hardware_interface::InterfaceManager Class Reference

Manager for hardware interface registrations. More...

#include <interface_manager.h>

Inheritance diagram for hardware_interface::InterfaceManager:

Public Member Functions
template<class T >
T *	get ()
	Get an interface. More...
std::vector< std::string >	getInterfaceResources (std::string iface_type) const
	Get the resource names registered to an interface, specified by type. More...
std::vector< std::string >	getNames () const
	Lists the demangled names of all registered interfaces. More...
template<class T >
void	registerInterface (T *iface)
	Register an interface. More...
void	registerInterfaceManager (InterfaceManager *iface_man)
	Register another interface manager. More...

Protected Types
typedef std::vector< InterfaceManager * >	InterfaceManagerVector
typedef std::map< std::string, void * >	InterfaceMap
typedef std::map< std::string, std::vector< std::string > >	ResourceMap
typedef std::map< std::string, size_t >	SizeMap

Protected Attributes
std::vector< ResourceManagerBase * >	interface_destruction_list_
InterfaceManagerVector	interface_managers_
InterfaceMap	interfaces_
InterfaceMap	interfaces_combo_
SizeMap	num_ifaces_registered_
ResourceMap	resources_
	This will allow us to check the resources based on the demangled type name of the interface. More...

Detailed Description

Manager for hardware interface registrations.

This class enables the registration of interfaces based on their class type, handling all the required demangling and storage. The registration ensures the presence of at most one interface instance per type. Accessors for interface listing are provided. Additionally, combinations of interfaces as required in CombinedRobotHW are handled transparently.

Definition at line 122 of file interface_manager.h.

Member Typedef Documentation

InterfaceManagerVector

typedef std::vector<InterfaceManager*> hardware_interface::InterfaceManager::InterfaceManagerVector

protected

Definition at line 303 of file interface_manager.h.

InterfaceMap

typedef std::map<std::string, void*> hardware_interface::InterfaceManager::InterfaceMap

protected

Definition at line 302 of file interface_manager.h.

ResourceMap

typedef std::map<std::string, std::vector<std::string> > hardware_interface::InterfaceManager::ResourceMap

protected

Definition at line 305 of file interface_manager.h.

SizeMap

typedef std::map<std::string, size_t> hardware_interface::InterfaceManager::SizeMap

protected

Definition at line 304 of file interface_manager.h.

Member Function Documentation

get()

template<class T >

T* hardware_interface::InterfaceManager::get ( )

inline

Get an interface.

If this class and its registered sub-managers only have one registered instance of the requested interface type, this will be returned. If multiple instances of the interface type were registered and the type is a ResourceManager, this call will try to combine them into a single handle. In all other cases, nullptr will be returned.

Note

As this class can only store one instance of each interface type, the only way multiple instances of the same interface type can be registered is through the registration of sub-managers.

If there are multiple registered interfaces of the requested type and they are not ResourceManager, this method will not be able to combine them and will return nullptr.

Template Parameters

T	The interface type

Returns

A handle for the stored interfaces of type T or nullptr

Definition at line 183 of file interface_manager.h.

getInterfaceResources()

std::vector<std::string> hardware_interface::InterfaceManager::getInterfaceResources ( std::string  iface_type ) const

inline

Get the resource names registered to an interface, specified by type.

This will return the list of all registered resources for ResourceManager interfaces and an empty list for all others.

Parameters

iface_type

The demangled type name of an interface

Returns

A vector of resource names registered to this interface

Definition at line 283 of file interface_manager.h.

getNames()

std::vector<std::string> hardware_interface::InterfaceManager::getNames ( ) const

inline

Lists the demangled names of all registered interfaces.

This includes the interfaces directly registered to this instance and the interfaces registered to registered managers. As multiple interfaces of the same type will get merged on access, duplicates are omitted.

Returns

Vector of demangled interface names of registered interfaces.

Definition at line 250 of file interface_manager.h.

registerInterface()

template<class T >

void hardware_interface::InterfaceManager::registerInterface ( T *  iface )

inline

Register an interface.

This associates the name of the type of interface to be registered with the given pointer.

Note

The registration of an interface will replace previously registered instances of its type

Template Parameters

T	The interface type

Parameters

iface

A pointer to the interface to store

Definition at line 138 of file interface_manager.h.

registerInterfaceManager()

void hardware_interface::InterfaceManager::registerInterfaceManager ( InterfaceManager *  iface_man )

inline

Register another interface manager.

This manager will be integrated transparently into all further access methods.

Parameters

iface_man

A pointer to the interface manager to store

Definition at line 157 of file interface_manager.h.

Member Data Documentation

interface_destruction_list_

std::vector<ResourceManagerBase*> hardware_interface::InterfaceManager::interface_destruction_list_

protected

Definition at line 311 of file interface_manager.h.

interface_managers_

InterfaceManagerVector hardware_interface::InterfaceManager::interface_managers_

protected

Definition at line 309 of file interface_manager.h.

interfaces_

InterfaceMap hardware_interface::InterfaceManager::interfaces_

protected

Definition at line 307 of file interface_manager.h.

interfaces_combo_

InterfaceMap hardware_interface::InterfaceManager::interfaces_combo_

protected

Definition at line 308 of file interface_manager.h.

num_ifaces_registered_

SizeMap hardware_interface::InterfaceManager::num_ifaces_registered_

protected

Definition at line 310 of file interface_manager.h.

resources_

ResourceMap hardware_interface::InterfaceManager::resources_

protected

This will allow us to check the resources based on the demangled type name of the interface.

Definition at line 313 of file interface_manager.h.

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

• interface_manager.h