#include <Manager.hpp>

Inheritance diagram for rokubimini::RokubiminiManager:

Public Member Functions
void	createRokubiminiRosPublishers () const
	Creates ROS Publishers for each attached rokubimini. More...

void	createRokubiminiRosServices () const
	Creates ROS Services for each attached rokubimini. More...

std::shared_ptr< Rokubimini >	getRokubimini (const std::string &name) const
	Returns the Rokubimini instance with name name. More...

std::vector< std::shared_ptr< Rokubimini > >	getRokubiminis () const

bool	loadSetup () override
	Loads the Setup from the parameter server. More...

void	publishRosMessages () const
	Publishes the ROS messages for each attached rokubimini. More...

	RokubiminiManager ()=delete

	RokubiminiManager (const bool standalone, const bool installSignalHandler, const double timeStep=0.01, const NodeHandlePtr nh=nullptr)
	Custom constructor. The default constructor is deleted. More...

void	setNodeHandle (const std::shared_ptr< ros::NodeHandle > &nh) const
	Sets the ROS NodeHandle to each rokubimini. More...

void	shutdown () override
	Shuts down everything. More...

bool	startup () override
	Starts the communication with all the Rokubimini devices. More...

bool	update () override
	Updates with new values from/to the Rokubiminis. More...

void	updateCommunicationManagerReadMessages ()
	Instructs each BusManager to read the messages. More...

void	updateCommunicationManagerWriteMessages ()
	Instructs each BusManager to write the messages. More...

void	updateProcessReadings ()
	Gets the Readings from each Rokubimini device. More...

	~RokubiminiManager () override=default

Public Member Functions inherited from rokubimini::BaseManager
	BaseManager ()
	Default constructor. More...

virtual	~BaseManager ()=default

Protected Member Functions
bool	addRokubimini (const std::shared_ptr< Rokubimini > &rokubimini)
	Adds a Rokubimini instance to the list. More...

bool	createAndConfigureRokubimini (const std::shared_ptr< rokubimini::setup::Rokubimini > &rokubiminiSetup)
	Creates an implementation-specific Rokubimini instance (through the rokubimini_factory), loads the RokubiminiSetup to it and adds the new instance to the list. More...

bool	createRokubiminisFromSetup (const rokubimini::setup::SetupPtr &setup)
	Creates the Rokubimini instances from a Setup. More...

void	handleSignal (const int signum)
	Handles the signal received. Specifically requests shuts down if the signum is SIGSEGV. More...

bool	loadBusManagersSetup ()
	Calls the loadSetup() of each Bus Manager. More...

void	requestShutdown ()
	Sets a flag that represents that shutdown has been requested. More...

bool	rokubiminiExists (const std::string &name) const
	Decides if a specific Rokubimini instance exists in the list. More...

bool	updateWorkerCb (const bota_worker::WorkerEvent &event)
	Callback method which when triggered calls the update() method. More...

Protected Attributes
std::vector< std::unique_ptr< RokubiminiBusManager > >	busManagers_

std::atomic< bool >	isRunning_ { false }
	Boolean that specifies if the Manager is already running. More...

std::vector< std::shared_ptr< Rokubimini > >	rokubiminis_

std::atomic< bool >	shutdownRequested_ { false }
	Boolean that specifies if shutdown has been requested. More...

std::shared_ptr< bota_worker::Worker >	updateWorker_ { nullptr }
	A Worker instance that handles the update process. More...

Private Attributes
std::string	configurationFile_ { "" }

NodeHandlePtr	nh_

bool	standalone_ { true }

double	timeStep_ { 0.0 }

Detailed Description

The Rokubimini Manager class.

A class that provides a general implementation of a Manager for the Rokubimini devices. It implements the base functionalities from its parent (load, startup, update, shutdown) and provides a generic and medium-ignorant way of doing so.

Definition at line 105 of file Manager.hpp.

Constructor & Destructor Documentation

rokubimini::RokubiminiManager::RokubiminiManager ( )

delete

rokubimini::RokubiminiManager::RokubiminiManager	(	const bool	standalone,
		const bool	installSignalHandler,
		const double	timeStep = `0.01`,
		const NodeHandlePtr	nh = `nullptr`
	)

Custom constructor. The default constructor is deleted.

This method constructs a RokubiminiManager and starts up a Signal Handler upon request.

Parameters

standalone	Boolean that defines whether the Manager should run as a standalone program.
installSignalHandler	Boolean that defines whether there will be a signal handler installed.
timeStep	Boolean that defines the time step between two consecutive updates(?).
nh	The NodeHandle for accessing the parameter server.

Definition at line 9 of file Manager.cpp.

rokubimini::RokubiminiManager::~RokubiminiManager ( )

overridedefault

Member Function Documentation

bool rokubimini::RokubiminiManager::addRokubimini ( const std::shared_ptr< Rokubimini > & rokubimini )

protected

Adds a Rokubimini instance to the list.

Parameters

rokubimini The Rokubimini instance.

Definition at line 87 of file Manager.cpp.

bool rokubimini::RokubiminiManager::createAndConfigureRokubimini ( const std::shared_ptr< rokubimini::setup::Rokubimini > & rokubiminiSetup )

protected

Creates an implementation-specific Rokubimini instance (through the rokubimini_factory), loads the RokubiminiSetup to it and adds the new instance to the list.

Parameters

rokubiminiSetup The RokubiminiSetup which will be loaded to a new Rokubimini instance.

void rokubimini::RokubiminiManager::createRokubiminiRosPublishers ( ) const

Creates ROS Publishers for each attached rokubimini.

Definition at line 117 of file Manager.cpp.

void rokubimini::RokubiminiManager::createRokubiminiRosServices ( ) const

Creates ROS Services for each attached rokubimini.

Definition at line 124 of file Manager.cpp.

bool rokubimini::RokubiminiManager::createRokubiminisFromSetup ( const rokubimini::setup::SetupPtr & setup )

protected

Creates the Rokubimini instances from a Setup.

Parameters

setup The Setup needed for creating the Rokubimini instances.

Definition at line 50 of file Manager.cpp.

std::shared_ptr< Rokubimini > rokubimini::RokubiminiManager::getRokubimini ( const std::string & name ) const

Returns the Rokubimini instance with name name.

This method is used for getting a Rokubimini instance based on its name. If there isn't such a Rokubimini in the Manager's list, a nullptr is returned.

Parameters

name	The name of the Rokubimini to be found.

Definition at line 18 of file Manager.cpp.

std::vector< std::shared_ptr< Rokubimini > > rokubimini::RokubiminiManager::getRokubiminis ( ) const

Definition at line 30 of file Manager.cpp.

void rokubimini::RokubiminiManager::handleSignal ( const int signum )

protected

Handles the signal received. Specifically requests shuts down if the signum is SIGSEGV.

Parameters

signum The number of the signal.

Definition at line 276 of file Manager.cpp.

bool rokubimini::RokubiminiManager::loadBusManagersSetup ( )

protected

Calls the loadSetup() of each Bus Manager.

Definition at line 63 of file Manager.cpp.

bool rokubimini::RokubiminiManager::loadSetup ( )

overridevirtual

Loads the Setup from the parameter server.

This method is used for loading the Setup from the parameter server. It starts by parsing the necessary parameters in the parameter server and acquiring general information for each to-be-set Rokubimini (e.g. name, configuration_file), as well as specific information (e.g. ethercat_bus or port). This process is done through calling functions from the rokubimini_factory which knows the implementation-specific stuff. Then, it creates Rokubiminis based on the implementation-specific information located in the parameter server (by calling again functions) and loads the configuration found in the parameter server which is loaded for each. Finally it calls the relevant BusManager to attach it to the bus. This process is also done through the rokubimini_factory.

Parameters

setupFile The file to load the setup from.

Implements rokubimini::BaseManager.

Definition at line 40 of file Manager.cpp.

void rokubimini::RokubiminiManager::publishRosMessages ( ) const

Publishes the ROS messages for each attached rokubimini.

Definition at line 131 of file Manager.cpp.

void rokubimini::RokubiminiManager::requestShutdown ( )

protected

Sets a flag that represents that shutdown has been requested.

Definition at line 271 of file Manager.cpp.

bool rokubimini::RokubiminiManager::rokubiminiExists ( const std::string & name ) const

protected

Decides if a specific Rokubimini instance exists in the list.

Parameters

name	Name to search in the list.

Definition at line 98 of file Manager.cpp.

void rokubimini::RokubiminiManager::setNodeHandle ( const std::shared_ptr< ros::NodeHandle > & nh ) const

Sets the ROS NodeHandle to each rokubimini.

Parameters

nh	The ROS NodeHandle

Definition at line 110 of file Manager.cpp.

void rokubimini::RokubiminiManager::shutdown ( )

overridevirtual

Shuts down everything.

Shuts down all the Rokubimini devices and the buses from their relative BusManagers. Also stops the updateWorker thread that is running in parallel.

Implements rokubimini::BaseManager.

Definition at line 227 of file Manager.cpp.

bool rokubimini::RokubiminiManager::startup ( )

overridevirtual

Starts the communication with all the Rokubimini devices.

This method starts the communication with all the Rokubimini devices. Also some funcionalities of the BusManagers are called between the startup phases of the Rokubiminis.

Implements rokubimini::BaseManager.

Definition at line 139 of file Manager.cpp.

bool rokubimini::RokubiminiManager::update ( )

overridevirtual

Updates with new values from/to the Rokubiminis.

This method updates the Manager with new values (Readings) from the Rokubimini devices. Also there are calls to optional implementation of readAllBuses and writeToAllBuses of each BusManager implementation.

Implements rokubimini::BaseManager.

Definition at line 198 of file Manager.cpp.

void rokubimini::RokubiminiManager::updateCommunicationManagerReadMessages ( )

Instructs each BusManager to read the messages.

This method allows each BusManager to read the messages created to its attached buses.

Definition at line 205 of file Manager.cpp.

void rokubimini::RokubiminiManager::updateCommunicationManagerWriteMessages ( )

Instructs each BusManager to write the messages.

This method allows each BusManager to write the messages created to its attached buses.

Definition at line 220 of file Manager.cpp.

void rokubimini::RokubiminiManager::updateProcessReadings ( )

Gets the Readings from each Rokubimini device.

This method gets the Readings from each Rokubimini device. It calls the updateProcessReading method of each Rokubimini instance.

Definition at line 212 of file Manager.cpp.

bool rokubimini::RokubiminiManager::updateWorkerCb ( const bota_worker::WorkerEvent & event )

protected

Callback method which when triggered calls the update() method.

Parameters

event Event triggering the callback.

Definition at line 267 of file Manager.cpp.

Member Data Documentation

std::vector<std::unique_ptr<RokubiminiBusManager> > rokubimini::RokubiminiManager::busManagers_

protected

Definition at line 418 of file Manager.hpp.

std::string rokubimini::RokubiminiManager::configurationFile_ { "" }

private

Definition at line 434 of file Manager.hpp.

std::atomic< bool > rokubimini::RokubiminiManager::isRunning_ { false }

protected

Boolean that specifies if the Manager is already running.

Definition at line 387 of file Manager.hpp.

NodeHandlePtr rokubimini::RokubiminiManager::nh_

private

Definition at line 435 of file Manager.hpp.

std::vector<std::shared_ptr<Rokubimini> > rokubimini::RokubiminiManager::rokubiminis_

protected

Definition at line 407 of file Manager.hpp.

std::atomic< bool > rokubimini::RokubiminiManager::shutdownRequested_ { false }

protected

Boolean that specifies if shutdown has been requested.

Definition at line 397 of file Manager.hpp.

bool rokubimini::RokubiminiManager::standalone_ { true }

private

Definition at line 432 of file Manager.hpp.

double rokubimini::RokubiminiManager::timeStep_ { 0.0 }

private

Definition at line 433 of file Manager.hpp.

std::shared_ptr< bota_worker::Worker > rokubimini::RokubiminiManager::updateWorker_ { nullptr }

protected

A Worker instance that handles the update process.

Definition at line 377 of file Manager.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation