Simple remote interface to access the dynamic state estimates of an rc_visard device as data streams. More...

#include <remote_interface.h>

Inheritance diagram for rc::dynamics::RemoteInterface:

Classes
class	DynamicsNotRunning
	Thrown if rc_dynamics is requested to receive dynamics data but component is not running. More...

class	InvalidState
	Thrown if the current_state response of the dynamics service does not correspond to those in the State struct. More...

class	NotAccepted
	Thrown if a service call is not accepted. More...

class	NotAvailable
	Thrown if a REST API call is rejected because of 404; i.e. URL not found. More...

struct	ReturnCode

struct	State
	An enum mirroring the state-machine states enum in rc_dynamics/dynamicsRos.h. More...

class	TooManyRequests
	Thrown if a REST API call is rejected because of too many requests. More...

class	TooManyStreamDestinations
	Thrown if too many streams are running already on rc_visard. More...

Public Types
using	Ptr = std::shared_ptr< RemoteInterface >

Public Member Functions
void	addDestinationToStream (const std::string &stream, const std::string &destination)
	Adds a destination to a stream, i.e. More...

bool	checkSystemReady ()
	Connects with rc_visard and checks the system state of the rc_visard device. More...

DataReceiver::Ptr	createReceiverForStream (const std::string &stream, const std::string &dest_interface="", unsigned int dest_port=0)
	Convenience method that automatically. More...

void	deleteDestinationFromStream (const std::string &stream, const std::string &destination)
	Deletes a destination from a stream, i.e. More...

void	deleteDestinationsFromStream (const std::string &stream, const std::list< std::string > &destinations)
	Deletes given destinations from a stream, i.e. More...

std::list< std::string >	getAvailableStreams ()
	Returns a list all available streams on rc_visard. More...

roboception::msgs::Frame	getCam2ImuTransform (unsigned int timeout_ms=0)
	Returns the transformation from camera to IMU coordinate frame. More...

std::list< std::string >	getDestinationsOfStream (const std::string &stream)
	Returns a list of all destinations registered to the specified rc_dynamics stream. More...

std::string	getDynamicsState ()
	Returns the current state of rc_dynamics module. More...

std::string	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. More...

std::string	getSlamState ()
	Returns the current state of rc_slam module. More...

roboception::msgs::Trajectory	getSlamTrajectory (const TrajectoryTime &start=TrajectoryTime::RelativeToStart(), const TrajectoryTime &end=TrajectoryTime::RelativeToEnd(), unsigned int timeout_ms=0)
	Returns the Slam trajectory from the sensor. More...

std::string	getStereoInsState ()
	Returns the current state of rc_stereo_ins module. More...

ReturnCode	loadSlamMap (unsigned int timeout_ms=0)
	Loads the SLAM map on the sensor. More...

ReturnCode	removeSlamMap (unsigned int timeout_ms=0)
	Removes the SLAM map on the sensor. More...

std::string	resetSlam ()
	Resets the SLAM module The Stereo INS will keep running, if it is. More...

std::string	restart ()
	Restarts the rc_dynamics module to Stereo INS only mode. More...

std::string	restartSlam ()
	Restarts the rc_dynamics module to SLAM mode. More...

ReturnCode	saveSlamMap (unsigned int timeout_ms=0)
	Saves the SLAM map on the sensor. More...

std::string	start ()
	Sets rc_dynamics module to running state. More...

std::string	startSlam ()
	Sets rc_dynamics module to running state. More...

std::string	stop ()
	Stops rc_dynamics module. More...

std::string	stopSlam ()
	Stops only the SLAM module (via the rc_dynamics module). More...

virtual	~RemoteInterface ()

Static Public Member Functions
static Ptr	create (const std::string &rc_visard_ip, unsigned int requests_timeout=5000)
	Creates a local instance of rc_visard's remote pose interface. More...

Protected Member Functions
std::string	callDynamicsService (std::string service_name)
	Common functionality for start(), startSlam(), stop(), ... More...

ReturnCode	callSlamService (std::string service_name, unsigned int timeout_ms=0)
	call slam services which have a return code with value and message More...

void	checkStreamTypeAvailable (const std::string &stream)

void	cleanUpRequestedStreams ()

std::string	getState (const std::string &node)

	RemoteInterface (const std::string &rc_visard_ip, unsigned int requests_timeout=5000)

Protected Attributes
std::list< std::string >	avail_streams_

std::string	base_url_

bool	initialized_
	indicates if remote_interface was initialized properly at least once, see checkSystemReady() More...

std::map< std::string, std::string >	protobuf_map_

std::map< std::string, std::list< std::string > >	req_streams_

int	timeout_curl_

std::string	visard_addrs_

float	visard_version_
	rc_visard's firmware version as double, i.e. major.minor, e.g. 1.6 More...

Static Protected Attributes
static std::map< std::string, RemoteInterface::Ptr >	remote_interfaces_ = map<string, RemoteInterface::Ptr>()

Detailed Description

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 79 of file remote_interface.h.

Member Typedef Documentation

◆ Ptr

using rc::dynamics::RemoteInterface::Ptr = std::shared_ptr<RemoteInterface>

Definition at line 82 of file remote_interface.h.

Constructor & Destructor Documentation

◆ ~RemoteInterface()

rc::dynamics::RemoteInterface::~RemoteInterface ( )

virtual

Definition at line 253 of file remote_interface.cc.

◆ RemoteInterface()

rc::dynamics::RemoteInterface::RemoteInterface	(	const std::string &	rc_visard_ip,
		unsigned int	requests_timeout = `5000`
	)

protected

Definition at line 239 of file remote_interface.cc.

Member Function Documentation

◆ addDestinationToStream()

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.

Parameters

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 572 of file remote_interface.cc.

◆ callDynamicsService()

std::string rc::dynamics::RemoteInterface::callDynamicsService ( std::string service_name )

protected

Common functionality for start(), startSlam(), stop(), ...

Definition at line 360 of file remote_interface.cc.

◆ callSlamService()

RemoteInterface::ReturnCode rc::dynamics::RemoteInterface::callSlamService	(	std::string	service_name,
		unsigned int	timeout_ms = `0`
	)

protected

call slam services which have a return code with value and message

Definition at line 495 of file remote_interface.cc.

◆ checkStreamTypeAvailable()

void rc::dynamics::RemoteInterface::checkStreamTypeAvailable ( const std::string & stream )

protected

Definition at line 830 of file remote_interface.cc.

◆ checkSystemReady()

bool rc::dynamics::RemoteInterface::checkSystemReady ( )

Connects with rc_visard and checks the system state of the rc_visard device.

Returns: true, if system is ready, false otherwise

Definition at line 279 of file remote_interface.cc.

◆ cleanUpRequestedStreams()

void rc::dynamics::RemoteInterface::cleanUpRequestedStreams ( )

protected

Definition at line 818 of file remote_interface.cc.

◆ create()

RemoteInterface::Ptr rc::dynamics::RemoteInterface::create	(	const std::string &	rc_visard_ip,
		unsigned int	requests_timeout = `5000`
	)

static

Creates a local instance of rc_visard's remote pose interface.

Parameters

rc_visard_ip	rc_visard's inet address as string, e.g "192.168.0.12"
requests_timeout	timeout in [ms] for doing REST-API calls, which don't have an explicit timeout parameter

Definition at line 223 of file remote_interface.cc.

◆ createReceiverForStream()

DataReceiver::Ptr rc::dynamics::RemoteInterface::createReceiverForStream	(	const std::string &	stream,
		const std::string &	dest_interface = `""`,
		unsigned int	dest_port = `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 (re)start(_slam) 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.

Parameters

dest_interface	empty or one of this hosts network interfaces, e.g. "eth0"
dest_port	0 or this hosts port number

Returns: true, if stream could be initialized successfully

Definition at line 772 of file remote_interface.cc.

◆ deleteDestinationFromStream()

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.

Parameters

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 592 of file remote_interface.cc.

◆ deleteDestinationsFromStream()

void rc::dynamics::RemoteInterface::deleteDestinationsFromStream	(	const std::string &	stream,
		const std::list< std::string > &	destinations
	)

Deletes given destinations from a stream, i.e.

request rc_visard to stop streaming data of the specified type to the given destinations.

Parameters

stream	stream type, e.g. "pose", "pose_rt" or "dynamics"
destinations	list string-represented destination of the data stream, e.g. "192.168.0.1:30000"

Definition at line 611 of file remote_interface.cc.

◆ getAvailableStreams()

list< string > rc::dynamics::RemoteInterface::getAvailableStreams ( )

Returns a list all available streams on rc_visard.

Returns

Definition at line 536 of file remote_interface.cc.

◆ getCam2ImuTransform()

roboception::msgs::Frame rc::dynamics::RemoteInterface::getCam2ImuTransform ( unsigned int timeout_ms = 0 )

Returns the transformation from camera to IMU coordinate frame.

This is equivalent to the cam2imu_transform in the Dynamics message.

Parameters

timeout_ms timeout in ms for the call (default 0: no timeout)

Definition at line 761 of file remote_interface.cc.

◆ getDestinationsOfStream()

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.

Parameters

stream a specific rc_dynamics data stream (e.g. "pose" or "dynamics")

Returns: list of destinations of represented as strings, e.g. "192.168.0.1:30000"

Definition at line 552 of file remote_interface.cc.

◆ getDynamicsState()

string rc::dynamics::RemoteInterface::getDynamicsState ( )

Returns the current state of rc_dynamics module.

Returns: the current state.

Definition at line 345 of file remote_interface.cc.

◆ getPbMsgTypeOfStream()

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.

Parameters

stream a specific rc_dynamics data stream (e.g. "pose", "pose_rt" or "dynamics")

Returns: the corresponding protobuf message type as string (e.g. "Frame" or "Dynamics")

Definition at line 546 of file remote_interface.cc.

◆ getSlamState()

string rc::dynamics::RemoteInterface::getSlamState ( )

Returns the current state of rc_slam module.

Returns: the current state.

Definition at line 350 of file remote_interface.cc.

◆ getSlamTrajectory()

roboception::msgs::Trajectory rc::dynamics::RemoteInterface::getSlamTrajectory	(	const TrajectoryTime &	start = `TrajectoryTime::RelativeToStart()`,
		const TrajectoryTime &	end = `TrajectoryTime::RelativeToEnd()`,
		unsigned int	timeout_ms = `0`
	)

Returns the Slam trajectory from the sensor.

Using the start and end arguments only a subsection of the trajectory can be queried. If both are left empy, the full trajectory is returned.

Parameters

start	specifies the start of the returned trajectory subsection (if empty, the trajectory is returned from its very beginning)
end	specifies the end of the returned trajectory subsection (if empty, the trajectory is included up to its very end)

Definition at line 737 of file remote_interface.cc.

◆ getState()

string rc::dynamics::RemoteInterface::getState ( const std::string & node )

protected

Definition at line 331 of file remote_interface.cc.

◆ getStereoInsState()

string rc::dynamics::RemoteInterface::getStereoInsState ( )

Returns the current state of rc_stereo_ins module.

Returns: the current state.

Definition at line 355 of file remote_interface.cc.

◆ loadSlamMap()

RemoteInterface::ReturnCode rc::dynamics::RemoteInterface::loadSlamMap ( unsigned int timeout_ms = 0 )

Loads the SLAM map on the sensor.

Parameters

timeout_ms timeout in ms for the call (default 0: no timeout)

Returns: return code indicating success and string message

Definition at line 527 of file remote_interface.cc.

◆ removeSlamMap()

RemoteInterface::ReturnCode rc::dynamics::RemoteInterface::removeSlamMap ( unsigned int timeout_ms = 0 )

Removes the SLAM map on the sensor.

Parameters

timeout_ms timeout in ms for the call (default 0: no timeout)

Returns: return code indicating success and string message

Definition at line 531 of file remote_interface.cc.

◆ resetSlam()

std::string rc::dynamics::RemoteInterface::resetSlam ( )

Resets the SLAM module The Stereo INS will keep running, if it is.

Returns: the entered state (of the SLAM module). Note that this can be an intermediate state.

Exceptions

InvalidState if the entered state does not match the known states in State

Definition at line 444 of file remote_interface.cc.

◆ restart()

std::string rc::dynamics::RemoteInterface::restart ( )

Restarts the rc_dynamics module to Stereo INS only mode.

Equivalent to stop() and start()

Returns: the entered state. Note that this can be an intermediate state.

Exceptions

InvalidState if the entered state does not match the known states in State

Definition at line 419 of file remote_interface.cc.

◆ restartSlam()

std::string rc::dynamics::RemoteInterface::restartSlam ( )

Restarts the rc_dynamics module to SLAM mode.

Equivalent to stop() and startSlam()

Returns: the entered state. Note that this can be an intermediate state.

Exceptions

InvalidState if the entered state does not match the known states in State

Definition at line 423 of file remote_interface.cc.

◆ saveSlamMap()

RemoteInterface::ReturnCode rc::dynamics::RemoteInterface::saveSlamMap ( unsigned int timeout_ms = 0 )

Saves the SLAM map on the sensor.

Parameters

timeout_ms timeout in ms for the call (default 0: no timeout)

Returns: return code indicating success and string message

Definition at line 523 of file remote_interface.cc.

◆ start()

std::string rc::dynamics::RemoteInterface::start ( )

Sets rc_dynamics module to running state.

Only start the Stereo INS. To start SLAM use startSlam(). To restart use the restart() method.

Returns: the entered state. Note that this can be an intermediate state.

Exceptions

InvalidState if the entered state does not match the known states in State

Definition at line 427 of file remote_interface.cc.

◆ startSlam()

std::string rc::dynamics::RemoteInterface::startSlam ( )

Sets rc_dynamics module to running state.

Also starts up the Stereo INS, if not already running.

Returns: the entered state. Note that this can be an intermediate state.

Exceptions

InvalidState if the entered state does not match the known states in State

Definition at line 431 of file remote_interface.cc.

◆ stop()

std::string rc::dynamics::RemoteInterface::stop ( )

Stops rc_dynamics module.

If SLAM is running it will be stopped too.

Returns: the entered state. Note that this can be an intermediate state.

Exceptions

InvalidState if the entered state does not match the known states in State

Definition at line 435 of file remote_interface.cc.

◆ stopSlam()

std::string rc::dynamics::RemoteInterface::stopSlam ( )

Stops only the SLAM module (via the rc_dynamics module).

The Stereo INS will keep running.

Returns: the entered state. Note that this can be an intermediate state.

Exceptions

InvalidState if the entered state does not match the known states in State

Definition at line 439 of file remote_interface.cc.

Member Data Documentation

◆ avail_streams_

std::list<std::string> rc::dynamics::RemoteInterface::avail_streams_

protected

Definition at line 389 of file remote_interface.h.

◆ base_url_

std::string rc::dynamics::RemoteInterface::base_url_

protected

Definition at line 391 of file remote_interface.h.

◆ initialized_

bool rc::dynamics::RemoteInterface::initialized_

protected

indicates if remote_interface was initialized properly at least once, see checkSystemReady()

Definition at line 386 of file remote_interface.h.

◆ protobuf_map_

std::map<std::string, std::string> rc::dynamics::RemoteInterface::protobuf_map_

protected

Definition at line 390 of file remote_interface.h.

◆ remote_interfaces_

map< string, RemoteInterface::Ptr > rc::dynamics::RemoteInterface::remote_interfaces_ = map<string, RemoteInterface::Ptr>()

staticprotected

Definition at line 374 of file remote_interface.h.

◆ req_streams_

std::map<std::string, std::list<std::string> > rc::dynamics::RemoteInterface::req_streams_

protected

Definition at line 388 of file remote_interface.h.

◆ timeout_curl_

int rc::dynamics::RemoteInterface::timeout_curl_

protected

Definition at line 392 of file remote_interface.h.

◆ visard_addrs_

std::string rc::dynamics::RemoteInterface::visard_addrs_

protected

Definition at line 385 of file remote_interface.h.

◆ visard_version_

float rc::dynamics::RemoteInterface::visard_version_

protected

rc_visard's firmware version as double, i.e. major.minor, e.g. 1.6

Definition at line 387 of file remote_interface.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ ~RemoteInterface()

◆ RemoteInterface()

Member Function Documentation

◆ addDestinationToStream()

◆ callDynamicsService()

◆ callSlamService()

◆ checkStreamTypeAvailable()

◆ checkSystemReady()

◆ cleanUpRequestedStreams()

◆ create()

◆ createReceiverForStream()

◆ deleteDestinationFromStream()

◆ deleteDestinationsFromStream()

◆ getAvailableStreams()

◆ getCam2ImuTransform()

◆ getDestinationsOfStream()

◆ getDynamicsState()

◆ getPbMsgTypeOfStream()

◆ getSlamState()

◆ getSlamTrajectory()

◆ getState()

◆ getStereoInsState()

◆ loadSlamMap()

◆ removeSlamMap()

◆ resetSlam()

◆ restart()

◆ restartSlam()

◆ saveSlamMap()

◆ start()

◆ startSlam()

◆ stop()

◆ stopSlam()

Member Data Documentation

◆ avail_streams_

◆ base_url_

◆ initialized_

◆ protobuf_map_

◆ remote_interfaces_

◆ req_streams_

◆ timeout_curl_

◆ visard_addrs_

◆ visard_version_