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

#include <ControllerManager.h>

Public Member Functions
	ControllerManager (interfaces::ControlCenter *c)
	Constructor. More...

virtual	~ControllerManager ()
	Destructor. More...

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

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

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

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

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

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

virtual void	setControllerPort (unsigned long id, int port)
	Gets the mode of the controller with the given id. More...

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

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

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

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

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

virtual void	updateControllers (interfaces::sReal calc_ms)
	This function updates all controllers with timing value `calc_ms` in miliseconds. More...

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

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

virtual void	handleError (void)

virtual unsigned long	addController (const interfaces::ControllerData &controller)
	Add a controller to the simulation. More...

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

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

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

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

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

Public Member Functions inherited from mars::interfaces::ControllerManagerInterface
virtual	~ControllerManagerInterface ()
	Destructor. More...

Private Attributes
bool	do_not_load_controller
	a flag indicating if adding new controllers is allowed More...

int	std_port
	the default port passed to every newly added controller More...

unsigned long	next_controller_id
	the id of the next controller added to the simulation More...

std::map< unsigned long, Controller * >	simController
	a containter holding all controllers in the simulation More...

interfaces::ControlCenter *	control
	a pointer to the control center More...

utils::Mutex	iMutex
	a mutex for the controllers containter More...

Detailed Description

"ControllerManager" imlements the interfaces for all controller operations that are used for the communication between the simulation modules.

Inherits from ControllerManagerInterface.

Warning: 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 60 of file ControllerManager.h.

Constructor & Destructor Documentation

◆ ControllerManager()

mars::sim::ControllerManager::ControllerManager ( interfaces::ControlCenter * c )

Constructor.

Parameters

c	The pointer to the ControlCenter of the simulation.

Definition at line 55 of file ControllerManager.cpp.

◆ ~ControllerManager()

virtual mars::sim::ControllerManager::~ControllerManager ( )

inlinevirtual

Destructor.

Definition at line 73 of file ControllerManager.h.

Member Function Documentation

◆ addController()

unsigned long mars::sim::ControllerManager::addController ( const interfaces::ControllerData & controller )

virtual

Add a controller to the simulation.

Returns: The id of the newly added controller.

Returns: The id of the newly added controller.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 321 of file ControllerManager.cpp.

◆ clearAllControllers()

void mars::sim::ControllerManager::clearAllControllers ( void )

virtual

Destroys all controllers in the simulation.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 287 of file ControllerManager.cpp.

◆ connectController()

void mars::sim::ControllerManager::connectController ( unsigned long id )

virtual

Connects the controller with the given id.

Parameters

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

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 235 of file ControllerManager.cpp.

◆ disconnectController()

void mars::sim::ControllerManager::disconnectController ( unsigned long id )

virtual

Disconnects the controller with the given id.

Parameters

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

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 248 of file ControllerManager.cpp.

◆ getControllerAutoMode()

bool mars::sim::ControllerManager::getControllerAutoMode ( unsigned long id ) const

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.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 183 of file ControllerManager.cpp.

◆ getControllerCount()

int mars::sim::ControllerManager::getControllerCount ( void ) const

virtual

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

Returns: The number of all controllers.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 88 of file ControllerManager.cpp.

◆ getControllerIP()

const std::string mars::sim::ControllerManager::getControllerIP ( unsigned long id ) const

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.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 199 of file ControllerManager.cpp.

◆ getControllerPort()

int mars::sim::ControllerManager::getControllerPort ( unsigned long id ) const

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.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 219 of file ControllerManager.cpp.

◆ getDefaultPort()

int mars::sim::ControllerManager::getDefaultPort ( void ) const

virtual

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

Returns: The default port.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 365 of file ControllerManager.cpp.

◆ getFullController()

const ControllerData mars::sim::ControllerManager::getFullController ( unsigned long index ) const

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.

Exceptions

std::runtime_error if the controller cannot be found

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 102 of file ControllerManager.cpp.

◆ getListController()

void mars::sim::ControllerManager::getListController ( std::vector< interfaces::core_objects_exchange > * controllerList ) const

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.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 70 of file ControllerManager.cpp.

◆ getSensorValues()

std::list< sReal > mars::sim::ControllerManager::getSensorValues ( unsigned long id )

virtual

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 396 of file ControllerManager.cpp.

◆ handleError()

void mars::sim::ControllerManager::handleError ( void )

virtual

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 306 of file ControllerManager.cpp.

◆ isLoadingAllowed()

bool mars::sim::ControllerManager::isLoadingAllowed ( void ) const

virtual

Checks weather adding new controllers is allowed.

Returns: true if allowed, false otherwise.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 383 of file ControllerManager.cpp.

◆ removeController()

void mars::sim::ControllerManager::removeController ( unsigned long index )

virtual

Removes a controller from the simulation.

Parameters

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

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 120 of file ControllerManager.cpp.

◆ resetControllerData()

void mars::sim::ControllerManager::resetControllerData ( void )

virtual

Resets the data of all controllers.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 275 of file ControllerManager.cpp.

◆ setControllerAutoMode()

void mars::sim::ControllerManager::setControllerAutoMode	(	unsigned long	id,
		bool	mode
	)

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.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 142 of file ControllerManager.cpp.

◆ setControllerIP()

void mars::sim::ControllerManager::setControllerIP	(	unsigned long	id,
		const std::string &	ip
	)

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.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 157 of file ControllerManager.cpp.

◆ setControllerPort()

void mars::sim::ControllerManager::setControllerPort	(	unsigned long	id,
		int	port
	)

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.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 167 of file ControllerManager.cpp.

◆ setDefaultPort()

void mars::sim::ControllerManager::setDefaultPort ( int port )

virtual

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

Parameters

port	The default port.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 374 of file ControllerManager.cpp.

◆ setLoadingAllowed()

void mars::sim::ControllerManager::setLoadingAllowed ( bool allowed )

virtual

Allows or forbids adding new controllers.

Parameters

allowed Indicates if adding will be allowed or not.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 392 of file ControllerManager.cpp.

◆ updateControllers()

void mars::sim::ControllerManager::updateControllers ( interfaces::sReal calc_ms )

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.

Implements mars::interfaces::ControllerManagerInterface.

Definition at line 263 of file ControllerManager.cpp.

Member Data Documentation

◆ control

interfaces::ControlCenter* mars::sim::ControllerManager::control

private

a pointer to the control center

Definition at line 253 of file ControllerManager.h.

◆ do_not_load_controller

bool mars::sim::ControllerManager::do_not_load_controller

private

a flag indicating if adding new controllers is allowed

Definition at line 241 of file ControllerManager.h.

◆ iMutex

utils::Mutex mars::sim::ControllerManager::iMutex

mutableprivate

a mutex for the controllers containter

Definition at line 256 of file ControllerManager.h.

◆ next_controller_id

unsigned long mars::sim::ControllerManager::next_controller_id

private

the id of the next controller added to the simulation

Definition at line 247 of file ControllerManager.h.

◆ simController

std::map<unsigned long, Controller*> mars::sim::ControllerManager::simController

private

a containter holding all controllers in the simulation

Definition at line 250 of file ControllerManager.h.

◆ std_port

int mars::sim::ControllerManager::std_port

private

the default port passed to every newly added controller

Definition at line 244 of file ControllerManager.h.

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

/Developer/bob-learning-dev/simulation/mars/sim/src/core/ControllerManager.h
/Developer/bob-learning-dev/simulation/mars/sim/src/core/ControllerManager.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ControllerManager()

◆ ~ControllerManager()

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()

Member Data Documentation

◆ control

◆ do_not_load_controller

◆ iMutex

◆ next_controller_id

◆ simController

◆ std_port