The class to log all data. More...

#include <Controller.h>

Public Member Functions
	Controller (interfaces::sReal rate, const std::vector< SimMotor > &motors, const std::vector< interfaces::BaseSensor > &sensors, const std::vector< interfaces::NodeData > &sNodes, interfaces::ControlCenter control, int portn=1500)

virtual	~Controller (void)

virtual void	update (interfaces::sReal time_ms)

virtual std::list< interfaces::sReal >	getSensorValues (void)

void	handleError (void)

void	setID (unsigned long id)

unsigned long	getID (void) const

const interfaces::ControllerData	getSController () const

void	getCoreExchange (interfaces::core_objects_exchange *obj) const

void	resetData (void)

void	setDylibPath (const std::string &dylib_path)

void	setAutoMode (bool mode)

void	setIP (const std::string &ip)

void	setPort (int port)

bool	getAutoMode (void) const

const std::string	getIP (void) const

int	getPort (void) const

void	connect (void)

void	disconnect (void)

Public Member Functions inherited from mars::utils::Thread
	Thread ()

virtual	~Thread ()

void	start ()
	Starts the execution of this Thread. More...

void	cancel (bool block=false)
	Tries to cancel the Thread. More...

void	setCancellationPoint ()
	Adds a cancellation point to your run method. More...

bool	wait ()
	stops execution until the thread has finished. More...

bool	join ()

bool	wait (unsigned long timeoutMilliseconds)
	puts the Thread to sleep for a specified amount of time. More...

bool	isRunning () const
	returns `true` if the Thread is running. More...

bool	isFinished () const

void	setStackSize (std::size_t stackSize)

std::size_t	getStackSize () const

bool	isCurrentThread () const

Protected Member Functions
int	initServer (int port)

void	getClient (void)

int	openClient (const char *host, int port)

int	connectClient (void)

int	getSReal (const char data, interfaces::sReal value) const

int	getChar (const char data, char c) const

void	run (void)
	The thread will execute this method once it has been started . More...

Protected Attributes
int	server

int	conn

void *	dy

interfaces::ControllerData	sController

interfaces::ControllerInterface *	dylibController

interfaces::sReal	count_ms

bool	auto_connect

int	connected

int	nport

int	sock_state

struct sockaddr_in *	myServAddr

std::string	hostname

interfaces::ControlCenter *	control

bool	running

std::vector< SimMotor * >	motors

std::vector< interfaces::BaseSensor * >	sensors

std::vector< interfaces::NodeData * >	sNodes

Additional Inherited Members
Static Public Member Functions inherited from mars::utils::Thread
static Thread *	getCurrentThread ()

static void	cancelAll (bool block=false)

Static Protected Member Functions inherited from mars::utils::Thread
static void	msleep (unsigned long msec)
	causes the current thread to sleep for More...

Detailed Description

The class to log all data.

Definition at line 67 of file Controller.h.

Constructor & Destructor Documentation

◆ Controller()

mars::sim::Controller::Controller	(	interfaces::sReal	rate,
		const std::vector< SimMotor *> &	motors,
		const std::vector< interfaces::BaseSensor *> &	sensors,
		const std::vector< interfaces::NodeData *> &	sNodes,
		interfaces::ControlCenter *	control,
		int	portn = `1500`
	)

Definition at line 58 of file Controller.cpp.

◆ ~Controller()

mars::sim::Controller::~Controller ( void )

virtual

Definition at line 114 of file Controller.cpp.

Member Function Documentation

◆ connect()

void mars::sim::Controller::connect ( void )

Definition at line 1038 of file Controller.cpp.

◆ connectClient()

int mars::sim::Controller::connectClient ( void )

protected

Definition at line 978 of file Controller.cpp.

◆ disconnect()

void mars::sim::Controller::disconnect ( void )

Definition at line 1043 of file Controller.cpp.

◆ getAutoMode()

bool mars::sim::Controller::getAutoMode ( void ) const

Definition at line 1026 of file Controller.cpp.

◆ getChar()

int mars::sim::Controller::getChar	(	const char *	data,
		char *	c
	)		const

protected

Definition at line 796 of file Controller.cpp.

◆ getClient()

void mars::sim::Controller::getClient ( void )

protected

Definition at line 911 of file Controller.cpp.

◆ getCoreExchange()

void mars::sim::Controller::getCoreExchange ( interfaces::core_objects_exchange * obj ) const

Definition at line 149 of file Controller.cpp.

◆ getID()

unsigned long mars::sim::Controller::getID ( void ) const

Definition at line 141 of file Controller.cpp.

◆ getIP()

const std::string mars::sim::Controller::getIP ( void ) const

Definition at line 1030 of file Controller.cpp.

◆ getPort()

int mars::sim::Controller::getPort ( void ) const

Definition at line 1034 of file Controller.cpp.

◆ getSController()

const ControllerData mars::sim::Controller::getSController ( void ) const

Definition at line 145 of file Controller.cpp.

◆ getSensorValues()

std::list< sReal > mars::sim::Controller::getSensorValues ( void )

virtual

Definition at line 1047 of file Controller.cpp.

◆ getSReal()

int mars::sim::Controller::getSReal	(	const char *	data,
		interfaces::sReal *	value
	)		const

protected

Definition at line 776 of file Controller.cpp.

◆ handleError()

void mars::sim::Controller::handleError ( void )

Definition at line 822 of file Controller.cpp.

◆ initServer()

int mars::sim::Controller::initServer ( int port )

protected

Definition at line 885 of file Controller.cpp.

◆ openClient()

int mars::sim::Controller::openClient	(	const char *	host,
		int	port
	)

protected

Definition at line 933 of file Controller.cpp.

◆ resetData()

void mars::sim::Controller::resetData ( void )

Definition at line 804 of file Controller.cpp.

◆ run()

void mars::sim::Controller::run ( void )

protectedvirtual

The thread will execute this method once it has been started .

See also: start(), cancel(), wait(), wait(unsigned long)

Implements mars::utils::Thread.

Definition at line 996 of file Controller.cpp.

◆ setAutoMode()

void mars::sim::Controller::setAutoMode ( bool mode )

Definition at line 1014 of file Controller.cpp.

◆ setDylibPath()

void mars::sim::Controller::setDylibPath ( const std::string & dylib_path )

Definition at line 829 of file Controller.cpp.

◆ setID()

void mars::sim::Controller::setID ( unsigned long id )

Definition at line 137 of file Controller.cpp.

◆ setIP()

void mars::sim::Controller::setIP ( const std::string & ip )

Definition at line 1018 of file Controller.cpp.

◆ setPort()

void mars::sim::Controller::setPort ( int port )

Definition at line 1022 of file Controller.cpp.

◆ update()

void mars::sim::Controller::update ( interfaces::sReal time_ms )

virtual

Definition at line 154 of file Controller.cpp.

Member Data Documentation

◆ auto_connect

bool mars::sim::Controller::auto_connect

protected

Definition at line 112 of file Controller.h.

◆ conn

int mars::sim::Controller::conn

protected

Definition at line 106 of file Controller.h.

◆ connected

int mars::sim::Controller::connected

protected

Definition at line 113 of file Controller.h.

◆ control

interfaces::ControlCenter* mars::sim::Controller::control

protected

Definition at line 118 of file Controller.h.

◆ count_ms

interfaces::sReal mars::sim::Controller::count_ms

protected

Definition at line 111 of file Controller.h.

◆ dy

void* mars::sim::Controller::dy

protected

Definition at line 107 of file Controller.h.

◆ dylibController

interfaces::ControllerInterface* mars::sim::Controller::dylibController

protected

Definition at line 110 of file Controller.h.

◆ hostname

std::string mars::sim::Controller::hostname

protected

Definition at line 117 of file Controller.h.

◆ motors

std::vector<SimMotor*> mars::sim::Controller::motors

protected

Definition at line 120 of file Controller.h.

◆ myServAddr

struct sockaddr_in* mars::sim::Controller::myServAddr

protected

Definition at line 116 of file Controller.h.

◆ nport

int mars::sim::Controller::nport

protected

Definition at line 114 of file Controller.h.

◆ running

bool mars::sim::Controller::running

protected

Definition at line 119 of file Controller.h.

◆ sController

interfaces::ControllerData mars::sim::Controller::sController

protected

Definition at line 109 of file Controller.h.

◆ sensors

std::vector<interfaces::BaseSensor*> mars::sim::Controller::sensors

protected

Definition at line 121 of file Controller.h.

◆ server

int mars::sim::Controller::server

protected

Definition at line 105 of file Controller.h.

◆ sNodes

std::vector<interfaces::NodeData*> mars::sim::Controller::sNodes

protected

Definition at line 122 of file Controller.h.

◆ sock_state

int mars::sim::Controller::sock_state

protected

Definition at line 115 of file Controller.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Controller()

◆ ~Controller()

Member Function Documentation

◆ connect()

◆ connectClient()

◆ disconnect()

◆ getAutoMode()

◆ getChar()

◆ getClient()

◆ getCoreExchange()

◆ getID()

◆ getIP()

◆ getPort()

◆ getSController()

◆ getSensorValues()

◆ getSReal()

◆ handleError()

◆ initServer()

◆ openClient()

◆ resetData()

◆ run()

◆ setAutoMode()

◆ setDylibPath()

◆ setID()

◆ setIP()

◆ setPort()

◆ update()

Member Data Documentation

◆ auto_connect

◆ conn

◆ connected

◆ control

◆ count_ms

◆ dy

◆ dylibController

◆ hostname

◆ motors

◆ myServAddr

◆ nport

◆ running

◆ sController

◆ sensors

◆ server

◆ sNodes

◆ sock_state