General service client for rpc communication. More...

#include <master.h>

Inheritance diagram for corbo::Master:

Public Member Functions
bool	loadFromFile (const std::string &filename)

	Master ()
	Default constructor. More...

bool	setController (const corbo::messages::Controller &msg, std::stringstream *issues=nullptr)

bool	setcorboMessage (const corbo::messages::corboParameters &msg, std::stringstream *issues)

void	setDefault ()
	Restore default master settings. More...

bool	setObserver (const corbo::messages::Observer &msg, std::stringstream *issues=nullptr)

bool	setPlant (const messages::Plant &msg, std::stringstream *issues=nullptr)

bool	setTask (const corbo::messages::Task &msg, std::stringstream *issues=nullptr)

void	start (const std::string &server_address, bool blocking=true)
	Start master server (blocking call) More...

Protected Member Functions
grpc::Status	getAvailableSignals (grpc::ServerContext context, const corbo::messages::Void request, grpc::ServerWriter< corbo::messages::Signal > *response_stream) override
	Retrieve available signals from task (and included modules) More...

grpc::Status	getController (grpc::ServerContext context, const corbo::messages::Void request, corbo::messages::Controller *response) override
	Get current controller configuration. More...

grpc::Status	getObserver (grpc::ServerContext context, const corbo::messages::Void request, corbo::messages::Observer *response) override
	Get current observer configuration. More...

grpc::Status	getPlant (grpc::ServerContext context, const corbo::messages::Void request, corbo::messages::Plant *response) override
	Get current plant configuration. More...

grpc::Status	getTask (grpc::ServerContext context, const corbo::messages::Void request, corbo::messages::Task *response) override
	Get current task configuration. More...

grpc::Status	performTask (grpc::ServerContext context, const corbo::messages::Void request, grpc::ServerWriter< corbo::messages::Signal > *response_stream) override
	Perform the current task and broadcast stream of signals. More...

grpc::Status	ping (grpc::ServerContext context, const corbo::messages::Void request, corbo::messages::Status *response) override
	Send and receive dummy message in order to check the connectivity between master and client. More...

grpc::Status	setController (grpc::ServerContext context, const corbo::messages::Controller request, corbo::messages::Status *response) override
	Set and configure controller. More...

grpc::Status	setObserver (grpc::ServerContext context, const corbo::messages::Observer request, corbo::messages::Status *response) override
	Set and configure observer. More...

grpc::Status	setPlant (grpc::ServerContext context, const corbo::messages::Plant request, corbo::messages::Status *response) override
	Set and configure plant. More...

grpc::Status	setTask (grpc::ServerContext context, const corbo::messages::Task request, corbo::messages::Status *response) override
	Set and configure task. More...

grpc::Status	stop (grpc::ServerContext context, const corbo::messages::Void request, corbo::messages::Void *response) override
	Execution stop of the current task requested (setting global ok() variable to false, needs to be supported by the selected task) More...

grpc::Status	verifyConfig (grpc::ServerContext context, const corbo::messages::Void request, corbo::messages::Status *response) override
	Check if the current configuration seems to be valid (refer to TaskInterface::verify()) More...

Private Attributes
Environment	_environment

std::unique_ptr< grpc::Server >	_server

TaskInterface::Ptr	_task

Detailed Description

General service client for rpc communication.

This class implements a master for (g)RPC communication with the main service client (MasterServiceClient, defined in the communication module).

Remarks: Make sure that any executable that instanciates a Master also includes relevant module headers in order to register classes at their corresponding factories.

See also: MasterServiceClient

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 64 of file master.h.

Constructor & Destructor Documentation

◆ Master()

corbo::Master::Master ( )

inline

Default constructor.

Definition at line 68 of file master.h.

Member Function Documentation

◆ getAvailableSignals()

grpc::Status corbo::Master::getAvailableSignals	(	grpc::ServerContext *	context,
		const corbo::messages::Void *	request,
		grpc::ServerWriter< corbo::messages::Signal > *	response_stream
	)

overrideprotected

Retrieve available signals from task (and included modules)

Definition at line 351 of file master.cpp.

◆ getController()

grpc::Status corbo::Master::getController	(	grpc::ServerContext *	context,
		const corbo::messages::Void *	request,
		corbo::messages::Controller *	response
	)

overrideprotected

Get current controller configuration.

Definition at line 300 of file master.cpp.

◆ getObserver()

grpc::Status corbo::Master::getObserver	(	grpc::ServerContext *	context,
		const corbo::messages::Void *	request,
		corbo::messages::Observer *	response
	)

overrideprotected

Get current observer configuration.

Definition at line 322 of file master.cpp.

◆ getPlant()

grpc::Status corbo::Master::getPlant	(	grpc::ServerContext *	context,
		const corbo::messages::Void *	request,
		corbo::messages::Plant *	response
	)

overrideprotected

Get current plant configuration.

Definition at line 278 of file master.cpp.

◆ getTask()

grpc::Status corbo::Master::getTask	(	grpc::ServerContext *	context,
		const corbo::messages::Void *	request,
		corbo::messages::Task *	response
	)

overrideprotected

Get current task configuration.

Definition at line 344 of file master.cpp.

◆ loadFromFile()

bool corbo::Master::loadFromFile ( const std::string & filename )

Definition at line 85 of file master.cpp.

◆ performTask()

grpc::Status corbo::Master::performTask	(	grpc::ServerContext *	context,
		const corbo::messages::Void *	request,
		grpc::ServerWriter< corbo::messages::Signal > *	response_stream
	)

overrideprotected

Perform the current task and broadcast stream of signals.

Definition at line 362 of file master.cpp.

◆ ping()

grpc::Status corbo::Master::ping	(	grpc::ServerContext *	context,
		const corbo::messages::Void *	request,
		corbo::messages::Status *	response
	)

overrideprotected

Send and receive dummy message in order to check the connectivity between master and client.

Definition at line 396 of file master.cpp.

◆ setController() [1/2]

bool corbo::Master::setController	(	const corbo::messages::Controller &	msg,
		std::stringstream *	issues = `nullptr`
	)

◆ setController() [2/2]

grpc::Status corbo::Master::setController	(	grpc::ServerContext *	context,
		const corbo::messages::Controller *	request,
		corbo::messages::Status *	response
	)

overrideprotected

Set and configure controller.

Definition at line 285 of file master.cpp.

◆ setcorboMessage()

bool corbo::Master::setcorboMessage	(	const corbo::messages::corboParameters &	msg,
		std::stringstream *	issues
	)

Definition at line 113 of file master.cpp.

◆ setDefault()

void corbo::Master::setDefault ( )

Restore default master settings.

Definition at line 61 of file master.cpp.

◆ setObserver() [1/2]

bool corbo::Master::setObserver	(	const corbo::messages::Observer &	msg,
		std::stringstream *	issues = `nullptr`
	)

◆ setObserver() [2/2]

grpc::Status corbo::Master::setObserver	(	grpc::ServerContext *	context,
		const corbo::messages::Observer *	request,
		corbo::messages::Status *	response
	)

overrideprotected

Set and configure observer.

Definition at line 307 of file master.cpp.

◆ setPlant() [1/2]

bool corbo::Master::setPlant	(	const messages::Plant &	msg,
		std::stringstream *	issues = `nullptr`
	)

Definition at line 130 of file master.cpp.

◆ setPlant() [2/2]

grpc::Status corbo::Master::setPlant	(	grpc::ServerContext *	context,
		const corbo::messages::Plant *	request,
		corbo::messages::Status *	response
	)

overrideprotected

Set and configure plant.

Definition at line 263 of file master.cpp.

◆ setTask() [1/2]

bool corbo::Master::setTask	(	const corbo::messages::Task &	msg,
		std::stringstream *	issues = `nullptr`
	)

◆ setTask() [2/2]

grpc::Status corbo::Master::setTask	(	grpc::ServerContext *	context,
		const corbo::messages::Task *	request,
		corbo::messages::Status *	response
	)

overrideprotected

Set and configure task.

Definition at line 329 of file master.cpp.

◆ start()

void corbo::Master::start	(	const std::string &	server_address,
		bool	blocking = `true`
	)

Start master server (blocking call)

Start master with a given server address, e.g. "localhost:50051". This call blocks further program execution.

Parameters

[in]	server_address	Server address including port.
[in]	blocking	If true, the method blocks thread until shutdown

Definition at line 37 of file master.cpp.

◆ stop()

grpc::Status corbo::Master::stop	(	grpc::ServerContext *	context,
		const corbo::messages::Void *	request,
		corbo::messages::Void *	response
	)

overrideprotected

Execution stop of the current task requested (setting global ok() variable to false, needs to be supported by the selected task)

Definition at line 403 of file master.cpp.

◆ verifyConfig()

grpc::Status corbo::Master::verifyConfig	(	grpc::ServerContext *	context,
		const corbo::messages::Void *	request,
		corbo::messages::Status *	response
	)

overrideprotected

Check if the current configuration seems to be valid (refer to TaskInterface::verify())

Definition at line 381 of file master.cpp.

Member Data Documentation

◆ _environment

Environment corbo::Master::_environment

private

Definition at line 132 of file master.h.

◆ _server

std::unique_ptr<grpc::Server> corbo::Master::_server

private

Definition at line 135 of file master.h.

◆ _task

TaskInterface::Ptr corbo::Master::_task

private

Definition at line 133 of file master.h.

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

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Master()

Member Function Documentation

◆ getAvailableSignals()

◆ getController()

◆ getObserver()

◆ getPlant()

◆ getTask()

◆ loadFromFile()

◆ performTask()

◆ ping()

◆ setController() [1/2]

◆ setController() [2/2]

◆ setcorboMessage()

◆ setDefault()

◆ setObserver() [1/2]

◆ setObserver() [2/2]

◆ setPlant() [1/2]

◆ setPlant() [2/2]

◆ setTask() [1/2]

◆ setTask() [2/2]

◆ start()

◆ stop()

◆ verifyConfig()

Member Data Documentation

◆ _environment

◆ _server

◆ _task