#include <visualization/3d/CameraOrbitTool.h>
Public Types | |
| enum | Flags { NORMAL = 0x0000, ANONYMOUS = 0x0001, HIDDEN = 0x0002, INVISIBLE_PUBLISHER_SUBSCRIBER = 0x0004, INTERNAL = 0x000A, INDEPENDENT_SUBSCRIBER_THREAD = 0x0010, INDEPENDENT_RPC_THREAD = 0x0020, NO_MAIN_THREAD = 0x0040 } |
| Flags for creating an authority. More... | |
| typedef std::multimap< std::string, std::string > | ChannelNameMapping |
| typedef std::map< std::string, Status > | ChannelStatusMap |
| typedef std::map< std::string, Status > | StatusMap |
Public Member Functions | |
| template<typename Reflector > | |
| void | reflect (Reflector &r) |
| virtual void | init (IVisualizationSite *site) |
| Is called by the visualization view when the tool is attached. More... | |
| virtual IVisualization3DSite * | getSite () |
| Returns a pointer to the IVisualizationSite interface that was set in the init() method. More... | |
| virtual void | processUpdate (Duration dt) |
| Is called regularly by the VisualizationView if the tool is active to update the tool. More... | |
| virtual void | onMousePressed (QMouseEvent *e, float devicePixelRatio) |
| virtual void | onMouseReleased (QMouseEvent *e, float devicePixelRatio) |
| virtual void | onMouseDoubleClick (QMouseEvent *e) |
| Called if the tool is active and a double click as occurred. More... | |
| virtual void | onMouseDoubleClick (QMouseEvent *e, float devicePixelRatio) |
| virtual void | onMouseMoved (QMouseEvent *e, float devicePixelRatio) |
| virtual void | onMouseWheel (QWheelEvent *e, float devicePixelRatio) |
| virtual Authority & | getAuthority () |
| Return the authority as reference. More... | |
| Class const & | getClass () const |
| call the virtual internalGetClass(). More... | |
| void | enableSubscriberCallbacks (bool enable) |
| Enables/disables subscriptions. More... | |
| StatusManager & | getStatusManager () |
| StatusMap | getStatusMap () const |
| Gets the current status map containing all errors, warnings and bootup messages. More... | |
| void | setHeartbeatInterval (const Duration &interval) |
| Set the watchdog interval. More... | |
| void | setName (const std::string &name) |
| Duration | getHeartbeatInterval () const |
| Return the watchdog interval. More... | |
| void | heartbeat () |
| When called for the first time heartbeat usage will be enabled. More... | |
| bool | hasHeartbeatTimeout () const |
| Returns true if heartbeat usage is enabled (by first call to heartbeat()) and last heartbeat was more than heartbeat interval time ago. More... | |
| void | bootup (const std::string &message, const std::string &trText="") |
| Signal that the module is booting up. More... | |
| void | bootupFinished () |
| Signal that the module has finished booting up (There can still be errors but booting up is finished) More... | |
| void | recoverFinished () |
| Signal that the module has finished recovering (There can still be errors but recovering is finished) More... | |
| void | recover (const std::string &message, const std::string &trText="") |
| Signal that the module is recovering. More... | |
| void | ok (const std::string &category="") |
| Signal that a category contains no more errors. More... | |
| bool | warning (const std::string &category, const std::string &message, const std::string &trText="") |
| Signal a warning in a category. More... | |
| bool | error (const std::string &category, const std::string &message, const std::string &trText="") |
| Signal an error in a category. More... | |
| bool | setStatus (Status::StatusMode mode, const std::string &category, const std::string &message, const std::string &trText="") |
| Set the status of a given category. More... | |
| Status::StatusMode | getStatus () const |
| Get the status mode defined by the status of the watchdog (if used) and the bootup, error and warning methods. More... | |
Session Management and Runtime Control. | |
| void | checkin (const ResourceName &fullname, AuthorityRuntimePtr runtime=AuthorityRuntimePtr()) |
| Checks in and therefore makes the authority valid by providing a namespace and a name that are given as fully qualified resource name. More... | |
| void | checkin (const ResourceName &ns, const std::string &name, AuthorityRuntimePtr runtime=AuthorityRuntimePtr()) |
| Checks in and therefore makes the authority valid by providing a namespace and a name. More... | |
| void | checkin (Authority &iParent, const ResourceName &ns, const std::string &name) |
| Checks in the authority as sub-authority of parent. More... | |
| void | checkin (Authority &iParent, const std::string &name) |
| Checks in the authority as sub-authority of parent. More... | |
| void | checkout () |
| Checks out and therefore invalidates the authority. More... | |
| bool | isValid () const |
| Returns true, if this Authority was initialized and is checked in, otherwise false. More... | |
| void | validate () const |
| Check if authority is checked in and therefore valid. More... | |
| void | startWithParent (bool start) |
| Select whether the authority should be started when its parent authority starts (only meaningful if it has a parent). More... | |
| AuthorityRuntimePtr | getRuntime () |
| Returns a shared_ptr to the runtime that this authority uses. More... | |
| std::set< Authority * > | getChildren () |
| Returns a set with all children / sub-authorities. More... | |
| void | addImmediateHandler (DiagnosticRunnablePtr runnable) |
| Adds a runnable that is invoked immediately. More... | |
| template<typename F > | |
| void | addImmediateHandlerFunction (F &&fn) |
| Adds a handler function that is invoked immediately. More... | |
| void | addFinalizeHandler (DiagnosticRunnablePtr runnable) |
| Adds a runnable that is executed ONCE just before the thread terminates. More... | |
| template<typename F > | |
| void | addFinalizeHandlerFunction (F &&fn) |
| Adds a function that is executed ONCE just before the thread terminates. More... | |
| TimerPtr | createTimer (Duration period, TimerCallback callback, bool oneshot=false) |
| Creates and adds a timer that gets called cyclic in a given period (if oneshot is false) and calls the given callback on every invocation. More... | |
| TimerPtr | createTimer (Duration period, Duration tolerance, TimerCallback callback, bool oneshot=false) |
| Creates and adds a timer that gets called cyclic in a given period (if oneshot is false) and calls the given callback on every invocation. More... | |
| template<typename Class > | |
| TimerPtr | createTimer (Duration period, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false) |
| Provided for convenience. See above createTimer method for more details. More... | |
| template<typename Class > | |
| TimerPtr | createTimer (Duration period, void(Class::*f)(const Timer &), bool oneshot=false) |
| Provided for convenience. See above createTimer method for more details. More... | |
| template<typename Class > | |
| TimerPtr | createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false) |
| Provided for convenience. See above createTimer method for more details. More... | |
| template<typename Class > | |
| TimerPtr | createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), bool oneshot=false) |
| Provided for convenience. See above createTimer method for more details. More... | |
| TimerPtr | createTimer (Time time, TimerCallback callback) |
| Creates a timer that calls callback exactly once at the given time. More... | |
| template<typename Class > | |
| TimerPtr | createTimer (Time time, void(Class::*f)(const Timer &), Class *obj) |
| Provided for convenience. See above createTimer method for more details. More... | |
| template<typename Class > | |
| TimerPtr | createTimer (Time time, void(Class::*f)(const Timer &)) |
| Provided for convenience. See above createTimer method for more details. More... | |
| void | removeTimer (TimerPtr timer) |
| Removes the given timer (timer callback will not be called again and timer will not be rescheduled). More... | |
| void | start () override |
| Starts/Resumes the main dispatcher thread, e.g. More... | |
| void | stop () override |
| Stops/Pauses the main dispatcher thread as well as channel subscriber and RPC threads, if exist, and disables channel callbacks subscribed by this authority. More... | |
| bool | spin (const Duration &maxWait=Duration::infinity()) |
| Executes a single step of the main dispatcher of this authority. More... | |
| bool | hasWork (Time horizon=Time::now()) const |
| Checks if the main dispatcher thread of this authority has work that must be executed till horizon. More... | |
| bool | hasUnrecoverableFailure () const override |
| Returns true, if there was a failure while processing the immediate handlers. More... | |
| bool | isStarted () const override |
| Returns true, if the authority was started (by calling start()). More... | |
| bool | isRunning () const override |
| Return if the authority's main dispatcher is running. More... | |
Channel Communication Access. | |
The following methods gain access to the channels for communication and allow to control the subscriptions of the Authority | |
| std::string | resolveName (const std::string &name) const |
| Resolve a given name by taking the namespace of the authority into account. More... | |
| std::string | resolveServiceName (const std::string &name) const |
| Resolves the given name of the service by taking the namespace of the authority into account. More... | |
| template<typename T > | |
| Channel< T > | publish (const std::string &channelID) |
| Publishes a channel with the given id and marks the authority as a publisher of this channel. More... | |
| template<typename T > | |
| Channel< T > | publish (const std::string &channelID, const Typename &type) |
| Same as publish(channelID). More... | |
| void | unpublish (const std::string &channelID) |
| Unpublish a channel with the given channel id. More... | |
| template<typename T > | |
| Channel< T > | subscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0)) |
| Subscribes authority to a given channel. More... | |
| template<typename T > | |
| Channel< T > | subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false) |
| Subscribes authority to a given channel and adds callback function fn. More... | |
| template<typename T > | |
| Channel< T > | subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread) |
| Provided for convenience. See above subscribe method for more details. More... | |
| template<typename T , typename Class > | |
| Channel< T > | subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false) |
| Provided for simplified registration of a member function as callback function. More... | |
| template<typename T , typename Class > | |
| Channel< T > | subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread) |
| Provided for simplified registration of a member function as callback function. More... | |
| template<typename T , typename Class > | |
| Channel< T > | subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false) |
| Provided for simplified registration of a member function of a class as callback. More... | |
| template<typename T , typename Class > | |
| Channel< T > | subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread) |
| Provided for simplified registration of a member function as callback. More... | |
| template<typename T > | |
| Channel< T > | publishAndSubscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0)) |
| Publishes a channel with the given id and marks the authority as a publisher of this channel. More... | |
| template<typename T > | |
| Channel< T > | publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false) |
| Publishes a channel with the given id and marks the authority as a publisher of this channel. More... | |
| template<typename T > | |
| Channel< T > | publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread) |
| Provided for convenience. See above publishAndSubscribe method for more details. More... | |
| template<typename T , typename Class > | |
| Channel< T > | publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false) |
| Provided for simplified registration of a member function as callback function. More... | |
| template<typename T , typename Class > | |
| Channel< T > | publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread) |
| Provided for simplified registration of a member function as callback function. More... | |
| template<typename T , typename Class > | |
| Channel< T > | publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false) |
| Provided for simplified registration of a member function of a class as callback. More... | |
| template<typename T , typename Class > | |
| Channel< T > | publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread) |
| Provided for simplified registration of a member function as callback. More... | |
| template<typename T > | |
| Channel< T > | subscribeInterval (const std::string &channelID, boost::function< void(ChannelReadInterval< T >)> fn, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch()) |
| Subscribes authority to a given channel. More... | |
| template<typename T , typename Class > | |
| Channel< T > | subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), Class *obj, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch()) |
| template<typename T , typename Class > | |
| Channel< T > | subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch()) |
| Provided for simplified registration of a member function as callback function. More... | |
| template<typename T , typename Class > | |
| Channel< T > | subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch()) |
| Provided for simplified registration of a member function taking a simple ChannelRead as parameter. More... | |
| template<typename T > | |
| Channel< T > | subscribeIntervalByElements (const std::string &channelID, boost::function< void(ChannelRead< T >)>, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch()) |
| General case accepting boost function instead of member function for subscribing to an interval with only a ChannelRead function given. More... | |
| template<typename T , typename Class > | |
| Channel< T > | subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch()) |
| Simplified notation automatically taking authority object as this argument. More... | |
| template<typename T > | |
| ChannelRead< T > | waitForData (Channel< T > channel, Duration timeout=Duration::infinity()) const |
| Waits until data in the specified channel becomes available. More... | |
| void | unsubscribe (const std::string &channelID) |
| Unsubscribe from a given channel. More... | |
| template<typename T > | |
| void | unsubscribe (const std::string &channelID) |
| Templated method, kept only for backward compatibility - the type is not actually required anymore for unsubscribing. More... | |
| template<typename T > | |
| Channel< T > | getChannel (const std::string &channelID) |
| Returns channel object that can be used to obtain read and write access on the channel. More... | |
| bool | isSubscribedOn (const std::string &channelID) const |
| Returns if this authority is subscribed to a channel with the given channel id. More... | |
| MIRA_DEPRECATED ("Please use isSubscribedOn() instead", bool hasSubscribedOn(const std::string &channelID) const) | |
| bool | hasPublished (const std::string &channelID) const |
| Returns if this authority has published a channel with the given channel id. More... | |
| bool | doesChannelExist (const std::string &channelID) const |
| Returns if a channel with the given channel id exists. More... | |
| bool | waitForChannel (const std::string &channelID, const Duration &timeout=Duration::infinity()) const |
| Waits until a channel with the given channel id becomes available. More... | |
Access to Transform Framework. | |
The following methods allow to use the transformation framework. | |
| bool | isTransformAvailable (const std::string &targetID, const std::string &sourceID) const |
| Checks if a transform from source frame to target frame is available. More... | |
| bool | isTransformAvailable (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const |
| Checks if a transform from source frame to target frame via fixed frame is available. More... | |
| bool | waitForTransform (const std::string &targetID, const std::string &sourceID, Duration timeout=Duration::invalid()) const |
| Waits until a transform from source frame to target frame is available. More... | |
| bool | waitForTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID, Duration timeout=Duration::invalid()) const |
| Waits until a transform from source frame to target frame via fixed frame is available. More... | |
| template<typename Transform , typename Filter > | |
| void | subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn, Filter &&filter) |
| Subscribes to a transformation between the given target and source frame. More... | |
| template<typename Transform , typename Filter , typename Class > | |
| void | subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj, Filter &&filter) |
| Provided for simplified registration of a member function as callback function. More... | |
| template<typename Transform , typename Filter , typename Class > | |
| void | subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Filter &&filter) |
| Provided for simplified registration of a member function as callback function. More... | |
| template<typename Transform > | |
| void | subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn) |
| Subscribes to a transformation between the given target and source frame. More... | |
| template<typename Transform , typename Class > | |
| void | subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj) |
| Provided for simplified registration of a member function as callback function. More... | |
| template<typename Transform , typename Class > | |
| void | subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time)) |
| Provided for simplified registration of a member function as callback function. More... | |
| template<typename Transform , typename Filter > | |
| Transform | getTransform (const std::string &targetID, const std::string &sourceID, const Time &time, Filter &&filter) const |
| Get a transformation from source to target frame at a given time stamp. More... | |
| template<typename Transform > | |
| Transform | getTransform (const std::string &targetID, const std::string &sourceID, const Time &time=Time()) const |
| template<typename Transform , typename Filter > | |
| Transform | getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID, Filter &&filter) const |
| Get a transformation from source to target via fixed frame at the given time stamps. More... | |
| template<typename Transform > | |
| Transform | getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID) const |
| template<typename Transform , typename Filter > | |
| Transform | getTransform (const TransformDesc &desc, const Time &time, Filter &&filter) const |
| Get a transformation at a given time using the prepared transform chain and a given filter. More... | |
| template<typename Transform > | |
| Transform | getTransform (const TransformDesc &desc, const Time &time=Time()) const |
| template<typename Transform , typename Filter > | |
| Transform | getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime, Filter &&filter) const |
| Get a transformation at the given times using the prepared transform chain and a given filter. More... | |
| template<typename Transform > | |
| Transform | getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime) const |
| FrameworkTransformerNode * | getTransformNode (const std::string &frameID) const |
| Get a transformation node for the given frame. More... | |
| TransformDesc | prepareTransform (const std::string &targetID, const std::string &sourceID) const |
| Prepares a transformation chain from a source node to a target node. More... | |
| TransformDesc | prepareTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const |
| Prepares a transformation chain from a source node to a target node via fixed node. More... | |
| template<typename Transform > | |
| void | publishTransform (const std::string &frameID, const Transform &transform, const Time &time) const |
| Publish a transformation for a given frame. More... | |
| template<typename Transform , typename Filter = NearestNeighborInterpolator> | |
| void | publishTransformIndirect (const std::string &frameID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time, Filter &&filter=NearestNeighborInterpolator()) const |
| Publish a transformation (frameID) indirect by specifying a direct transform between two nodes (sourceID and targetID). More... | |
| void | addTransformLink (const std::string &childID, const std::string &parentID) const |
| Add a transformation link between the given child and parent. More... | |
| void | addTransformLink (const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type) const |
| Add a transformation link between the given child and parent, specifying the type of the transformation. More... | |
Remote Procedure Calls. | |
The following methods allow to register and use remote procedure calls. | |
| template<typename Service > | |
| void | publishService (const std::string &name, Service &iService, RPCHandlerPtr handler=RPCHandlerPtr()) |
| Publish a service to register RPC functions at the RPC manager. More... | |
| template<typename Service > | |
| void | publishService (Service &iService, RPCHandlerPtr handler=RPCHandlerPtr()) |
| Publish a service to register RPC functions at the RPC manager. More... | |
| void | unpublishService () |
| Unpublish this service by unregistering the service with the id of the authority from the RPC manager. More... | |
| void | unpublishService (const std::string &name) |
| Unpublish a service with a given name by unregistering the service with the name from the RPC manager. More... | |
| template<typename R , typename... ARGS> | |
| RPCFuture< R > | callService (const std::string &iService, const std::string &method, ARGS &&... args) const |
| Performs an RPC call. More... | |
| RPCFuture< JSONRPCResponse > | callServiceJSON (const json::Value &jsonRequest) const |
| Invokes a JSON RPC call. More... | |
| RPCFuture< JSONRPCResponse > | callServiceJSON (const std::string &jsonString) const |
| Provided for convenience. More... | |
| RPCFuture< JSONRPCResponse > | callServiceJSON (const std::string &service, const std::string &method, const json::Value ¶ms=json::Value()) const |
| Invokes a JSON RPC call, on the specified service and method with the given params by generating a JSON RPC 2.0 conform json request. More... | |
| RPCFuture< JSONRPCResponse > | callServiceJSON (const std::string &service, const std::string &method, const std::string ¶ms) const |
| Provided for convenience. More... | |
| RPCFuture< JSONRPCResponse > | callServiceJSON (const RPCCallDefinition &rpc) const |
| Provided for convenience. More... | |
| template<class F > | |
| ServiceCall< F > | createServiceCall (const std::string &service, std::string method, bool waitTillExists=true, bool showBootupMsg=true) |
| Create a ServiceCall object. More... | |
| bool | existsService (const std::string &name) const |
| Returns true, if a service with the given name exists, otherwise false. More... | |
| bool | implementsInterface (const std::string &name, const std::string &interface) const |
| Returns true, if a service with the given name implements the given interface, otherwise false. More... | |
| bool | waitForService (const std::string &name, Duration timeout=Duration::invalid()) const |
| Waits until a service with the specified name becomes available. More... | |
| std::string | waitForServiceInterface (const std::string &interface, Duration timeout=Duration::invalid()) const |
| Waits until a service with the specified interface becomes available. More... | |
| std::list< std::string > | queryServicesForInterface (const std::string &interface) const |
| Returns a string list with the names of all registered services, that implement the specified interface. More... | |
| void | registerCallbackForInterface (const std::string &interface, ServiceInterfaceHandler::Callback cb) |
| Registers a callback that is called whenever a service registers the given interface, which is specified as first parameter. More... | |
| template<typename Class > | |
| void | registerCallbackForInterface (const std::string &interface, void(Class::*f)(const std::string &, const std::string &), Class *obj) |
| Same as above but providing a function and class pointer instead of a boost function. More... | |
Implementation of AbstractAuthority | |
| StatusManager::StatusMap | getStatusMap () override |
| Return a status map that contains the status of the authority as well as all registered submodules. More... | |
| boost::shared_ptr< PropertyNode > | getProperties () override |
| Returns the main property node of this Authority. More... | |
| std::set< std::string > | getPublishedChannels () override |
| Returns all published channels by this authority (and its sub-authorities) More... | |
| std::set< std::string > | getSubscribedChannels () override |
| Returns all subscribed channels by this authority (and its sub-authorities) More... | |
| std::set< std::string > | getServiceInterfaces () override |
| Returns all service interfaces provided by this authority. More... | |
| ChannelNameMapping | getPublishedChannelNames () override |
| Returns all published channels (pair of global and local names) by this authority (and its sub-authorities) More... | |
| ChannelNameMapping | getSubscribedChannelNames () override |
| Returns all subscribed channels (pair of global and local names) by this authority (and its sub-authorities) More... | |
| ChannelStatusMap | getSubscribedChannelStatus () override |
| Returns status for all subscribed channels (ok, no publisher, no data, ...) by this authority (and its sub-authorities) More... | |
Detailed Information Retrieval | |
These methods allow to obtain detailed information on the Authority. | |
| std::string | getNamespace () const |
| Return the resolved namespace of the authority. More... | |
| std::string | getGlobalName () const |
| Return the fully qualified global name (includes namespace) This method returns the name without the trailing UUID added if the authority is anonymous. More... | |
| std::string | getGlobalID () const |
| Return the fully qualified global id (includes namespace) More... | |
| std::string | getID () const |
| Return the id of the authority. More... | |
| std::string | getName () const |
| Return the name of the authority. More... | |
| const AuthorityDescription & | getDescription () const |
| Return the description of this authority. More... | |
Static Public Member Functions | |
| static PseudoClass const & | CLASS () |
Protected Types | |
| typedef std::map< std::string, RWAccessFlags > | RWAccessMap |
| typedef std::list< AbstractChannelSubscriberPtr > | SubscribePtrList |
Protected Member Functions | |
| Ogre::Vector3 | transformVector (const Ogre::Vector3 &v) |
| Transform vector using internal transform into camera frame. More... | |
| virtual void | onUpdate (Duration dt) |
| void | updateToolTip (QMouseEvent *e, const QString &text) |
| virtual Class const & | internalGetClass () const =0 |
| template<typename T > | |
| Channel< T > | toProxy (ConcreteChannel< T > *channel) |
| void | setChannelReadAccess (const std::string &channelID) |
| void | setChannelWriteAccess (const std::string &channelID) |
| void | removeChannelReadAccess (const std::string &channelID) |
| void | removeChannelWriteAccess (const std::string &channelID) |
| void | insertChannelNameMapping (AbstractAuthority::ChannelNameMapping &map, const std::string &local, const std::string &global) |
| void | eraseChannelNameMapping (AbstractAuthority::ChannelNameMapping &map, const std::string &local, const std::string &global) |
| void | remotePublishService (const std::string &service) const |
| PropertyTree | getPropertiesRPC () |
| void | setProperty (const std::string &property, const std::string &value) |
| std::string | getProperty (const std::string &property) const |
| void | setPropertyJSON (const std::string &property, const json::Value &value) |
| json::Value | getPropertyJSON (const std::string &property) const |
Protected Attributes | |
| Ogre::SceneNode * | mNode |
| RigidTransform3f | mTransform |
| QString | mLastToolTip |
| AuthorityDescription | mDescription |
| boost::optional< Status > | mBootUpStatus |
| boost::optional< Status > | mRecoverStatus |
| Duration | mHeartbeatInterval |
| boost::optional< Time > | mLastHeartbeat |
| StatusMap | mStatusMap |
| std::string | mName |
Member Typedef Documentation
◆ RWAccessMap
|
protectedinherited |
◆ SubscribePtrList
|
protectedinherited |
◆ ChannelNameMapping
|
inherited |
◆ ChannelStatusMap
|
inherited |
◆ StatusMap
Member Enumeration Documentation
◆ Flags
|
inherited |
Flags for creating an authority.
| Enumerator | |
|---|---|
| NORMAL | Normally authorities must have a unique name. |
| ANONYMOUS | However sometimes more than one instance is created of an authority where the name does not matter and could be generated automatically. This flag provides automatically id generation based on uuids. |
| HIDDEN | For Authorities that are not shown by default to the user. Will get the MIRA_HIDDEN_AUTHORITY_PREFIX as name prefix. |
| INVISIBLE_PUBLISHER_SUBSCRIBER | Authorities with this flag set are invisible subscribers and publishers for channels e.g. they will not count as official publishers for channels which is used for remote framework connections. When a remote framework connects it will receive a list of all local published channels excluding the ones from invisible publishers. |
| INTERNAL | Authorities with this flag set are automatically HIDDEN and are invisible to remote frameworks (internal to the local framework). |
| INDEPENDENT_SUBSCRIBER_THREAD | Instructs the authority to use a separate and independent thread for handling subscriber callbacks. By default the authority uses the same thread for handling
|
| INDEPENDENT_RPC_THREAD | Instructs the authority to use a separate and independent thread for handling RPC requests. By default the authority uses the same thread for handling
|
| NO_MAIN_THREAD | Does not start a thread for processing the main dispatcher, instead the user needs to call the spin() method periodically. |
Member Function Documentation
◆ reflect()
|
inlineinherited |
◆ init()
|
virtualinherited |
Is called by the visualization view when the tool is attached.
The tool should initialize itself.
Reimplemented from VisualizationTool.
◆ getSite()
|
virtualinherited |
Returns a pointer to the IVisualizationSite interface that was set in the init() method.
Or returns NULL, if init() was not yet called.
Implements VisualizationTool.
◆ transformVector()
|
protectedinherited |
Transform vector using internal transform into camera frame.
◆ processUpdate()
|
inlinevirtualinherited |
Is called regularly by the VisualizationView if the tool is active to update the tool.
The time span since the last call of update is passed as parameter. It calls update() that can be overwritten in derived classes
◆ onUpdate()
|
inlineprotectedvirtualinherited |
Please overwrite update() Only provided for backward compatibility
◆ onMousePressed()
|
inlinevirtualinherited |
Reimplemented in SceneQueryTool.
◆ onMouseReleased()
|
inlinevirtualinherited |
Reimplemented in SceneQueryTool.
◆ onMouseDoubleClick() [1/2]
|
inlinevirtualinherited |
Called if the tool is active and a double click as occurred.
◆ onMouseDoubleClick() [2/2]
|
inlinevirtualinherited |
Reimplemented in SceneQueryTool.
◆ onMouseMoved()
|
inlinevirtualinherited |
Reimplemented in SceneQueryTool.
◆ onMouseWheel()
|
inlinevirtualinherited |
Reimplemented in SceneQueryTool.
◆ updateToolTip()
|
protectedinherited |
◆ getAuthority()
|
virtualinherited |
Return the authority as reference.
Implements IAuthorityProvider.
◆ getClass()
|
inlineinherited |
call the virtual internalGetClass().
◆ CLASS()
|
inlinestaticinherited |
◆ internalGetClass()
|
protectedpure virtualinherited |
◆ checkin() [1/4]
|
inherited |
Checks in and therefore makes the authority valid by providing a namespace and a name that are given as fully qualified resource name.
- Precondition
- The authority must not be checked in.
- Postcondition
- The authority will be valid and checked in.
- Parameters
-
[in] fullname The fully qualified name of the authority, including the namespace. [in] runtime The runtime the authority should use. If not specified the authority will create its own runtime.
- Exceptions
-
XInvalidParameter If another authority with the same name exists or if the specified namespace/name is invalid.
◆ checkin() [2/4]
|
inherited |
Checks in and therefore makes the authority valid by providing a namespace and a name.
This is essentially the same as the above method, but allows to specify namespace and name separately.
- Precondition
- The authority must not be checked in.
- Postcondition
- The authority will be valid and checked in.
- Parameters
-
[in] ns The namespace the authority will reside in [in] name The name of the authority [in] runtime The runtime the authority should use. If not specified the authority will create its own runtime.
- Exceptions
-
XInvalidParameter If another authority with the same name exists or if the specified namespace/name is invalid.
◆ checkin() [3/4]
|
inherited |
Checks in the authority as sub-authority of parent.
Hence, this authority will share some of the parents settings and runtime threads (see startWithParent()).
- Precondition
- The authority must not be checked in.
- Postcondition
- The authority will be valid and checked in.
- Parameters
-
[in] iParent The parent authority [in] ns The namespace the authority will reside in [in] name The name of the authority
- Exceptions
-
XInvalidParameter If another authority with the same name exists or if the specified namespace/name is invalid.
◆ checkin() [4/4]
|
inherited |
Checks in the authority as sub-authority of parent.
Hence, this authority will share some of the parents settings (namespace, etc) and runtime threads (see startWithParent()).
- Precondition
- The authority must not be checked in.
- Postcondition
- The authority will be valid and checked in.
- Parameters
-
[in] iParent The parent authority [in] name The name of the authority
- Exceptions
-
XInvalidParameter If another authority with the same name exists or if the specified namespace/name is invalid.
◆ checkout()
|
inherited |
Checks out and therefore invalidates the authority.
- Precondition
- The authority must be checked in and valid
- Postcondition
- Authority is checked out. Every attempt to use the authority object again will throw an exception.
- Note
- Removing the Authority from the AuthorityManager (the final action inside checkout()) will block as long as a SharedAuthority is referring to it (see AuthorityManager::getAuthority()).
◆ isValid()
|
inlineinherited |
Returns true, if this Authority was initialized and is checked in, otherwise false.
◆ validate()
|
inlineinherited |
Check if authority is checked in and therefore valid.
- Exceptions
-
XInvalidConfig if not checked in
◆ startWithParent()
|
inlineinherited |
Select whether the authority should be started when its parent authority starts (only meaningful if it has a parent).
By default, the parent authority's start() will call start() on all its child authorities. This flag enables to selectively and dynamically enable/disable child authorities, even while the parent authority is stopped and restarted.
Note that Authority::stop() will always stop all its child authorities.
◆ getRuntime()
|
inlineinherited |
Returns a shared_ptr to the runtime that this authority uses.
The returned pointer never is nullptr if this Authority was checked in successfully. The returned runtime may be shared between different Authorities.
◆ getChildren()
|
inlineinherited |
Returns a set with all children / sub-authorities.
◆ addImmediateHandler()
|
inherited |
Adds a runnable that is invoked immediately.
After the handler is processed it will be removed from the list of registered handlers.
- Precondition
- The authority must be checked in and valid
◆ addImmediateHandlerFunction()
|
inherited |
Adds a handler function that is invoked immediately.
After the handler is processed it will be removed from the list of registered handlers. Creates a Runnable internally.
- Precondition
- The authority must be checked in and valid
◆ addFinalizeHandler()
|
inherited |
Adds a runnable that is executed ONCE just before the thread terminates.
After the handler is processed it will be removed from the list of registered handlers.
- Precondition
- The authority must be checked in and valid
◆ addFinalizeHandlerFunction()
|
inherited |
Adds a function that is executed ONCE just before the thread terminates.
Creates a Runnable internally. After the handler is processed it will be removed from the list of registered handlers.
- Precondition
- The authority must be checked in and valid
◆ createTimer() [1/9]
|
inherited |
Creates and adds a timer that gets called cyclic in a given period (if oneshot is false) and calls the given callback on every invocation.
- Precondition
- The authority must be checked in and valid
- Parameters
-
[in] period Period the timer is called in [in] callback Function that gets called every time the timer fires. [in] oneshot If true callback is only called once.
- Returns
- pointer to created timer. Can be used for removeTimer().
◆ createTimer() [2/9]
|
inherited |
Creates and adds a timer that gets called cyclic in a given period (if oneshot is false) and calls the given callback on every invocation.
Additionally a warning is given when the call to the timer exceeds the scheduled invocation time about the specified tolerance.
- Precondition
- The authority must be checked in and valid
- Parameters
-
[in] period Period the timer is called in [in] tolerance The tolerance for exceeding the period. [in] callback Function that gets called every time the timer fires. [in] oneshot If true callback is only called once.
- Returns
- pointer to created timer. Can be used for removeTimer().
◆ createTimer() [3/9]
|
inherited |
Provided for convenience. See above createTimer method for more details.
◆ createTimer() [4/9]
|
inherited |
Provided for convenience. See above createTimer method for more details.
◆ createTimer() [5/9]
|
inherited |
Provided for convenience. See above createTimer method for more details.
◆ createTimer() [6/9]
|
inherited |
Provided for convenience. See above createTimer method for more details.
◆ createTimer() [7/9]
|
inherited |
Creates a timer that calls callback exactly once at the given time.
- Precondition
- The authority must be checked in and valid
- Parameters
-
[in] time Time when the callback should be called. [in] callback Function that gets called at the given time.
- Returns
- pointer to created timer. Can be used for removeTimer().
◆ createTimer() [8/9]
Provided for convenience. See above createTimer method for more details.
◆ createTimer() [9/9]
Provided for convenience. See above createTimer method for more details.
◆ removeTimer()
|
inherited |
Removes the given timer (timer callback will not be called again and timer will not be rescheduled).
Calling start on a removed timer will not start it again.
◆ start()
|
overridevirtualinherited |
Starts/Resumes the main dispatcher thread, e.g.
if it is not yet started since the authority was created and checked in manually. Starts also existing dispatcher threads for channel subscribers and rpc service calls, and enables subscribed callbacks.
Recursively calls start() on all child authorities unless they have been individually disabled using startWithParent().
- Precondition
- The authority must be checked in and valid
Implements AbstractAuthority.
◆ stop()
|
overridevirtualinherited |
Stops/Pauses the main dispatcher thread as well as channel subscriber and RPC threads, if exist, and disables channel callbacks subscribed by this authority.
Recursively calls stop() on all child authorities. To make the authority continue processing, call start().
- Precondition
- The authority must be checked in and valid
Implements AbstractAuthority.
◆ spin()
|
inherited |
Executes a single step of the main dispatcher of this authority.
If this authority does not own the AuthorityRuntime with the main dispatcher, this method does nothing. The method returns true, if the caller should continue to call spin() periodically. If false is returned, spin() should not be called any longer.
Usually the spin() method waits for events and signals of the dispatcher, you can specify the max. time that is spent in the call using the maxWait parameter. If this parameter is set to 0, spin() will not block at all. If it is set to Duration::infinity (the default), it will wait until the next signal or event or stop request.
◆ hasWork()
Checks if the main dispatcher thread of this authority has work that must be executed till horizon.
If this authority does not own the AuthorityRuntime this method returns false.
- See also
- DispatcherThread::hasWork
◆ hasUnrecoverableFailure()
|
overridevirtualinherited |
Returns true, if there was a failure while processing the immediate handlers.
This is an unrecoverable failure that will disallow the further execution of the authority.
- Precondition
- The authority must be checked in and valid
Implements AbstractAuthority.
◆ isStarted()
|
overridevirtualinherited |
Returns true, if the authority was started (by calling start()).
It will return false, if the authority was not yet started or is stopped.
Implements AbstractAuthority.
◆ isRunning()
|
overridevirtualinherited |
Return if the authority's main dispatcher is running.
- Precondition
- The authority must be checked in and valid
Implements AbstractAuthority.
◆ enableSubscriberCallbacks()
|
inherited |
Enables/disables subscriptions.
If enabled, subscribed callbacks will be called upon changes in the channels. If false, callbacks will not be called.
◆ resolveName()
|
inherited |
Resolve a given name by taking the namespace of the authority into account.
- Precondition
- The authority must be checked in and valid
- Parameters
-
[in] name to be resolved
- Returns
- resolved name
◆ resolveServiceName()
|
inherited |
Resolves the given name of the service by taking the namespace of the authority into account.
This method does essentially the same as resolveName() but takes a possible "#buildin" suffix into account.
- Precondition
- The authority must be checked in and valid
- Parameters
-
[in] name to be resolved
- Returns
- resolved name
◆ publish() [1/2]
|
inlineinherited |
Publishes a channel with the given id and marks the authority as a publisher of this channel.
If the channel does not exist it will be created.
- Precondition
- The authority must be checked in and valid
- The channel must not exist or the type of the channel must match
- Exceptions
-
XInvalidConfig if authority is not valid XBadCast if the channel exists but the types do not match.
- Parameters
-
[in] channelID The channel id
- Returns
- A Channel object that the caller can store to have fast access to the channel data
- Note
- The returned channel object only allows access according to the current access level of the authority at calling time. If you want to gain read and write access you have to call subscribe() and publish() and store the channel on the second call. Otherwise you can call subscribe() and publish() and obtain the channel object later by calling getChannel().
◆ publish() [2/2]
Same as publish(channelID).
Use this for untyped channels Channel<void> to specify a typename.
◆ unpublish()
|
inherited |
Unpublish a channel with the given channel id.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidConfig if authority is not valid
- Parameters
-
[in] channelID The channel id
◆ subscribe() [1/7]
|
inherited |
Subscribes authority to a given channel.
It returns a channel object that the caller can store to poll/read data from the channel. The channel is created if it does not exists.
- Precondition
- The authority must be checked in and valid
- The channel must not exist or the type of the channel must match
- Exceptions
-
XInvalidConfig if authority is not valid XBadCast if the channel exists but the types do not match.
- Parameters
-
[in] channelID The id of the data channel to subscribe to [in] storageDuration The requested duration of how long data is stored in the channel (history). Note that the real history length may differ from this request because the number of slots in the channel is limited by its maximum length. Assuming we have only one writer to the channel that updates the channel each T milliseconds the real storage duration D can be computed by D = (maxSlots-1) * T.
- Returns
- A Channel object that the caller can store to have fast access to the channel data
- Note
- The returned channel object only allows access accordig to the current access level of the authority at calling time. If you want to gain read and write access you have to call subscribe() and publish() and store the channel on the second call. Otherwise you can call subscribe() and publish() and obtain the channel object later by calling getChannel().
◆ subscribe() [2/7]
|
inherited |
Subscribes authority to a given channel and adds callback function fn.
At least one thread is created per authority for the callbacks. If independentThread is false the main thread for this authority is used for the channel callback. If independentThread is true an independent thread for this channel is created for the authority.
- Precondition
- The authority must be checked in and valid
- The channel must not exist or the type of the channel must match
- Exceptions
-
XInvalidConfig if authority is not valid XBadCast if the channel exists but the types do not match.
- Parameters
-
[in] channelID The id of the data channel to subscribe to [in] fn The callback function that is called whenever the data on the channel changes. [in] storageDuration The requested duration of how long data is stored in the channel (history). Note that the real history length may differ from this request because the number of slots in the channel is limited by its maximum length. Assuming we have only one writer to the channel that updates the channel each T milliseconds the maximum storage duration maxD can be computed by maxD = (maxSlots-1) * T. [in] independentThread If true, an independent thread is created for this channel callback
- Returns
- A Channel object that the caller can store to have fast access to the channel data
- Note
- The returned channel object only allows access according to the current access level of the authority at calling time. If you want to gain read and write access you have to call subscribe() and publish() and store the channel on the second call. Otherwise you can call subscribe() and publish() and obtain the channel object later by calling getChannel().
◆ subscribe() [3/7]
|
inherited |
Provided for convenience. See above subscribe method for more details.
◆ subscribe() [4/7]
|
inherited |
Provided for simplified registration of a member function as callback function.
See the above subscribe methods for more details.
◆ subscribe() [5/7]
|
inherited |
Provided for simplified registration of a member function as callback function.
See the above subscribe methods for more details.
◆ subscribe() [6/7]
|
inlineinherited |
Provided for simplified registration of a member function of a class as callback.
Example:
- See also
- Authority::subscribe() for details.
◆ subscribe() [7/7]
|
inlineinherited |
Provided for simplified registration of a member function as callback.
- See also
- Authority::subscribe() for details.
◆ publishAndSubscribe() [1/7]
|
inherited |
Publishes a channel with the given id and marks the authority as a publisher of this channel.
Also subscribes authority to the channel. It returns a channel object that the caller can store to poll/read and write data from/to the channel. The channel is created if it does not exists.
- Precondition
- The authority must be checked in and valid
- The channel must not exist or the type of the channel must match
- Exceptions
-
XInvalidConfig if authority is not valid XBadCast if the channel exists but the types do not match.
- Parameters
-
[in] channelID The id of the data channel to subscribe to [in] storageDuration The requested duration of how long data is stored in the channel (history). Note that the real history length may differ from this request because the number of slots in the channel is limited by its maximum length. Assuming we have only one writer to the channel that updates the channel each T milliseconds the real storage duration D can be computed by D = (maxSlots-1) * T.
- Returns
- A Channel object that the caller can store to have fast access to the channel data
◆ publishAndSubscribe() [2/7]
|
inherited |
Publishes a channel with the given id and marks the authority as a publisher of this channel.
Also subscribes authority to the channel and adds callback function fn. At least one thread is created per authority for the callbacks. If independentThread is false the main thread for this authority is used for the channel callback. If independentThread is true an independent thread for this channel is created for the authority.
- Precondition
- The authority must be checked in and valid
- The channel must not exist or the type of the channel must match
- Exceptions
-
XInvalidConfig if authority is not valid XBadCast if the channel exists but the types do not match.
- Parameters
-
[in] channelID The id of the data channel to subscribe to [in] fn The callback function that is called whenever the data on the channel changes. [in] storageDuration The requested duration of how long data is stored in the channel (history). Note that the real history length may differ from this request because the number of slots in the channel is limited by its maximum length. Assuming we have only one writer to the channel that updates the channel each T milliseconds the maximum storage duration maxD can be computed by maxD = (maxSlots-1) * T. [in] independentThread If true, an independent thread is created for this channel callback
- Returns
- A Channel object that the caller can store to have fast access to the channel data.
◆ publishAndSubscribe() [3/7]
|
inherited |
Provided for convenience. See above publishAndSubscribe method for more details.
◆ publishAndSubscribe() [4/7]
|
inherited |
Provided for simplified registration of a member function as callback function.
See the above publishAndSubscribe methods for more details.
◆ publishAndSubscribe() [5/7]
|
inherited |
Provided for simplified registration of a member function as callback function.
See the above publishAndSubscribe methods for more details.
◆ publishAndSubscribe() [6/7]
|
inlineinherited |
Provided for simplified registration of a member function of a class as callback.
Example:
- See also
- Authority::publishAndSubscribe() for details.
◆ publishAndSubscribe() [7/7]
|
inlineinherited |
Provided for simplified registration of a member function as callback.
- See also
- Authority::subscribe() for details.
◆ subscribeInterval() [1/3]
|
inherited |
Subscribes authority to a given channel.
In contrast to the above subscribe methods this method subscribes a callback that takes a ChannelReadInterval as parameter. Instead of a single value, a whole interval of data is passed. The interval contains all values that were stored within the channel since the last callback. Hence, by using this subscribe mechanism you can make sure, that no data is missed.
- Precondition
- The authority must be checked in and valid
- The channel must not exist or the type of the channel must match
- Exceptions
-
XInvalidConfig if authority is not valid XBadCast if the channel exists but the types do not match.
- Parameters
-
[in] channelID The id of the data channel to subscribe to [in] fn The callback function that is called whenever the data in the interval on the channel changes. [in] storageDuration The requested duration of how long data is stored in the channel (history). This parameter is especially important for subscribing to intervals, as it must be larger than the delay that may occur within the callback to make sure that no data is lost. Note that the real history length may differ from this request because the number of slots in the channel is limited by its maximum length. Assuming we have only one writer to the channel that updates the channel each T milliseconds the real storage duration D can be computed by D = (maxSlots-1) * T. [in] independentThread If true, an independent thread is created for this channel callback [in] startAfter Ignore any channel slots at or before this timestamp. If this is before the subscription time, the first callback (triggered by the first subsequent channel update) will collect all past channel slots back to this timestamp.
- Returns
- A Channel object that the caller can store to have fast access to the channel data
- Note
- The returned channel object only allows access according to the current access level of the authority at calling time. If you want to gain read and write access you have to call subscribe() and publish() and store the channel on the second call. Otherwise you can call subscribe() and publish() and obtain the channel object later by calling getChannel().
◆ subscribeInterval() [2/3]
|
inherited |
◆ subscribeInterval() [3/3]
|
inherited |
Provided for simplified registration of a member function as callback function.
See the above subscribe methods for more details.
◆ subscribeIntervalByElements() [1/3]
|
inherited |
Provided for simplified registration of a member function taking a simple ChannelRead as parameter.
This is useful especially when trying to get every single value (e.g. message passing), even if processing of a single value takes some longer.
◆ subscribeIntervalByElements() [2/3]
|
inherited |
General case accepting boost function instead of member function for subscribing to an interval with only a ChannelRead function given.
◆ subscribeIntervalByElements() [3/3]
|
inherited |
Simplified notation automatically taking authority object as this argument.
Same as respective subscribeInterval function taking ChannelReadInterval as parameter.
◆ waitForData()
|
inherited |
Waits until data in the specified channel becomes available.
If a timeout it specified, the method times out if no data becomes available after the given time.
- Precondition
- The authority must be checked in and valid
- The authority must be subscribed to the given channel
- Parameters
-
[in] channel The channel we are waiting for [in] timeout Wait for this duration or forever if Duration::infinity() (default)
- Returns
- A valid ChannelRead, if data became available, or an invalid ChannelRead, if the method timed out or the thread was interrupted.
◆ unsubscribe() [1/2]
|
inherited |
Unsubscribe from a given channel.
If subscribed with a callback function this function is no longer called. If independentThread was true when subscribing the independent thread for this channel is stopped.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidConfig if authority is not valid
- Parameters
-
[in] channelID The id of the data channel to subscribe to
- Note
- If subscribed with an independent callback function don't call this method inside the callback function. It will block forever because this method will stop the callback thread.
◆ unsubscribe() [2/2]
|
inherited |
Templated method, kept only for backward compatibility - the type is not actually required anymore for unsubscribing.
See unsubscribe.
◆ getChannel()
|
inherited |
Returns channel object that can be used to obtain read and write access on the channel.
- Precondition
- The authority must be checked in and valid
- The channel must exist and the type of the channel must match
- Exceptions
-
XInvalidConfig if authority is not valid XBadCast if the channel types do not match. XAccessViolation if the channel does not exist
- Returns
- A Channel object that the caller can store to have fast access to the channel data
- Note
- The returned channel object only allows access according to the current access level of the authority at calling time. If you want to gain read and write access you have to call subscribe() and publish() and store the channel on the second call. Otherwise you can call subscribe() and publish() and obtain the channel object later by calling getChannel().
◆ isSubscribedOn()
|
inherited |
Returns if this authority is subscribed to a channel with the given channel id.
◆ MIRA_DEPRECATED()
|
inlineinherited |
- Parameters
-
const
- Deprecated:
- Please use isSubscribedOn() instead.
◆ hasPublished()
|
inherited |
Returns if this authority has published a channel with the given channel id.
◆ doesChannelExist()
|
inherited |
Returns if a channel with the given channel id exists.
◆ waitForChannel()
|
inherited |
Waits until a channel with the given channel id becomes available.
◆ isTransformAvailable() [1/2]
|
inherited |
Checks if a transform from source frame to target frame is available.
This means a path in the transform tree exists from source to target and all nodes on that path contain data.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidRead if either the target or source node does not exist
- Parameters
-
targetID The frame id of the target node sourceID The frame id of the source node
- Returns
- true if transform is available, false otherwise
◆ isTransformAvailable() [2/2]
|
inherited |
Checks if a transform from source frame to target frame via fixed frame is available.
This means a path in the transform tree exists from source to target via fixed and all nodes on that path contain data.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidRead if either the target, source or fixed node does not exist
- Parameters
-
targetID The frame id of the target node sourceID The frame id of the source node fixedID The frame id of the fixed node
- Returns
- true if transform is available, false otherwise
◆ waitForTransform() [1/2]
|
inherited |
Waits until a transform from source frame to target frame is available.
This means a path in the transform tree exists from source to target and all nodes on that path contain data.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidRead if either the target or source node does not exist
- Parameters
-
targetID The frame id of the target node sourceID The frame id of the source node timeout Wait for this duration or forever if Duration::infinity() (default)
- Returns
- true if transform is available, false on timeout
◆ waitForTransform() [2/2]
|
inherited |
Waits until a transform from source frame to target frame via fixed frame is available.
This means a path in the transform tree exists from source to target via fixed and all nodes on that path contain data.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidRead if either the target, source or fixed node does not exist
- Parameters
-
targetID The frame id of the target node sourceID The frame id of the source node fixedID The frame id of the fixed node timeout Wait for this duration or forever if Duration::infinity() (default)
- Returns
- true if transform is available, false on timeout
◆ subscribeTransform() [1/6]
|
inherited |
Subscribes to a transformation between the given target and source frame.
Usually, the computation of the transformation between the target and source frame depends on multiple frames along the path between the 'target' and 'source' within the transformation tree. The installed callback function will be called whenever one of these frames and hence the transformation between the target and source frame changes. The latest transformation and the corresponding timestamp will be passed as parameter to the callback function. The transformation between target and source frame must exist, otherwise an XTransform exception is thrown. You can use waitForTransform to ensure that the transformation exists.
- Precondition
- The authority must be checked in and valid.
- Exceptions
-
TransformerBase::XTransform If the transformation between source and target does not exist.
- Parameters
-
targetID The frame id of the target node sourceID The frame id of the source node fn The callback that is called when the transformation changes, the new transformation and the corresponding timestamp are passed as parameter. filter The filter used to interpolate between the transformations.
◆ subscribeTransform() [2/6]
|
inherited |
Provided for simplified registration of a member function as callback function.
See the above subscribe methods for more details.
◆ subscribeTransform() [3/6]
|
inherited |
Provided for simplified registration of a member function as callback function.
See the above subscribe methods for more details.
◆ subscribeTransform() [4/6]
|
inherited |
Subscribes to a transformation between the given target and source frame.
Usually, the computation of the transformation between the target and source frame depends on multiple frames along the path between the 'target' and 'source' within the transformation tree. The installed callback function will be called whenever one of these frames and hence the transformation between the target and source frame changes. The latest transformation and the corresponding timestamp will be passed as parameter to the callback function. The transformation between target and source frame must exist, otherwise an XTransform exception is thrown. You can use waitForTransform to ensure that the transformation exists.
- Precondition
- The authority must be checked in and valid.
- Exceptions
-
TransformerBase::XTransform If the transformation between source and target does not exist.
- Parameters
-
targetID The frame id of the target node sourceID The frame id of the source node fn The callback that is called when the transformation changes, the new transformation and the corresponding timestamp are passed as parameter.
◆ subscribeTransform() [5/6]
|
inherited |
Provided for simplified registration of a member function as callback function.
See the above subscribe methods for more details.
◆ subscribeTransform() [6/6]
|
inherited |
Provided for simplified registration of a member function as callback function.
See the above subscribe methods for more details.
◆ getTransform() [1/8]
|
inherited |
Get a transformation from source to target frame at a given time stamp.
The specified filter is used. If time is "not_a_date_time" e.g. a default constructed Time(), the latest available transform is returned.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidRead if either the target or source node does not exist
- Parameters
-
targetID The frame id of the target node sourceID The frame id of the source node time The time of the requested transform filter The filter used to interpolate between the transforms
- Returns
- The requested transformation
◆ getTransform() [2/8]
|
inlineinherited |
- See also
- getTransform(const std::string&, const std::string&, const Time&, Filter&&) Here by default the NearestNeighborInterpolator is used for interpolation between transforms. If time is "not_a_date_time" (the default value), the latest available transform is returned.
◆ getTransform() [3/8]
|
inherited |
Get a transformation from source to target via fixed frame at the given time stamps.
The specified filter is used. This method can be used to do time traveling. For example if one wants to know what was the position of the right arm two seconds ago relative to the position the left arm has now:
The "RobotFrame" is chosen as "fixed frame" since it is fixed over time relative to the arm positions and hence can be used as reference frame.
One can read the parameters of this function like: Give the transform from frame targetID at targetTime to frame sourceID at time sourceTime specifying the frame fixedID that does not change over time
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidRead if either the target, source or fixed node does not exist
- Parameters
-
targetID The frame id of the target node targetTime The time of the target transform sourceID The frame id of the source node sourceTime The time of the source transform fixedID The frame id of the fixed node filter The filter used to interpolate between the transforms
- Returns
- The requested transformation
◆ getTransform() [4/8]
|
inlineinherited |
- See also
- getTransform(const std::string& targetID, const Time& targetTime, const std::string& sourceID, const Time& sourceTime, const std::string& fixedID, Filter&&) Here by default the NearestNeighborInterpolator is used for interpolation between transforms.
◆ getTransform() [5/8]
|
inherited |
Get a transformation at a given time using the prepared transform chain and a given filter.
If time is "not_a_date_time" e.g. a default constructed Time(), the latest available transform is returned.
- Parameters
-
desc The prepared transform chain time The time of the requested transform filter The filter used to interpolate between the transforms
- Returns
- The requested transformation
◆ getTransform() [6/8]
|
inlineinherited |
- See also
- getTransform(const TransformDesc&, const Time&, Filter&&) Here by default the NearestNeighborInterpolator is used for interpolation between transforms. If time is "not_a_date_time" (the default value), the latest available transform is returned.
◆ getTransform() [7/8]
|
inherited |
Get a transformation at the given times using the prepared transform chain and a given filter.
This method can be used to do time traveling. Together with prepareTransform(const std::string&, const std::string&, const std::string&) the same functionality can be achieved as by calling getTransform(const std::string&, const Time&, const std::string&, const Time&, const std::string&, Filter&&)
- Parameters
-
desc The prepared transform chain targetTime The time of requested target transform sourceTime The time of requested source transform filter The filter used to interpolate between the transforms
- Returns
- The requested transformation
◆ getTransform() [8/8]
|
inlineinherited |
- See also
- getTransform(const TransformDesc&, const Time&, const Time&, Filter&&); Here by default the NearestNeighborInterpolator is used for interpolation between transforms.
◆ getTransformNode()
|
inherited |
Get a transformation node for the given frame.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidRead if node does not exist
- Parameters
-
frameID The frame id of the requested node.
- Returns
- A pointer to the node
◆ prepareTransform() [1/2]
|
inherited |
Prepares a transformation chain from a source node to a target node.
The chain can later be used to obtain a transform using getTransform(const TransformDesc&, const Time& time, Filter&&); Preparing the transform chain only once can save performance when calculating the transform very often.
- Note
- It is important that after preparing the transform chain the topology must not change.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidRead if either the target or source node does not exist
- Parameters
-
targetID The frame id of the target node sourceID The frame id of the source node
- Returns
- The prepared chain
◆ prepareTransform() [2/2]
|
inherited |
Prepares a transformation chain from a source node to a target node via fixed node.
The chain can later be used to obtain a transform using getTransform(const TransformDesc&, const Time&, const Time&, Filter&&); Together with the above mentioned method the same functionality as calling getTransform(const std::string&, const Time&, const std::string&, const Time&, const std::string&, Filter&&) can be achieved, but preparing the transform chain only once can save performance when calculating the transform very often.
- Note
- It is important that after preparing the transform chain the topology must not change.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XInvalidRead if either the target or source node does not exist
- Parameters
-
targetID The frame id of the target node sourceID The frame id of the source node fixedID The frame id of the fixed node
- Returns
- The prepared chain
◆ publishTransform()
|
inherited |
Publish a transformation for a given frame.
- Precondition
- The authority must be checked in and valid
- Parameters
-
[in] frameID The id of the frame [in] transform Either a 2d or 3d transformation [in] time The time of the transformation
◆ publishTransformIndirect()
|
inherited |
Publish a transformation (frameID) indirect by specifying a direct transform between two nodes (sourceID and targetID).
These two nodes are connected indirectly over the transformation (frameID) This is, the transformation (frameID) is inferred. In the case you know the direct 'transform' between 'targetID' and 'sourceID' you can use this method to publish the desired transform on the link 'frameID' at the specified 'time' and using the specified 'filter' for interpolation. In the following example there is a indirect link from sourceID to targetID via n1, n2, frameID and n3. The transform between source and target is known. The transform in frameID is inferred and published by calling this method.
- Precondition
- The authority must be checked in and valid
- Exceptions
-
XRuntime if either the frame, target or source frames does not exist
- Parameters
-
[in] frameID The id of the frame to publish indirectly [in] targetID The frame id of the target node [in] sourceID The frame id of the source node [in] transform Either a 2d or 3d transformation [in] time The time of the transformation [in] filter The filter used to interpolate between the transforms
◆ addTransformLink() [1/2]
|
inherited |
Add a transformation link between the given child and parent.
Creates child and/or parent if not existing.
- Precondition
- The authority must be checked in and valid
- Parameters
-
[in] childID The frame id of the child [in] parentID The frame id of the parent
◆ addTransformLink() [2/2]
|
inherited |
Add a transformation link between the given child and parent, specifying the type of the transformation.
Creates child and/or parent if not existing.
- Precondition
- The authority must be checked in and valid
- Parameters
-
[in] childID The frame id of the child [in] parentID The frame id of the parent [in] type Link type fixed/moving
◆ publishService() [1/2]
|
inherited |
Publish a service to register RPC functions at the RPC manager.
You can publish more than one service object with the same service name
- Parameters
-
[in] name The name under which the service is registered. Please note that the name is resolved depending on the namespace the authority is located in. [in] iService The service object to register. [in] handler The handler that is used for processing the RPC calls if null internal handler is used (default)
◆ publishService() [2/2]
|
inherited |
Publish a service to register RPC functions at the RPC manager.
As name of the service the id of the authority is used.
- Parameters
-
[in] iService The service object to register. [in] handler The handler that is used for processing the RPC calls if null internal handler is used (default)
◆ unpublishService() [1/2]
|
inherited |
Unpublish this service by unregistering the service with the id of the authority from the RPC manager.
◆ unpublishService() [2/2]
|
inherited |
Unpublish a service with a given name by unregistering the service with the name from the RPC manager.
◆ callService()
|
inlineinherited |
Performs an RPC call.
This method calls the specified RPC method of the specified service. Depending on the called method the parameters of the RPC call need to be specified as additional parameters. The result of the RPC call can be obtained via the RPCFuture that is returned by this method. The RPCFuture acts as a proxy for the result of the asynchronous RPC call. It can be used to block until the RPC call has finished and the result is available.
- Parameters
-
service The name of the service method The method name of the requested call p1 First optional parameter see pn pn Variable number of optional parameters. The number and type depends on the requested RPC method. Both will be checked by the receiver of the RPC call. If the parameter types do not match to the called RPC method, the server will return an error.
- Returns
- Returns an RPCFuture object. The type of the RPCFuture depends on the return type of the RPC method. It allows the caller to wait for the RPC call to finish and to retrieve the return value.
When calling this method the return type of the RPC method needs to be specified as template parameter.
Example:
◆ callServiceJSON() [1/5]
|
inherited |
Invokes a JSON RPC call.
jsonCall must follow the JSON RPC 2.0 protocol. It must contain:
- "jsonrpc" with exactly the value "2.0"
- "id" an id that can be anything (int, string, null) but should be an unique identifier
- "method" a service-method combination of the service to call (e.g. "/MyService.myMethod")
- "params" Optional. Required only for methods with parameters. An array containing the parameters of the method to call (e.g. [1, "Hello World"]). Calls RPCManager::callJSON(const json::Value& jsonCall) internally.{"jsonrpc" : "2.0","id" : 1,"method" : "/ns/Service.setInt","params" : [255]}
- Returns
- Returns a future that will enclose the JSON RPC response containing the result of the call.
◆ callServiceJSON() [2/5]
|
inherited |
Provided for convenience.
See callServiceJSON above. Calls RPCManager::callJSON(const std::string& jsonCall) internally.
- Returns
- Returns a future that will enclose the JSON RPC response containing the result of the call.
◆ callServiceJSON() [3/5]
|
inherited |
Invokes a JSON RPC call, on the specified service and method with the given params by generating a JSON RPC 2.0 conform json request.
Call id will be automatically generated. Calls RPCManager::callJSON(const std::string& service, const std::string& method, const json::Value& params) internally (after resolving the service).
- Parameters
-
[in] service The service to call [in] method The method on the service to call [in] params The parameters for the method to call (must be a json::Array or json null value (default))
- Returns
- Returns a future that will enclose the JSON RPC response containing the result of the call.
◆ callServiceJSON() [4/5]
|
inherited |
Provided for convenience.
See callServiceJSON above. Calls RPCManager::callJSON(const std::string& service, const std::string& method, const std::string& params) internally (after resolving the service).
- Parameters
-
[in] service The service to call [in] method The method on the service to call [in] params The parameters of the method as comma separated strings (JSON, no enclosing [], empty string if no parameters)
- Returns
- Returns a future that will enclose the JSON RPC response containing the result of the call.
◆ callServiceJSON() [5/5]
|
inherited |
Provided for convenience.
See callServiceJSON above. Will extract parameters to call callServiceJSON(const std::string& service, const std::string& method, const std::string& params) internally (after resolving the service).
- Returns
- Returns a future that will enclose the JSON RPC response containing the result of the call.
◆ createServiceCall()
|
inherited |
Create a ServiceCall object.
This object acts as a proxy for an rpc service method.
- Template Parameters
-
F The function signature of the wrapped service method. E.g. void(int).
- Parameters
-
[in] service The service to call [in] method The service method to call [in] waitTillExists If true this function blocks till a service with a matching signature appears [in] showBootupMsg If true this function sets a bootup message that it is waiting for the method to be wrapped by the ServiceCall proxy.
- Returns
- ServiceCall<F> Proxy of the wrapped service method.
◆ existsService()
|
inherited |
Returns true, if a service with the given name exists, otherwise false.
◆ implementsInterface()
|
inherited |
Returns true, if a service with the given name implements the given interface, otherwise false.
◆ waitForService()
|
inherited |
Waits until a service with the specified name becomes available.
If a timeout is specified, the method times out if no such service becomes available after the given time. Returns true, if the desired services became available, or false, if the method timed out or the thread was interrupted.
◆ waitForServiceInterface()
|
inherited |
Waits until a service with the specified interface becomes available.
If a timeout is specified, the method times out if no such service becomes available after the given time. Returns the name of the service, if the desired services became available, or an empty string, if the method timed out or the thread was interrupted.
◆ queryServicesForInterface()
|
inherited |
Returns a string list with the names of all registered services, that implement the specified interface.
◆ registerCallbackForInterface() [1/2]
|
inherited |
Registers a callback that is called whenever a service registers the given interface, which is specified as first parameter.
The callback method must take two parameters of the type std::string: method(const std::string& interface, const std::string& service); When the method is called, the name of the interface and the name of the service that is registering is passed. The callback is processed within the main dispatcher thread of the authority.
◆ registerCallbackForInterface() [2/2]
|
inherited |
Same as above but providing a function and class pointer instead of a boost function.
Provided for convenience.
◆ getStatusManager()
|
inherited |
◆ getStatusMap() [1/2]
|
overridevirtualinherited |
Return a status map that contains the status of the authority as well as all registered submodules.
Implements AbstractAuthority.
◆ getStatusMap() [2/2]
|
inherited |
Gets the current status map containing all errors, warnings and bootup messages.
◆ getProperties()
|
overridevirtualinherited |
Returns the main property node of this Authority.
Implements AbstractAuthority.
Reimplemented in MicroUnit.
◆ getPublishedChannels()
|
overridevirtualinherited |
Returns all published channels by this authority (and its sub-authorities)
Implements AbstractAuthority.
◆ getSubscribedChannels()
|
overridevirtualinherited |
Returns all subscribed channels by this authority (and its sub-authorities)
Implements AbstractAuthority.
◆ getServiceInterfaces()
|
overridevirtualinherited |
Returns all service interfaces provided by this authority.
Implements AbstractAuthority.
◆ getPublishedChannelNames()
|
overridevirtualinherited |
Returns all published channels (pair of global and local names) by this authority (and its sub-authorities)
Implements AbstractAuthority.
◆ getSubscribedChannelNames()
|
overridevirtualinherited |
Returns all subscribed channels (pair of global and local names) by this authority (and its sub-authorities)
Implements AbstractAuthority.
◆ getSubscribedChannelStatus()
|
overridevirtualinherited |
Returns status for all subscribed channels (ok, no publisher, no data, ...) by this authority (and its sub-authorities)
Implements AbstractAuthority.
◆ toProxy()
|
protectedinherited |
◆ setChannelReadAccess()
|
protectedinherited |
◆ setChannelWriteAccess()
|
protectedinherited |
◆ removeChannelReadAccess()
|
protectedinherited |
◆ removeChannelWriteAccess()
|
protectedinherited |
◆ insertChannelNameMapping()
|
protectedinherited |
◆ eraseChannelNameMapping()
|
protectedinherited |
◆ remotePublishService()
|
protectedinherited |
◆ getPropertiesRPC()
|
protectedinherited |
◆ setProperty()
|
protectedinherited |
◆ getProperty()
|
protectedinherited |
◆ setPropertyJSON()
|
protectedinherited |
◆ getPropertyJSON()
|
protectedinherited |
◆ getNamespace()
|
inlineinherited |
Return the resolved namespace of the authority.
- Returns
- Namespace
◆ getGlobalName()
|
inlineinherited |
Return the fully qualified global name (includes namespace) This method returns the name without the trailing UUID added if the authority is anonymous.
Use getGlobalID() to obtain the unique id of the authority.
- Returns
- Global Name
◆ getGlobalID()
|
inlineinherited |
Return the fully qualified global id (includes namespace)
- Returns
- Global ID
◆ getID()
|
inlineinherited |
Return the id of the authority.
- Returns
- ID
◆ getName()
|
inlineinherited |
Return the name of the authority.
- Returns
- Name of this authority
◆ getDescription()
|
inlineinherited |
Return the description of this authority.
◆ setHeartbeatInterval()
|
inlineinherited |
Set the watchdog interval.
◆ setName()
|
inlineinherited |
◆ getHeartbeatInterval()
|
inlineinherited |
Return the watchdog interval.
◆ heartbeat()
|
inlineinherited |
When called for the first time heartbeat usage will be enabled.
This resets the watchdog and signal that everything is working. If you call heartbeat in an interval < watchdog interval the status will be OK (if no other error is set) If a module blocks or fails and does not call heartbeat again until the watchdog interval passed the status will be ERROR
◆ hasHeartbeatTimeout()
|
inlineinherited |
Returns true if heartbeat usage is enabled (by first call to heartbeat()) and last heartbeat was more than heartbeat interval time ago.
◆ bootup()
|
inherited |
Signal that the module is booting up.
Optional a message text and a text used for translation can be specified
◆ bootupFinished()
|
inherited |
Signal that the module has finished booting up (There can still be errors but booting up is finished)
◆ recoverFinished()
|
inherited |
Signal that the module has finished recovering (There can still be errors but recovering is finished)
◆ recover()
|
inherited |
Signal that the module is recovering.
Optional a message text and a text used for translation can be specified
◆ ok()
|
inherited |
Signal that a category contains no more errors.
If no category is set all categories are cleared (except boot up).
◆ warning()
|
inherited |
Signal a warning in a category.
A message and an optional text for translation can be given. Additionally, the message is written to the error log.
- Returns
- true if warning was set, false if a warning with same text was already set
◆ error()
|
inherited |
Signal an error in a category.
A message and an optional text for translation can be given. Additionally, the error message is written to the error log.
- Returns
- true if error was set, false if a error with same text was already set
◆ setStatus()
|
inherited |
Set the status of a given category.
This method can be used to set the warning or error status of the specified category. a message and an optional text for translation can be given. This method essentially does the same as the above warning() and error() methods. In contrast to those two methods, this method does NOT write the error message to the error/warning log. Hence, it can be used to set the error and warning status silently. In all other cases the warning() and error() methods should be used, which are more convenient.
- Returns
- true if error was set, false if a error with same text was already set
◆ getStatus()
|
inherited |
Get the status mode defined by the status of the watchdog (if used) and the bootup, error and warning methods.
If the watchdog is used (watchdog is enabled when calling heartbeat() for the first time) this method tests if the latest reset of the watchdog was inside the specified watchdog interval. If not it will return ERROR.
Member Data Documentation
◆ mNode
|
protectedinherited |
◆ mTransform
|
protectedinherited |
◆ mLastToolTip
|
protectedinherited |
◆ mDescription
|
protectedinherited |
◆ mBootUpStatus
|
protectedinherited |
◆ mRecoverStatus
|
protectedinherited |
◆ mHeartbeatInterval
|
protectedinherited |
◆ mLastHeartbeat
|
protectedinherited |
◆ mStatusMap
|
protectedinherited |
◆ mName
|
protectedinherited |
The documentation for this class was generated from the following file:
- gui/include/visualization/3d/CameraOrbitTool.h
