#include <remote_interface.h>
Public Types | |
| enum | State { RUNNING, STOPPED } |
Public Member Functions | |
| void | addDestinationToStream (const std::string &stream, const std::string &destination) |
| DataReceiver::Ptr | createReceiverForStream (const std::string &stream, const std::string &destInterface="", unsigned int destPort=0) |
| void | deleteAllDestinationsFromStream (const std::string &stream) |
| void | deleteDestinationFromStream (const std::string &stream, const std::string &destination) |
| std::list< std::string > | getAvailableStreams () |
| std::list< std::string > | getDestinationsOfStream (const std::string &stream) |
| std::string | getPbMsgTypeOfStream (const std::string &stream) |
| State | getState () |
| void | start (bool flagRestart=false) |
| void | stop () |
| virtual | ~RemoteInterface () |
Static Public Member Functions | |
| static Ptr | create (const std::string &rcVisardIP, unsigned int requestsTimeout=5000) |
Protected Member Functions | |
| void | checkStreamTypeAvailable (const std::string &stream) |
| void | cleanUpRequestedStreams () |
| RemoteInterface (const std::string &rcVisardIP, unsigned int requestsTimeout=5000) | |
Protected Attributes | |
| std::list< std::string > | _availStreams |
| std::string | _baseUrl |
| std::map< std::string, std::string > | _protobufMap |
| std::map< std::string, std::list< std::string > > | _reqStreams |
| int | _timeoutCurl |
| std::string | _visardAddrs |
Static Protected Attributes | |
| static std::map< std::string, RemoteInterface::Ptr > | _remoteInterfaces = map<string,RemoteInterface::Ptr>() |
Simple remote interface to access the dynamic state estimates of an rc_visard device as data streams.
It offers methods to * interface the rc_dynamics module on the rc_visard device, i.e. starting, stopping, and checking its state * manage data streams, i.e. adding, deleting, and checking destinations of the streams * an easy-to-use convenience function to directly start listening to a specific data stream (see createReceiverForStream())
NOTE: For convenience, a RemoteInterface object automatically keeps track of all data stream destinations requested by itself on the rc_visard device, and deletes them again when it is going to be destructed. Therefore, it is highly important that a RemoteInterface is destructed properly. In order to do so it, is recommended to wrap method calls of RemoteInterface objects with try-catch-blocks as they might throw exceptions and therefore avoid proper destruction of the object.
Definition at line 80 of file remote_interface.h.
Definition at line 86 of file remote_interface.h.
| rc::dynamics::RemoteInterface::~RemoteInterface | ( | ) | [virtual] |
Definition at line 189 of file remote_interface.cc.
| rc::dynamics::RemoteInterface::RemoteInterface | ( | const std::string & | rcVisardIP, |
| unsigned int | requestsTimeout = 5000 |
||
| ) | [protected] |
Definition at line 158 of file remote_interface.cc.
| void rc::dynamics::RemoteInterface::addDestinationToStream | ( | const std::string & | stream, |
| const std::string & | destination | ||
| ) |
Adds a destination to a stream, i.e. request rc_visard to stream data of the specified type to the given destination.
| stream | stream type, e.g. "pose", "pose_rt" or "dynamics" |
| destination | string-represented destination of the data stream, e.g. "192.168.0.1:30000" |
Definition at line 280 of file remote_interface.cc.
| void rc::dynamics::RemoteInterface::checkStreamTypeAvailable | ( | const std::string & | stream | ) | [protected] |
Definition at line 402 of file remote_interface.cc.
| void rc::dynamics::RemoteInterface::cleanUpRequestedStreams | ( | ) | [protected] |
Definition at line 364 of file remote_interface.cc.
| RemoteInterface::Ptr rc::dynamics::RemoteInterface::create | ( | const std::string & | rcVisardIP, |
| unsigned int | requestsTimeout = 5000 |
||
| ) | [static] |
Creates a local instance of rc_visard's remote pose interface
| rcVisardIP | rc_visard's inet address as string, e.g "192.168.0.12" |
| requestsTimeout | timeout in [ms] for doing REST-API calls |
Definition at line 139 of file remote_interface.cc.
| DataReceiver::Ptr rc::dynamics::RemoteInterface::createReceiverForStream | ( | const std::string & | stream, |
| const std::string & | destInterface = "", |
||
| unsigned int | destPort = 0 |
||
| ) |
Convenience method that automatically
1) creates a data receiver (including binding socket to a local network interface) 2) adds a destination to the respective stream on rc_visard device 3) waits/checks for the stream being established 4) (removes the destination automatically from rc_visard device if data receiver is no longer used)
Stream can only be established successfully if rc_dynamics module is running on rc_visard, see getState() and start(...) methods.
If desired interface for receiving is unspecified (or "") this host's network interfaces are scanned to find a suitable IP address among those. Similar, if port number is unspecified (or 0) it will be assigned arbitrarily as available by network interface layer.
| destInterface | empty or one of this hosts network interfaces, e.g. "eth0" |
| destPort | 0 or this hosts port number |
Definition at line 316 of file remote_interface.cc.
| void rc::dynamics::RemoteInterface::deleteAllDestinationsFromStream | ( | const std::string & | stream | ) |
Deletes all destinations from a stream.
| stream | stream type, e.g. "pose", "pose_rt" or "dynamics" |
| void rc::dynamics::RemoteInterface::deleteDestinationFromStream | ( | const std::string & | stream, |
| const std::string & | destination | ||
| ) |
Deletes a destination from a stream, i.e. request rc_visard to stop streaming data of the specified type to the given destination.
| stream | stream type, e.g. "pose", "pose_rt" or "dynamics" |
| destination | string-represented destination of the data stream, e.g. "192.168.0.1:30000" |
Definition at line 296 of file remote_interface.cc.
| list< string > rc::dynamics::RemoteInterface::getAvailableStreams | ( | ) |
Returns a list all available streams on rc_visard
Definition at line 246 of file remote_interface.cc.
| list< string > rc::dynamics::RemoteInterface::getDestinationsOfStream | ( | const std::string & | stream | ) |
Returns a list of all destinations registered to the specified rc_dynamics stream. Streams here are represented as their destinations using IP address and port number.
| stream | a specific rc_dynamics data stream (e.g. "pose" or "dynamics") |
Definition at line 259 of file remote_interface.cc.
| string rc::dynamics::RemoteInterface::getPbMsgTypeOfStream | ( | const std::string & | stream | ) |
Returns the name of the protobuf message class that corresponds to a given data stream and is required for de-serializing the respective messages.
| stream | a specific rc_dynamics data stream (e.g. "pose", "pose_rt" or "dynamics") |
Definition at line 252 of file remote_interface.cc.
Checks state of rc_dynamics module (running, stopped, ...)
Definition at line 231 of file remote_interface.cc.
| void rc::dynamics::RemoteInterface::start | ( | bool | flagRestart = false | ) |
Sets rc_dynamics module to running state.
| flagRestart | do a restart, if enable==true and rc_dynamics module was already running |
Definition at line 211 of file remote_interface.cc.
| void rc::dynamics::RemoteInterface::stop | ( | ) |
Stops rc_dynamics module
Definition at line 222 of file remote_interface.cc.
std::list<std::string> rc::dynamics::RemoteInterface::_availStreams [protected] |
Definition at line 218 of file remote_interface.h.
std::string rc::dynamics::RemoteInterface::_baseUrl [protected] |
Definition at line 220 of file remote_interface.h.
std::map<std::string, std::string> rc::dynamics::RemoteInterface::_protobufMap [protected] |
Definition at line 219 of file remote_interface.h.
map< string, RemoteInterface::Ptr > rc::dynamics::RemoteInterface::_remoteInterfaces = map<string,RemoteInterface::Ptr>() [static, protected] |
Definition at line 208 of file remote_interface.h.
std::map<std::string, std::list<std::string> > rc::dynamics::RemoteInterface::_reqStreams [protected] |
Definition at line 217 of file remote_interface.h.
int rc::dynamics::RemoteInterface::_timeoutCurl [protected] |
Definition at line 221 of file remote_interface.h.
std::string rc::dynamics::RemoteInterface::_visardAddrs [protected] |
Definition at line 216 of file remote_interface.h.