SCITOSManager Class Reference

The SCITOSManager manages all driver modules of a SCITOS robot. More...

#include <SCITOSManager.h>

Inheritance diagram for SCITOSManager:

Classes
struct	ErrorDescription
	A description of a hardware error. Used to map error ids to text. More...
struct	ModuleID

Public Types
enum	Flags
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
	SCITOSManager ()
template<typename Reflector >
void	reflect (Reflector &r)
	Reflect method for serialization. More...
void	reflect (XMLDeserializer &r)
	Specialization of reflect method for XML. More...
mira::can::CANChannelInterfacePtr	getCANInterface ()
	Returns the can interface pointer. More...
mira::can::CANOpenSDOClientPtr	getCANSDOClient ()
	Returns the can sdo client pointer. More...
mira::can::CANOpenNMTMasterPtr	getNMTMaster ()
	Returns the can NMT master pointer. More...
bool	hasHWTime () const
	Returns true if a hardware timestamp exists. More...
uint32	getHWTime (Time time=Time::now())
	Return the hardware time that corresponds with the given PC time. More...
void	addErrorDescription (uint32 errorNr, const ErrorDescription &ed)
	Adds an error description for the given error number. More...
ErrorDescription	getErrorDescription (uint32 errorNr)
	Returns the error description of the given error number. More...
Time	correctPCTime (Time pcTime, uint32 hwTime)
	Correct the PC time relative to given hardware time. More...
Time	correctPCTime (Time pcTime, uint16 hwTime)
	Correct the PC time relative to given hardware time. More...
boost::shared_ptr< robot::RobotModel >	getRobotModel ()
	Returns the SCITOS robot model. More...
void	updateProperties ()
virtual void	checkin (const std::string &ns, const std::string &name)
virtual void	checkin (Authority &parent, const std::string &ns, const std::string &name)
void	checkin (const ResourceName &fullname, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (const ResourceName &ns, const std::string &name, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (Authority &iParent, const ResourceName &ns, const std::string &name)
void	checkin (Authority &iParent, const std::string &name)
void	checkin (const ResourceName &fullname, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (const ResourceName &ns, const std::string &name, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (Authority &iParent, const ResourceName &ns, const std::string &name)
void	checkin (Authority &iParent, const std::string &name)
void	setPropertyNode (boost::shared_ptr< PropertyNode > node)
virtual void	destruct ()
Class const &	getClass () const
void	enableSubscriberCallbacks (bool enable)
StatusManager &	getStatusManager ()
StatusMap	getStatusMap () const
virtual StatusManager::StatusMap	getStatusMap ()
virtual StatusManager::StatusMap	getStatusMap ()
void	setHeartbeatInterval (const Duration &interval)
void	setName (const std::string &name)
Duration	getHeartbeatInterval () const
void	heartbeat ()
bool	hasHeartbeatTimeout () const
void	bootup (const std::string &message, const std::string &trText="")
void	bootupFinished ()
void	recoverFinished ()
void	recover (const std::string &message, const std::string &trText="")
void	ok (const std::string &category="")
bool	warning (const std::string &category, const std::string &message, const std::string &trText="")
bool	error (const std::string &category, const std::string &message, const std::string &trText="")
bool	setStatus (Status::StatusMode mode, const std::string &category, const std::string &message, const std::string &trText="")
Status::StatusMode	getStatus () const
virtual boost::shared_ptr< PropertyNode >	getProperties ()
virtual boost::shared_ptr< PropertyNode >	getProperties ()
virtual void	start ()
virtual void	start ()
virtual void	stop ()
virtual void	stop ()
void	checkout ()
void	checkout ()
bool	isValid () const
bool	isValid () const
void	validate () const
void	validate () const
AuthorityRuntimePtr	getRuntime ()
AuthorityRuntimePtr	getRuntime ()
std::set< Authority *>	getChildren ()
std::set< Authority *>	getChildren ()
void	addImmediateHandler (DiagnosticRunnablePtr runnable)
void	addImmediateHandler (DiagnosticRunnablePtr runnable)
void	addImmediateHandlerFunction (F &&fn)
void	addImmediateHandlerFunction (F &&fn)
void	addFinalizeHandler (DiagnosticRunnablePtr runnable)
void	addFinalizeHandler (DiagnosticRunnablePtr runnable)
void	addFinalizeHandlerFunction (F &&fn)
void	addFinalizeHandlerFunction (F &&fn)
TimerPtr	createTimer (Duration period, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Time time, TimerCallback callback)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &), Class *obj)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &))
TimerPtr	createTimer (Duration period, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Time time, TimerCallback callback)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &), Class *obj)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &))
void	removeTimer (TimerPtr timer)
void	removeTimer (TimerPtr timer)
bool	spin (const Duration &maxWait=Duration::infinity())
bool	spin (const Duration &maxWait=Duration::infinity())
virtual bool	hasUnrecoverableFailure () const
virtual bool	hasUnrecoverableFailure () const
virtual bool	isStarted () const
virtual bool	isStarted () const
virtual bool	isRunning () const
virtual bool	isRunning () const
std::string	resolveName (const std::string &name) const
std::string	resolveName (const std::string &name) const
std::string	resolveServiceName (const std::string &name) const
std::string	resolveServiceName (const std::string &name) const
Channel< T >	publish (const std::string &channelID)
Channel< T >	publish (const std::string &channelID, const Typename &type)
Channel< T >	publish (const std::string &channelID)
Channel< T >	publish (const std::string &channelID, const Typename &type)
void	unpublish (const std::string &channelID)
void	unpublish (const std::string &channelID)
Channel< T >	subscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	subscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	subscribeInterval (const std::string &channelID, boost::function< void(ChannelReadInterval< T >)> fn, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
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())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, boost::function< void(ChannelReadInterval< T >)> fn, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
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())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
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())
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())
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())
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())
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())
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())
ChannelRead< T >	waitForData (Channel< T > channel, Duration timeout=Duration::infinity()) const
ChannelRead< T >	waitForData (Channel< T > channel, Duration timeout=Duration::infinity()) const
void	unsubscribe (const std::string &channelID)
void	unsubscribe (const std::string &channelID)
Channel< T >	getChannel (const std::string &channelID)
Channel< T >	getChannel (const std::string &channelID)
bool	isSubscribedOn (const std::string &channelID) const
bool	isSubscribedOn (const std::string &channelID) const
	MIRA_DEPRECATED ("Please use isSubscribedOn() instead", bool hasSubscribedOn(const std::string &channelID) const)
	MIRA_DEPRECATED ("Please use isSubscribedOn() instead", bool hasSubscribedOn(const std::string &channelID) const)
bool	hasPublished (const std::string &channelID) const
bool	hasPublished (const std::string &channelID) const
bool	doesChannelExist (const std::string &channelID) const
bool	doesChannelExist (const std::string &channelID) const
bool	waitForChannel (const std::string &channelID, const Duration &timeout=Duration::infinity()) const
bool	waitForChannel (const std::string &channelID, const Duration &timeout=Duration::infinity()) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, Duration timeout=Duration::invalid()) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID, Duration timeout=Duration::invalid()) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, Duration timeout=Duration::invalid()) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID, Duration timeout=Duration::invalid()) const
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time))
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time))
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time=Time()) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID) const
Transform	getTransform (const TransformDesc &desc, const Time &time, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &time=Time()) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime) const
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time=Time()) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID) const
Transform	getTransform (const TransformDesc &desc, const Time &time, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &time=Time()) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime) const
FrameworkTransformerNode *	getTransformNode (const std::string &frameID) const
FrameworkTransformerNode *	getTransformNode (const std::string &frameID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
void	publishTransform (const std::string &frameID, const Transform &transform, const Time &time) const
void	publishTransform (const std::string &frameID, const Transform &transform, const Time &time) const
void	publishTransformIndirect (const std::string &frameID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time, Filter &&filter) const
void	publishTransformIndirect (const std::string &frameID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time)
void	publishTransformIndirect (const std::string &frameID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time, Filter &&filter) const
void	publishTransformIndirect (const std::string &frameID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time)
void	addTransformLink (const std::string &childID, const std::string &parentID) const
void	addTransformLink (const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type) const
void	addTransformLink (const std::string &childID, const std::string &parentID) const
void	addTransformLink (const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type) const
void	publishService (const std::string &name, Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	publishService (Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	publishService (const std::string &name, Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	publishService (Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	unpublishService ()
void	unpublishService (const std::string &name)
void	unpublishService ()
void	unpublishService (const std::string &name)
RPCFuture< R >	callService (const std::string &iService, const std::string &method, ARGS &&... args) const
RPCFuture< R >	callService (const std::string &iService, const std::string &method, ARGS &&... args) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const json::Value &jsonRequest) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &jsonString) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const json::Value &params=json::Value()) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const std::string &params) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const RPCCallDefinition &rpc) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const json::Value &jsonRequest) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &jsonString) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const json::Value &params=json::Value()) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const std::string &params) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const RPCCallDefinition &rpc) const
bool	existsService (const std::string &name) const
bool	existsService (const std::string &name) const
bool	implementsInterface (const std::string &name, const std::string &interface) const
bool	implementsInterface (const std::string &name, const std::string &interface) const
bool	waitForService (const std::string &name, Duration timeout=Duration::invalid()) const
bool	waitForService (const std::string &name, Duration timeout=Duration::invalid()) const
std::string	waitForServiceInterface (const std::string &interface, Duration timeout=Duration::invalid()) const
std::string	waitForServiceInterface (const std::string &interface, Duration timeout=Duration::invalid()) const
std::list< std::string >	queryServicesForInterface (const std::string &interface) const
std::list< std::string >	queryServicesForInterface (const std::string &interface) const
void	registerCallbackForInterface (const std::string &interface, ServiceInterfaceHandler::Callback cb)
void	registerCallbackForInterface (const std::string &interface, void(Class::*f)(const std::string &, const std::string &), Class *obj)
void	registerCallbackForInterface (const std::string &interface, ServiceInterfaceHandler::Callback cb)
void	registerCallbackForInterface (const std::string &interface, void(Class::*f)(const std::string &, const std::string &), Class *obj)
virtual std::set< std::string >	getPublishedChannels ()
virtual std::set< std::string >	getPublishedChannels ()
virtual std::set< std::string >	getSubscribedChannels ()
virtual std::set< std::string >	getSubscribedChannels ()
virtual std::set< std::string >	getServiceInterfaces ()
virtual std::set< std::string >	getServiceInterfaces ()
virtual ChannelNameMapping	getPublishedChannelNames ()
virtual ChannelNameMapping	getPublishedChannelNames ()
virtual ChannelNameMapping	getSubscribedChannelNames ()
virtual ChannelNameMapping	getSubscribedChannelNames ()
virtual ChannelStatusMap	getSubscribedChannelStatus ()
virtual ChannelStatusMap	getSubscribedChannelStatus ()
std::string	getNamespace () const
std::string	getNamespace () const
std::string	getGlobalName () const
std::string	getGlobalName () const
std::string	getGlobalID () const
std::string	getGlobalID () const
std::string	getID () const
std::string	getID () const
std::string	getName () const
std::string	getName () const
const AuthorityDescription &	getDescription () const
const AuthorityDescription &	getDescription () const

Static Public Member Functions
static PseudoClass const &	CLASS ()

Public Attributes
	NORMAL
	ANONYMOUS
	HIDDEN
	INVISIBLE_PUBLISHER_SUBSCRIBER
	INTERNAL
	INDEPENDENT_SUBSCRIBER_THREAD
	INDEPENDENT_RPC_THREAD
	NO_MAIN_THREAD

Protected Types
typedef std::map< std::string, RWAccessFlags >	RWAccessMap
typedef std::list< AbstractChannelSubscriberPtr >	SubscribePtrList

Protected Member Functions
virtual void	recover ()
virtual void	recover ()
void	initializeIntern ()
void	recoverIntern (const Timer &timer)
virtual Class const &	internalGetClass () const=0
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
virtual void	needRecovery (const std::string &reason="")
virtual void	needRecovery (const std::string &reason="")
virtual void	operational ()
virtual void	operational ()
bool	inRecoveryMode () const
bool	inRecoveryMode () const
Implementation of MicroUnit
virtual void	initialize ()
virtual void	finalize ()
virtual void	resume ()
virtual void	pause ()

Static Protected Member Functions
static std::string	toHexString (uint32 id)
static uint32	fromPrefixedString (const std::string &s)

Protected Attributes
RootPropertyNode	mPropertiesRoot
AuthorityDescription	mDescription
boost::optional< Status >	mBootUpStatus
boost::optional< Status >	mRecoverStatus
Duration	mHeartbeatInterval
boost::optional< Time >	mLastHeartbeat
StatusMap	mStatusMap
std::string	mName

Detailed Description

The SCITOSManager manages all driver modules of a SCITOS robot.

Constructor & Destructor Documentation

SCITOSManager()

SCITOSManager ( )

inline

Member Function Documentation

toHexString()

static std::string toHexString ( uint32  id )

inlinestaticprotected

fromPrefixedString()

static uint32 fromPrefixedString ( const std::string &  s )

inlinestaticprotected

reflect() [1/2]

void reflect ( Reflector &  r )

inline

Reflect method for serialization.

reflect() [2/2]

void reflect

(

XMLDeserializer &

r

)

Specialization of reflect method for XML.

getCANInterface()

mira::can::CANChannelInterfacePtr getCANInterface ( )

inline

Returns the can interface pointer.

getCANSDOClient()

mira::can::CANOpenSDOClientPtr getCANSDOClient ( )

inline

Returns the can sdo client pointer.

getNMTMaster()

mira::can::CANOpenNMTMasterPtr getNMTMaster ( )

inline

Returns the can NMT master pointer.

hasHWTime()

bool hasHWTime ( ) const

inline

Returns true if a hardware timestamp exists.

getHWTime()

uint32 getHWTime ( Time  time = Time::now() )

inline

Return the hardware time that corresponds with the given PC time.

Parameters

[in]

time

The time that should be converted into corresponding hardware time

addErrorDescription()

void addErrorDescription ( uint32  errorNr, const ErrorDescription &  ed  )

inline

Adds an error description for the given error number.

getErrorDescription()

ErrorDescription getErrorDescription ( uint32  errorNr )

inline

Returns the error description of the given error number.

Generates a default error description if no description was added via addErrorDescription().

correctPCTime() [1/2]

Time correctPCTime ( Time  pcTime, uint32  hwTime  )

inline

Correct the PC time relative to given hardware time.

Returns the corrected PC time that corresponds to the hwTime.

correctPCTime() [2/2]

Time correctPCTime ( Time  pcTime, uint16  hwTime  )

inline

Correct the PC time relative to given hardware time.

Returns the corrected PC time that corresponds to the hwTime.

getRobotModel()

boost::shared_ptr<robot::RobotModel> getRobotModel ( )

inline

Returns the SCITOS robot model.

updateProperties()

void updateProperties

(

)

initialize()

virtual void initialize ( )

protectedvirtual

Reimplemented from MicroUnit.

finalize()

virtual void finalize ( )

protectedvirtual

Reimplemented from MicroUnit.

resume()

virtual void resume ( )

protectedvirtual

Reimplemented from MicroUnit.

pause()

virtual void pause ( )

protectedvirtual

Reimplemented from MicroUnit.

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

• manager/include/SCITOSManager.h