string	_protoOpsStr = ""

Detailed Description

Manages communication with the NRP.

Implementation of EngineProtoWrapper to manage a Gazebo Engine

Member Typedef Documentation

◆ lock_t

using NRPGazeboCommunicationController::lock_t = std::unique_lock<NRPGazeboCommunicationController::mutex_t>

◆ mutex_t

using NRPGazeboCommunicationController::mutex_t = std::timed_mutex

Constructor & Destructor Documentation

◆ NRPGazeboCommunicationController()

NRPGazeboCommunicationController::NRPGazeboCommunicationController	(	const std::string &	engineName,
		const std::string &	protobufPluginsPath,
		const nlohmann::json &	protobufPlugins
	)

Member Function Documentation

◆ createDataPackName()

static std::string NRPGazeboCommunicationController::createDataPackName	(	const std::string &	modelName,
		const std::string &	objectName
	)

inlinestatic

Create datapack name from the given plugin and sensor/joint/link.

Parameters

modelName	Name of the parent model of the controlled object
objectName	Name of the controlled object (sensor, joint, link, ...)

Returns: Returns datapack name

◆ initialize()

void NRPGazeboCommunicationController::initialize ( const nlohmann::json & data )

overridevirtual

Initializes the simulation.

Parameters

[in]	data	Simulation configuration data
[in]	datapackLock	???

Implements EngineProtoWrapper.

◆ initRunFlag()

bool NRPGazeboCommunicationController::initRunFlag ( ) const

inlineoverridevirtual

Indicates if the simulation was initialized and is running.

Implements EngineProtoWrapper.

◆ registerDataPackWithLock()

void NRPGazeboCommunicationController::registerDataPackWithLock	(	const std::string &	datapackName,
		ProtoDataPackController *	interface
	)

inline

Registers a datapack controller locking the datapack mutex.

Parameters

[in]	datapackName	Name of the datapack to be registered
[in]	datapackController	Pointer to the datapack controller object that's supposed to be registered in the engine

◆ registerModelPlugin()

void NRPGazeboCommunicationController::registerModelPlugin ( gazebo::ModelPlugin * modelPlugin )

inline

Register a model plugin.

Parameters

sensorPlugin Pointer to model plugin

◆ registerSensorPlugin()

void NRPGazeboCommunicationController::registerSensorPlugin ( gazebo::SensorPlugin * sensorPlugin )

inline

Register a sensor plugin.

Parameters

sensorPlugin Pointer to sensor plugin

◆ registerStepController()

void NRPGazeboCommunicationController::registerStepController ( GazeboStepController * stepController )

Register a step controller.

Parameters

stepController Pointer to step controller

◆ reset()

void NRPGazeboCommunicationController::reset ( )

overridevirtual

Resets the simulation.

Implements EngineProtoWrapper.

◆ runLoopStep()

SimulationTime NRPGazeboCommunicationController::runLoopStep ( SimulationTime timeStep )

overridevirtual

Runs a single simulation loop step.

Parameters

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

Returns: Engine time after running the step

Implements EngineProtoWrapper.

◆ shutdown()

void NRPGazeboCommunicationController::shutdown ( )

overridevirtual

Shutdowns the simulation.

Implements EngineProtoWrapper.

◆ shutdownFlag()

bool NRPGazeboCommunicationController::shutdownFlag ( ) const

inlineoverridevirtual

Indicates if shutdown was requested by the client.

Implements EngineProtoWrapper.

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

nrp_gazebo_engines/nrp_gazebo_grpc_engine/nrp_gazebo_grpc_engine/engine_server/nrp_communication_controller.h
nrp_gazebo_engines/nrp_gazebo_grpc_engine/nrp_gazebo_grpc_engine/engine_server/nrp_communication_controller.cpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ lock_t

◆ mutex_t

Constructor & Destructor Documentation

◆ NRPGazeboCommunicationController()

Member Function Documentation

◆ createDataPackName()

◆ initialize()

◆ initRunFlag()

◆ registerDataPackWithLock()

◆ registerModelPlugin()

◆ registerSensorPlugin()

◆ registerStepController()

◆ reset()

◆ runLoopStep()

◆ shutdown()

◆ shutdownFlag()