"ControllerManagerInterface" declares the interfaces for all controller operations that are used for the communication between the simulation modules. More...

#include <ControllerManagerInterface.h>

Public Member Functions
virtual	~ControllerManagerInterface ()
	Destructor. More...

virtual void	getListController (std::vector< core_objects_exchange > *controllerList) const =0
	Gives information about core exchange data for controllers. More...

virtual int	getControllerCount (void) const =0
	Returns the number of controllers that are currently present in the simulation. More...

virtual const ControllerData	getFullController (unsigned long index) const =0
	Gives all information of a certain controller. More...

virtual void	removeController (unsigned long index)=0
	Removes a controller from the simulation. More...

virtual void	setControllerAutoMode (unsigned long id, bool mode)=0
	Sets the mode of the controller with the given id. More...

virtual void	setControllerIP (unsigned long id, const std::string &ip)=0
	Sets the IP of the controller with the given id. More...

virtual void	setControllerPort (unsigned long id, int port)=0
	Sets the port of the controller with the given id. More...

virtual bool	getControllerAutoMode (unsigned long id) const =0
	Gets the mode of the controller with the given id. More...

virtual const std::string	getControllerIP (unsigned long id) const =0
	Gets the IP of the controller with the given id. More...

virtual int	getControllerPort (unsigned long id) const =0
	Gets the port of the controller with the given id. More...

virtual void	connectController (unsigned long id)=0
	Connects the controller with the given id. More...

virtual void	disconnectController (unsigned long id)=0
	Disconnects the controller with the given id. More...

virtual void	updateControllers (double calc_ms)=0
	This function updates all controllers with timing value `calc_ms` in miliseconds. More...

virtual void	resetControllerData (void)=0
	Resets the data of all controllers. More...

virtual void	clearAllControllers (void)=0
	Destroys all controllers in the simulation. More...

virtual void	handleError (void)=0

virtual unsigned long	addController (const ControllerData &controllerData)=0
	Add a controller to the simulation. More...

virtual void	setDefaultPort (int port)=0
	Sets the default port, with which all controllers are created. More...

virtual int	getDefaultPort (void) const =0
	Gets the default port, with which all controllers are created. More...

virtual bool	isLoadingAllowed (void) const =0
	Checks weather adding new controllers is allowed. More...

virtual void	setLoadingAllowed (bool allowed)=0
	Allows or forbids adding new controllers. More...

virtual std::list< sReal >	getSensorValues (unsigned long id)=0

Detailed Description

"ControllerManagerInterface" declares the interfaces for all controller operations that are used for the communication between the simulation modules.

The class defines only pure virtual functions that are implemented within the simulation and can be used everywhere by accessing this interface via the ControlCenter class.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of the functions is only guaranteed by calling it within the main thread (update callback from gui_thread).

Definition at line 61 of file ControllerManagerInterface.h.

Constructor & Destructor Documentation

◆ ~ControllerManagerInterface()

virtual mars::interfaces::ControllerManagerInterface::~ControllerManagerInterface ( )

inlinevirtual

Destructor.

Definition at line 67 of file ControllerManagerInterface.h.

Member Function Documentation

◆ addController()

virtual unsigned long mars::interfaces::ControllerManagerInterface::addController ( const ControllerData & controllerData )

pure virtual

Add a controller to the simulation.

Returns: The id of the newly added controller.

Implemented in mars::sim::ControllerManager.

◆ clearAllControllers()

virtual void mars::interfaces::ControllerManagerInterface::clearAllControllers ( void )

pure virtual

Destroys all controllers in the simulation.

Implemented in mars::sim::ControllerManager.

◆ connectController()

virtual void mars::interfaces::ControllerManagerInterface::connectController ( unsigned long id )

pure virtual

Connects the controller with the given id.

Parameters

id	The id of the controller that is to be connected.

Implemented in mars::sim::ControllerManager.

◆ disconnectController()

virtual void mars::interfaces::ControllerManagerInterface::disconnectController ( unsigned long id )

pure virtual

Disconnects the controller with the given id.

Parameters

id	The id of the controller that is to be disconnected.

Implemented in mars::sim::ControllerManager.

◆ getControllerAutoMode()

virtual bool mars::interfaces::ControllerManagerInterface::getControllerAutoMode ( unsigned long id ) const

pure virtual

Gets the mode of the controller with the given id.

Parameters

id	The id of the controller whose mode is needed.

Returns: The mode of the controller with the given id.

Implemented in mars::sim::ControllerManager.

◆ getControllerCount()

virtual int mars::interfaces::ControllerManagerInterface::getControllerCount ( void ) const

pure virtual

Returns the number of controllers that are currently present in the simulation.

Returns: The number of all controllers.

Implemented in mars::sim::ControllerManager.

◆ getControllerIP()

virtual const std::string mars::interfaces::ControllerManagerInterface::getControllerIP ( unsigned long id ) const

pure virtual

Gets the IP of the controller with the given id.

Parameters

id	The id of the controller whose IP is needed.

Returns: The IP of the controller with the given id.

Implemented in mars::sim::ControllerManager.

◆ getControllerPort()

virtual int mars::interfaces::ControllerManagerInterface::getControllerPort ( unsigned long id ) const

pure virtual

Gets the port of the controller with the given id.

Parameters

id	The id of the controller whose port is needed.

Returns: The port of the controller with the given id.

Implemented in mars::sim::ControllerManager.

◆ getDefaultPort()

virtual int mars::interfaces::ControllerManagerInterface::getDefaultPort ( void ) const

pure virtual

Gets the default port, with which all controllers are created.

Returns: The default port.

Implemented in mars::sim::ControllerManager.

◆ getFullController()

virtual const ControllerData mars::interfaces::ControllerManagerInterface::getFullController ( unsigned long index ) const

pure virtual

Gives all information of a certain controller.

Parameters

index The unique id of the controller to get information for.

Returns: A pointer to the ControllerData of the controller with the given id.

Implemented in mars::sim::ControllerManager.

◆ getListController()

virtual void mars::interfaces::ControllerManagerInterface::getListController ( std::vector< core_objects_exchange > * controllerList ) const

pure virtual

Gives information about core exchange data for controllers.

Parameters

controllerList A pointer to a vector that is filled with a core_objects_exchange struct for every controller. The vector is cleared in the beginning of this function.

Implemented in mars::sim::ControllerManager.

◆ getSensorValues()

virtual std::list<sReal> mars::interfaces::ControllerManagerInterface::getSensorValues ( unsigned long id )

pure virtual

Implemented in mars::sim::ControllerManager.

◆ handleError()

virtual void mars::interfaces::ControllerManagerInterface::handleError ( void )

pure virtual

Implemented in mars::sim::ControllerManager.

◆ isLoadingAllowed()

virtual bool mars::interfaces::ControllerManagerInterface::isLoadingAllowed ( void ) const

pure virtual

Checks weather adding new controllers is allowed.

Returns: true if allowed, false otherwise.

Implemented in mars::sim::ControllerManager.

◆ removeController()

virtual void mars::interfaces::ControllerManagerInterface::removeController ( unsigned long index )

pure virtual

Removes a controller from the simulation.

Parameters

index The unique id of the controller to remove form the simulation.

Implemented in mars::sim::ControllerManager.

◆ resetControllerData()

virtual void mars::interfaces::ControllerManagerInterface::resetControllerData ( void )

pure virtual

Resets the data of all controllers.

Implemented in mars::sim::ControllerManager.

◆ setControllerAutoMode()

virtual void mars::interfaces::ControllerManagerInterface::setControllerAutoMode	(	unsigned long	id,
		bool	mode
	)

pure virtual

Sets the mode of the controller with the given id.

Parameters

id	The id of the controller whose mode is to be set.
mode	The new mode.

Implemented in mars::sim::ControllerManager.

◆ setControllerIP()

virtual void mars::interfaces::ControllerManagerInterface::setControllerIP	(	unsigned long	id,
		const std::string &	ip
	)

pure virtual

Sets the IP of the controller with the given id.

Parameters

id	The id of the controller whose IP is to be set.
ip	The new IP.

Implemented in mars::sim::ControllerManager.

◆ setControllerPort()

virtual void mars::interfaces::ControllerManagerInterface::setControllerPort	(	unsigned long	id,
		int	port
	)

pure virtual

Sets the port of the controller with the given id.

Parameters

id	The id of the controller whose port is to be set.
mode	The new port.

Implemented in mars::sim::ControllerManager.

◆ setDefaultPort()

virtual void mars::interfaces::ControllerManagerInterface::setDefaultPort ( int port )

pure virtual

Sets the default port, with which all controllers are created.

Parameters

port	The default port.

Implemented in mars::sim::ControllerManager.

◆ setLoadingAllowed()

virtual void mars::interfaces::ControllerManagerInterface::setLoadingAllowed ( bool allowed )

pure virtual

Allows or forbids adding new controllers.

Parameters

allowed Indicates if adding will be allowed or not.

Implemented in mars::sim::ControllerManager.

◆ updateControllers()

virtual void mars::interfaces::ControllerManagerInterface::updateControllers ( double calc_ms )

pure virtual

This function updates all controllers with timing value calc_ms in miliseconds.

Warning: This function is only used internally and should not be called outside the core.

Parameters

calc_ms The timing value in miliseconds.

Implemented in mars::sim::ControllerManager.

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

/Developer/bob-learning-dev/simulation/mars/interfaces/src/sim/ControllerManagerInterface.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~ControllerManagerInterface()

Member Function Documentation

◆ addController()

◆ clearAllControllers()

◆ connectController()

◆ disconnectController()

◆ getControllerAutoMode()

◆ getControllerCount()

◆ getControllerIP()

◆ getControllerPort()

◆ getDefaultPort()

◆ getFullController()

◆ getListController()

◆ getSensorValues()

◆ handleError()

◆ isLoadingAllowed()

◆ removeController()

◆ resetControllerData()

◆ setControllerAutoMode()

◆ setControllerIP()

◆ setControllerPort()

◆ setDefaultPort()

◆ setLoadingAllowed()

◆ updateControllers()