Manages communication with the NRP. Uses a REST server to send/receive data. Singleton class. More...

#include <nrp_communication_controller.h>

Inheritance diagram for NRPJSONCommunicationController:

Public Member Functions
	~NRPJSONCommunicationController () override

	NRPJSONCommunicationController (const NRPJSONCommunicationController &other)=delete
	Delete for singleton. More...

NRPJSONCommunicationController &	operator= (const NRPJSONCommunicationController &other)=delete
	Delete for singleton. More...

	NRPJSONCommunicationController (NRPJSONCommunicationController &&other)=delete
	Delete for singleton. More...

NRPJSONCommunicationController &&	operator= (NRPJSONCommunicationController &&other)=delete
	Delete for singleton. 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...

Public Member Functions inherited from EngineJSONServer
	EngineJSONServer (const std::string &engineAddress, const std::string &engineName, const std::string &clientAddress)
	Constructor. Tries to bind to a port and register itself with clientAddress. More...

	EngineJSONServer ()=delete
	No dummy servers without name and address. More...

virtual	~EngineJSONServer ()

	EngineJSONServer (const EngineJSONServer &)=delete

EngineJSONServer &	operator= (const EngineJSONServer &)=delete

bool	isServerRunning () const
	Is the server running? More...

void	startServerAsync ()
	Start the server in asynchronous mode. More...

void	startServer ()
	Start the server synchronously. More...

void	shutdownServer ()
	Stop running server. More...

uint16_t	serverPort () const
	Get running server port. More...

std::string	serverAddress () const
	Get server address. More...

void	registerDataPack (const std::string &datapackName, JsonDataPackController *interface)
	Registers a datapack. More...

void	registerDataPackNoLock (const std::string &datapackName, JsonDataPackController *interface)
	Registers a datapack. Skips locking the mutex. Should only be used if thread-safe access to _datapacksControllers can be guaranteed. More...

bool	shutdownFlag ()
	Has a shutdown command been received? More...

Static Public Member Functions
static NRPJSONCommunicationController &	getInstance ()
	Get singleton instance. More...

static NRPJSONCommunicationController &	resetInstance (const std::string &serverURL, const std::string &engineName, const std::string &registrationURL)
	Reset server with the given server URL. More...

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

Additional Inherited Members
Public Types inherited from EngineJSONServer
using	mutex_t = std::timed_mutex

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

Protected Member Functions inherited from EngineJSONServer
void	clearRegisteredDataPacks ()
	Remove all registered datapacks. More...

virtual nlohmann::json	getDataPackData (const nlohmann::json &reqData)
	Retrieves datapack data. Takes an array of datapack names for which to get data. More...

virtual void	setDataPackData (const nlohmann::json &reqData)
	Set datapack data. More...

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

Protected Attributes inherited from EngineJSONServer
mutex_t	_datapackLock
	Lock access to _datapacks to make execution thread-safe. More...

Static Protected Attributes inherited from EngineJSONServer
static constexpr std::string_view	GetDataPackInformationRoute = EngineJSONConfigConst::EngineServerGetDataPacksRoute

static constexpr std::string_view	SetDataPackRoute = EngineJSONConfigConst::EngineServerSetDataPacksRoute

static constexpr std::string_view	RunLoopStepRoute = EngineJSONConfigConst::EngineServerRunLoopStepRoute

static constexpr std::string_view	InitializeRoute = EngineJSONConfigConst::EngineServerInitializeRoute

static constexpr std::string_view	ResetRoute = EngineJSONConfigConst::EngineServerResetRoute

static constexpr std::string_view	ShutdownRoute = EngineJSONConfigConst::EngineServerShutdownRoute

Detailed Description

Manages communication with the NRP. Uses a REST server to send/receive data. Singleton class.

Constructor & Destructor Documentation

◆ ~NRPJSONCommunicationController()

NRPJSONCommunicationController::~NRPJSONCommunicationController ( )

override

◆ NRPJSONCommunicationController() [1/2]

NRPJSONCommunicationController::NRPJSONCommunicationController ( const NRPJSONCommunicationController & other )

delete

Delete for singleton.

◆ NRPJSONCommunicationController() [2/2]

NRPJSONCommunicationController::NRPJSONCommunicationController ( NRPJSONCommunicationController && other )

delete

Delete for singleton.

Member Function Documentation

◆ createDataPackName()

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

inlinestatic

Create datapack name from the given model 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

◆ getInstance()

NRPJSONCommunicationController & NRPJSONCommunicationController::getInstance ( )

static

Get singleton instance.

Returns: Gets instance of NRPJSONCommunicationController

◆ operator=() [1/2]

NRPJSONCommunicationController& NRPJSONCommunicationController::operator= ( const NRPJSONCommunicationController & other )

delete

Delete for singleton.

◆ operator=() [2/2]

NRPJSONCommunicationController&& NRPJSONCommunicationController::operator= ( NRPJSONCommunicationController && other )

delete

Delete for singleton.

◆ registerModelPlugin()

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

inline

Register a model plugin.

Parameters

sensorPlugin Pointer to model plugin

◆ registerSensorPlugin()

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

inline

Register a sensor plugin.

Parameters

sensorPlugin Pointer to sensor plugin

◆ registerStepController()

void NRPJSONCommunicationController::registerStepController ( GazeboStepController * stepController )

Register a step controller.

Parameters

stepController Pointer to step controller

◆ resetInstance()

NRPJSONCommunicationController & NRPJSONCommunicationController::resetInstance	(	const std::string &	serverURL,
		const std::string &	engineName,
		const std::string &	registrationURL
	)

static

Reset server with the given server URL.

Parameters

serverURL	URL used by server
engineName	Name of this engine
registrationURL	URL used to register this engine server's URL

Returns: Returns reference to server instance

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

nrp_gazebo_engines/nrp_gazebo_json_engine/nrp_gazebo_json_engine/engine_server/nrp_communication_controller.h
nrp_gazebo_engines/nrp_gazebo_json_engine/nrp_gazebo_json_engine/engine_server/nrp_communication_controller.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~NRPJSONCommunicationController()

◆ NRPJSONCommunicationController() [1/2]

◆ NRPJSONCommunicationController() [2/2]

Member Function Documentation

◆ createDataPackName()

◆ getInstance()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ registerModelPlugin()

◆ registerSensorPlugin()

◆ registerStepController()

◆ resetInstance()