Base class for all driver modules of a SCITOS robot. More...

#include <SCITOSModule.h>

Inheritance diagram for SCITOSModule:

[legend]

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
	SCITOSModule ()

virtual	~SCITOSModule ()

template<typename Reflector >
void	reflect (Reflector &r)
	Reflect method for serialization. More...

void	initialize (SCITOSManager manager, mira::can::CANOpenNodeInfo nodeInfo, XMLDom xml)
	Initializes the module with the manager that owns the module, the nodeID the module is bound to and the XML configuration to deserialize parameters from. More...

virtual std::string	getName () const

void	updateStatus (mira::can::CANOpenNodeStatus status)
	Update the status of the can node the module is attached to. More...

virtual void	statusChanged (mira::can::CANOpenNodeStatus status)
	Overload if listening on status changed. More...

void	pauseModule ()

void	resumeModule ()

void	destructModule ()

Class const &	getClass () const

void	enableSubscriberCallbacks (bool enable)

StatusManager &	getStatusManager ()

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

StatusMap	getStatusMap () const

virtual StatusManager::StatusMap	getStatusMap ()

virtual StatusManager::StatusMap	getStatusMap ()

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	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)

virtual void	start ()

virtual void	start ()

virtual void	stop ()

virtual void	stop ()

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 boost::shared_ptr< PropertyNode >	getProperties ()

virtual boost::shared_ptr< PropertyNode >	getProperties ()

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

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
void	processInitialization ()

void	onError (const mira::can::CANMessage &message, const Time &time)

template<typename T >
void	deserializeConfig (T &module, bool isOptional=true)
	module must have the specific subclass type to deserialize to subclass (not base class). More...

template<typename T >
void	deserializeConfig (const std::string &name, T &module, bool isOptional=true)
	See above. More...

virtual void	onInitialize ()=0
	Overwrite in derived class to initialize (register on PDOs,...) More...

virtual void	onPause ()

virtual void	onResume ()

virtual void	onDestruct ()

uint32	addPDOListener (can::PDOCallback pFunc, uint32 pPDO)

void	waitForHWTimestamp ()
	Call this method in derived modules at initialization to wait for hardware time synchronization. More...

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

Protected Attributes
std::set< uint32 >	mErrors

std::vector< uint32 >	mPDOCallbacks

XMLDom *	mXML

SCITOSManager *	mManager
	The pointer to the manager. More...

mira::can::CANOpenNodeInfo	mNodeInfo
	Informations about the CANOpen node. More...

boost::thread	mInitializationThread

bool	mIsRunning

AuthorityDescription	mDescription

boost::optional< Status >	mBootUpStatus

boost::optional< Status >	mRecoverStatus

Duration	mHeartbeatInterval

boost::optional< Time >	mLastHeartbeat

StatusMap	mStatusMap

std::string	mName

Detailed Description

Base class for all driver modules of a SCITOS robot.

Constructor & Destructor Documentation

◆ SCITOSModule()

SCITOSModule ( )

inline

◆ ~SCITOSModule()

virtual ~SCITOSModule ( )

inlinevirtual

Member Function Documentation

◆ reflect()

void reflect ( Reflector & r )

inline

Reflect method for serialization.

◆ initialize()

void initialize	(	SCITOSManager *	manager,
		mira::can::CANOpenNodeInfo	nodeInfo,
		XMLDom *	xml
	)

Initializes the module with the manager that owns the module, the nodeID the module is bound to and the XML configuration to deserialize parameters from.

◆ getName()

virtual std::string getName ( ) const

inlinevirtual

◆ updateStatus()

void updateStatus ( mira::can::CANOpenNodeStatus status )

Update the status of the can node the module is attached to.

◆ statusChanged()

virtual void statusChanged ( mira::can::CANOpenNodeStatus status )

inlinevirtual

Overload if listening on status changed.

◆ pauseModule()

void pauseModule ( )

◆ resumeModule()

void resumeModule ( )

◆ destructModule()

void destructModule ( )

◆ processInitialization()

void processInitialization ( )

protected

◆ onError()

void onError	(	const mira::can::CANMessage &	message,
		const Time &	time
	)

protected

◆ deserializeConfig() [1/2]

void deserializeConfig	(	T &	module,
		bool	isOptional = `true`
	)

inlineprotected

module must have the specific subclass type to deserialize to subclass (not base class).

Therefore needs a template class here. Call from subclass with deserializeConfig(*this) for automatic deduction of T.

Parameters

[in] isOptional Whether module configuration is optional. If there is no configuration for the module and isOptional=true, XML deserialization is skipped (i.e. reflect() is not guaranteed to execute!). If isOptional=false, a missing configuration will throw XInvalidConfig.

◆ deserializeConfig() [2/2]

void deserializeConfig	(	const std::string &	name,
		T &	module,
		bool	isOptional = `true`
	)

inlineprotected

See above.

This method allows to provide a specific name for the config node to read (if it should be different from module name).

◆ onInitialize()

virtual void onInitialize ( )

protectedpure virtual

Overwrite in derived class to initialize (register on PDOs,...)

◆ onPause()

virtual void onPause ( )

inlineprotectedvirtual

◆ onResume()

virtual void onResume ( )

inlineprotectedvirtual

◆ onDestruct()

virtual void onDestruct ( )

inlineprotectedvirtual

◆ addPDOListener()

uint32 addPDOListener	(	can::PDOCallback	pFunc,
		uint32	pPDO
	)

protected

◆ waitForHWTimestamp()

void waitForHWTimestamp ( )

protected

Call this method in derived modules at initialization to wait for hardware time synchronization.

Member Data Documentation

◆ mErrors

std::set<uint32> mErrors

protected

◆ mPDOCallbacks

std::vector<uint32> mPDOCallbacks

protected

◆ mXML

XMLDom* mXML

protected

◆ mManager

SCITOSManager* mManager

protected

The pointer to the manager.

◆ mNodeInfo

mira::can::CANOpenNodeInfo mNodeInfo

protected

Informations about the CANOpen node.

◆ mInitializationThread

boost::thread mInitializationThread

protected

◆ mIsRunning

bool mIsRunning

protected

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

manager/include/SCITOSModule.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SCITOSModule()

◆ ~SCITOSModule()

Member Function Documentation

◆ reflect()

◆ initialize()

◆ getName()

◆ updateStatus()

◆ statusChanged()

◆ pauseModule()

◆ resumeModule()

◆ destructModule()

◆ processInitialization()

◆ onError()

◆ deserializeConfig() [1/2]

◆ deserializeConfig() [2/2]

◆ onInitialize()

◆ onPause()

◆ onResume()

◆ onDestruct()

◆ addPDOListener()

◆ waitForHWTimestamp()

Member Data Documentation

◆ mErrors

◆ mPDOCallbacks

◆ mXML

◆ mManager

◆ mNodeInfo

◆ mInitializationThread

◆ mIsRunning