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

#include <SensorManager.h>

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

virtual	~SensorManager ()
	Destructor. More...

virtual void	getListSensors (std::vector< interfaces::core_objects_exchange > *sensorList) const
	Add a sensor to the simulation. More...

virtual const interfaces::BaseSensor *	getFullSensor (unsigned long index) const
	Gives information about core exchange data for camera sensors. More...

virtual void	removeSensor (unsigned long index)
	Removes a sensor from the simulation. More...

virtual interfaces::BaseSensor *	getSimSensor (unsigned long index) const
	This function returns the SimSensor object for a given index. More...

unsigned long	getSensorID (std::string name) const

virtual int	getSensorData (unsigned long id, interfaces::sReal **data) const
	This function provides the sensor data for a given index. More...

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

virtual void	clearAllSensors (bool clear_all=false)
	Destroys all sensors in the simulation. More...

virtual void	reloadSensors (void)
	This function reloads all sensors from a temporary sensor pool. More...

void	addSensorType (const std::string &name, interfaces::BaseSensor (func)(interfaces::ControlCenter , interfaces::BaseConfig ))

void	addMarsParser (const std::string, interfaces::BaseConfig ()(interfaces::ControlCenter , configmaps::ConfigMap ))

virtual interfaces::BaseSensor *	createAndAddSensor (configmaps::ConfigMap *config, bool reload=true)
	Adds an sensor to the known sensors list. More...

virtual interfaces::BaseSensor *	createAndAddSensor (const std::string &type_name, interfaces::BaseConfig *config, bool reload=false)

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

Private Attributes
unsigned long	next_sensor_id
	the id of the next sensor added to the simulation More...

std::map< unsigned long, interfaces::BaseSensor * >	simSensors
	a containter for all sensors currently present in the simulation More...

std::vector< SensorReloadHelper >	simSensorsReload
	a containter for all sensors that are loaded after a reset of the simulation More...

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

utils::Mutex	iMutex
	a mutex fot the sensor containters More...

std::map< const std::string, interfaces::BaseSensor ()(interfaces::ControlCenter , interfaces::BaseConfig )>	availableSensors

std::map< const std::string, interfaces::BaseConfig ()(interfaces::ControlCenter , configmaps::ConfigMap )>	marsParser

Detailed Description

"SensorManager" imlements the interfaces for all sensor operations that are used for the communication between the simulation modules.

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 69 of file SensorManager.h.

Constructor & Destructor Documentation

◆ SensorManager()

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

Constructor.

Parameters

c	The pointer to the ControlCenter of the simulation.

Definition at line 78 of file SensorManager.cpp.

◆ ~SensorManager()

virtual mars::sim::SensorManager::~SensorManager ( )

inlinevirtual

Destructor.

Definition at line 82 of file SensorManager.h.

Member Function Documentation

◆ addMarsParser()

void mars::sim::SensorManager::addMarsParser	(	const std::string	,
		interfaces::BaseConfig *	)(interfaces::ControlCenter , configmaps::ConfigMap *
	)

Definition at line 293 of file SensorManager.cpp.

◆ addSensorType()

void mars::sim::SensorManager::addSensorType	(	const std::string &	name,
		interfaces::BaseSensor ()(interfaces::ControlCenter , interfaces::BaseConfig )	func
	)

Definition at line 298 of file SensorManager.cpp.

◆ clearAllSensors()

void mars::sim::SensorManager::clearAllSensors ( bool clear_all = false )

virtual

Destroys all sensors in the simulation.

The clear_all flag indicates if the reload sensors should be destroyed as well. If set to false they are left intact.

Parameters

clear_all Indicates if the reload sensors should be destroyed as well. If set to false they are left intact.

Implements mars::interfaces::SensorManagerInterface.

Definition at line 260 of file SensorManager.cpp.

◆ createAndAddSensor() [1/2]

BaseSensor * mars::sim::SensorManager::createAndAddSensor	(	configmaps::ConfigMap *	config,
		bool	reload = `true`
	)

virtual

Adds an sensor to the known sensors list.

Implements mars::interfaces::SensorManagerInterface.

Definition at line 335 of file SensorManager.cpp.

◆ createAndAddSensor() [2/2]

BaseSensor * mars::sim::SensorManager::createAndAddSensor	(	const std::string &	type_name,
		interfaces::BaseConfig *	config,
		bool	reload = `false`
	)

virtual

Implements mars::interfaces::SensorManagerInterface.

Definition at line 302 of file SensorManager.cpp.

◆ getFullSensor()

const BaseSensor * mars::sim::SensorManager::getFullSensor ( unsigned long index ) const

virtual

Gives information about core exchange data for camera sensors.

Gives all information of a certain sensor.

Parameters

cameraList	A pointer to a vector that is filled with a core_objects_exchange struct for every camera sensor. The vector is cleared in the beginning of this function. Gives all information of a certain sensor.
index	The unique id of the sensor to get information for.

Returns: A pointer to the BaseSensor of the sensor with the given id.

Parameters

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

Returns: A pointer to the BaseSensor of the sensor with the given id.

Exceptions

std::runtime_error if a motor with the given index does not exist.

Implements mars::interfaces::SensorManagerInterface.

Definition at line 156 of file SensorManager.cpp.

◆ getListSensors()

void mars::sim::SensorManager::getListSensors ( std::vector< interfaces::core_objects_exchange > * sensorList ) const

virtual

Add a sensor to the simulation.

Gives information about core exchange data for sensors.

Parameters

sensorS	A pointer to the BaseSensor that defines the new sensor.
reload	Used internally by the simulation. The default value is `false`. If this param is set to `true` the new sensor will not be reloaded after a reset of the simulation.

Returns: The unique id of the newly added sensor. Gives information about core exchange data for sensors.

Parameters

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

Implements mars::interfaces::SensorManagerInterface.

Definition at line 136 of file SensorManager.cpp.

◆ getSensorCount()

int mars::sim::SensorManager::getSensorCount ( void ) const

virtual

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

Returns: The number of all sensors.

Implements mars::interfaces::SensorManagerInterface.

Definition at line 245 of file SensorManager.cpp.

◆ getSensorData()

int mars::sim::SensorManager::getSensorData	(	unsigned long	id,
		interfaces::sReal **	data
	)		const

virtual

This function provides the sensor data for a given index.

Parameters

data	The sensor data of the sensor.
index	The index of the sensor to get the data

Implements mars::interfaces::SensorManagerInterface.

Definition at line 227 of file SensorManager.cpp.

◆ getSensorID()

unsigned long mars::sim::SensorManager::getSensorID ( std::string name ) const

virtual

Implements mars::interfaces::SensorManagerInterface.

Definition at line 170 of file SensorManager.cpp.

◆ getSimSensor()

BaseSensor * mars::sim::SensorManager::getSimSensor ( unsigned long index ) const

virtual

This function returns the SimSensor object for a given index.

Parameters

name	The index of the sensor to get the core sensor object.

Returns: Returns a pointer to the corresponding sensor object.

Implements mars::interfaces::SensorManagerInterface.

Definition at line 210 of file SensorManager.cpp.

◆ reloadSensors()

void mars::sim::SensorManager::reloadSensors ( void )

virtual

This function reloads all sensors from a temporary sensor pool.

All sensors that have been added with reload value as true are added back to the simulation again with a reload value of true.

Implements mars::interfaces::SensorManagerInterface.

Definition at line 280 of file SensorManager.cpp.

◆ removeSensor()

void mars::sim::SensorManager::removeSensor ( unsigned long index )

virtual

Removes a sensor from the simulation.

Parameters

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

Implements mars::interfaces::SensorManagerInterface.

Definition at line 187 of file SensorManager.cpp.

Member Data Documentation

◆ availableSensors

std::map<const std::string, interfaces::BaseSensor* (*)(interfaces::ControlCenter*, interfaces::BaseConfig*)> mars::sim::SensorManager::availableSensors

private

Definition at line 231 of file SensorManager.h.

◆ control

interfaces::ControlCenter* mars::sim::SensorManager::control

private

a pointer to the control center

Definition at line 224 of file SensorManager.h.

◆ iMutex

utils::Mutex mars::sim::SensorManager::iMutex

mutableprivate

a mutex fot the sensor containters

Definition at line 227 of file SensorManager.h.

◆ marsParser

std::map<const std::string, interfaces::BaseConfig* (*)(interfaces::ControlCenter*, configmaps::ConfigMap*)> mars::sim::SensorManager::marsParser

private

Definition at line 234 of file SensorManager.h.

◆ next_sensor_id

unsigned long mars::sim::SensorManager::next_sensor_id

private

the id of the next sensor added to the simulation

Definition at line 214 of file SensorManager.h.

◆ simSensors

std::map<unsigned long, interfaces::BaseSensor*> mars::sim::SensorManager::simSensors

private

a containter for all sensors currently present in the simulation

Definition at line 217 of file SensorManager.h.

◆ simSensorsReload

std::vector<SensorReloadHelper> mars::sim::SensorManager::simSensorsReload

private

a containter for all sensors that are loaded after a reset of the simulation

Definition at line 220 of file SensorManager.h.

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

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SensorManager()

◆ ~SensorManager()

Member Function Documentation

◆ addMarsParser()

◆ addSensorType()

◆ clearAllSensors()

◆ createAndAddSensor() [1/2]

◆ createAndAddSensor() [2/2]

◆ getFullSensor()

◆ getListSensors()

◆ getSensorCount()

◆ getSensorData()

◆ getSensorID()

◆ getSimSensor()

◆ reloadSensors()

◆ removeSensor()

Member Data Documentation

◆ availableSensors

◆ control

◆ iMutex

◆ marsParser

◆ next_sensor_id

◆ simSensors

◆ simSensorsReload