Maintains a registry of network-connected modules and returns Group objects to the user. More...

#include <lookup.hpp>

Classes
class	EntryList

Public Member Functions
std::shared_ptr< Group >	getConnectedGroupFromMac (const MacAddress &address, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from all modules known to connect to a module with the given mac address. More...

std::shared_ptr< Group >	getConnectedGroupFromName (const std::string &family, const std::string &name, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from all modules known to connect to a module with the given name and family. More...

std::shared_ptr< EntryList >	getEntryList ()

std::shared_ptr< Group >	getGroupFromFamily (const std::string &family, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from all known modules with the given family. More...

std::shared_ptr< Group >	getGroupFromMacs (const std::vector< MacAddress > &addresses, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from modules with the given mac addresses. More...

std::shared_ptr< Group >	getGroupFromNames (const std::vector< std::string > &families, const std::vector< std::string > &names, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from modules with the given names and families. More...

int32_t	getInitialGroupCommandLifetimeMs ()
	Gets the default command lifetime value for groups created from this lookup. More...

float	getInitialGroupFeedbackFrequencyHz ()
	Gets the default feedback frequency value for groups created from this lookup. More...

double	getLookupFrequencyHz () const
	Gets the rate [Hz] at which "discovery" packets are broadcast. More...

	Lookup ()
	Creates a Lookup object which can create Module and Group references. Typically, only one Lookup object should exist at a time. More...

void	setInitialGroupCommandLifetimeMs (int32_t ms)
	Sets the default command lifetime value for groups created from this lookup. More...

void	setInitialGroupFeedbackFrequencyHz (float frequency)
	Sets the default feedback frequency value for groups created from this lookup. More...

bool	setLookupFrequencyHz (double frequency)
	Sets the lookup rate [Hz]. More...

	~Lookup () noexcept
	Destructor frees all resources created by Lookup object, and stops the background query thread. More...

Private Attributes
int32_t	initial_group_command_lifetime_ {250}

float	initial_group_feedback_frequency_ {100.0f}

HebiLookupPtr	lookup_

Static Private Attributes
static const int32_t	DEFAULT_TIMEOUT = 500

Detailed Description

Maintains a registry of network-connected modules and returns Group objects to the user.

Only one Lookup object is needed per application.

Author: Matthew Tesch < matt @ hebirobotics.com >

Since: 18 Feb 2016

Definition at line 24 of file lookup.hpp.

Constructor & Destructor Documentation

hebi::Lookup::Lookup ( )

Creates a Lookup object which can create Module and Group references. Typically, only one Lookup object should exist at a time.

Note that this call invokes a background thread to query the network for modules at regular intervals.

Definition at line 7 of file lookup.cpp.

hebi::Lookup::~Lookup ( )

noexcept

Destructor frees all resources created by Lookup object, and stops the background query thread.

Definition at line 9 of file lookup.cpp.

Member Function Documentation

std::shared_ptr< Group > hebi::Lookup::getConnectedGroupFromMac	(	const MacAddress &	address,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from all modules known to connect to a module with the given mac address.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

address	Physical mac address of the module to form the group from.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

Definition at line 60 of file lookup.cpp.

std::shared_ptr< Group > hebi::Lookup::getConnectedGroupFromName	(	const std::string &	family,
		const std::string &	name,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from all modules known to connect to a module with the given name and family.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

family	The given family of the module, as viewable in the HEBI GUI, to form the group from.
name	The given name of the module, as viewable in the HEBI GUI, to form the group from.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

Definition at line 51 of file lookup.cpp.

std::shared_ptr< Lookup::EntryList > hebi::Lookup::getEntryList ( )

Definition at line 148 of file lookup.cpp.

std::shared_ptr< Group > hebi::Lookup::getGroupFromFamily	(	const std::string &	family,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from all known modules with the given family.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

family	The family of each of the desired group modules.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

Definition at line 43 of file lookup.cpp.

std::shared_ptr< Group > hebi::Lookup::getGroupFromMacs	(	const std::vector< MacAddress > &	addresses,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from modules with the given mac addresses.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

addresses	List of physical mac addresses for desired group modules.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

Definition at line 31 of file lookup.cpp.

std::shared_ptr< Group > hebi::Lookup::getGroupFromNames	(	const std::vector< std::string > &	families,
		const std::vector< std::string > &	names,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from modules with the given names and families.

If one of the input vectors is of length one, then that element is assumed to pair with each item in the other input vector.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

families	A list of families of desired group modules, as viewable in the HEBI GUI. If of length one, this family is paried with each given name.
names	A list of names of desired group modules, as viewable in the HEBI GUI. If of length one, this name is paired with each given family
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

Definition at line 11 of file lookup.cpp.

int32_t hebi::Lookup::getInitialGroupCommandLifetimeMs ( )

Gets the default command lifetime value for groups created from this lookup.

Defaults to 250 ms.

See Group documentation for detailed usage, and docs.hebi.us for more information on Command Lifetime.

Definition at line 72 of file lookup.cpp.

float hebi::Lookup::getInitialGroupFeedbackFrequencyHz ( )

Gets the default feedback frequency value for groups created from this lookup.

Defaults to 100 Hz.

See Group documentation for detailed usage, and docs.hebi.us for more information on feedback requests.

Definition at line 68 of file lookup.cpp.

double hebi::Lookup::getLookupFrequencyHz ( ) const

Gets the rate [Hz] at which "discovery" packets are broadcast.

Defaults to 5 Hz.

Definition at line 76 of file lookup.cpp.

void hebi::Lookup::setInitialGroupCommandLifetimeMs ( int32_t ms )

Sets the default command lifetime value for groups created from this lookup.

Parameters

ms	The number of milliseconds that newly-created groups will use as their command lifetime when sending out commands.

Definition at line 74 of file lookup.cpp.

void hebi::Lookup::setInitialGroupFeedbackFrequencyHz ( float frequency )

Sets the default feedback frequency value for groups created from this lookup.

Parameters

frequency The frequency, in Hz, that newly-created groups will request feedback at.

Definition at line 70 of file lookup.cpp.

bool hebi::Lookup::setLookupFrequencyHz ( double frequency )

Sets the lookup rate [Hz].

Parameters

frequency The rate at which "discovery" packets get broadcast on the network to search for modules.

Returns: true on success, false on failure (e.g., invalid frequency)

Definition at line 78 of file lookup.cpp.

Member Data Documentation

const int32_t hebi::Lookup::DEFAULT_TIMEOUT = 500

staticprivate

Definition at line 26 of file lookup.hpp.

int32_t hebi::Lookup::initial_group_command_lifetime_ {250}

private

Default value of command lifetime used when creating new groups.

Definition at line 41 of file lookup.hpp.

float hebi::Lookup::initial_group_feedback_frequency_ {100.0f}

private

Default value of feedback frequency used when creating new groups.

Definition at line 36 of file lookup.hpp.

HebiLookupPtr hebi::Lookup::lookup_

private

Definition at line 31 of file lookup.hpp.

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

Classes

Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation