class RobotManager

Declaration

class RobotManager { /* full declaration omitted */ };

Declared at: robot_manager/include/robot_manager/RobotManager.h:37

Member Variables

private robot_controller::ControllerLoader controller_loader_

private robot_controller::ControllerLoader::ControllerPtr controller_

private int zenoh_router_

private int interfaces_

private int spawned_interfaces_

private mc_control::MCGlobalController:: GlobalConfiguration gconfig_

private int main_thread_

private std::mutex start_mutex_

private std::condition_variable start_cv_

private bool start_control_ = {false}

private std::condition_variable cv_

private int threads_

private mc_rtc::Slot<std::string, std::string> replace_slot_

private int replace_queue_

private bool signal_received_ = false

private std::mutex replace_mutex_

Method Overview

• public RobotManager()
• public RobotManager(const std::string & mc_config_path, const std::atomic<bool> & interrupt)
• public RobotManager(const robot_manager::RobotManager &)
• public RobotManager(robot_manager::RobotManager &&)
• private static bool autostartEnabled(const mc_rtc::Configuration & robot_config)
• public robot_controller::Controller & controller()
• private void init(const std::atomic<bool> & interrupt)
• public const auto & interfaces()
• private void launchZenohRouter()
• private void mainThread(size_t step_size, const std::atomic<bool> & interrupt)
• public void notify()
• private void processGConfig(mc_control::MCGlobalController::GlobalConfiguration & gconfig)
• private pid_t spawnRobotInterface(const std::string & robot_name, const mc_rtc::Configuration & robot_config)
• private void stopSpawnedInterfaces()
• public ~RobotManager()

Methods

¶RobotManager()

Declared at: robot_manager/include/robot_manager/RobotManager.h:40

¶RobotManager(const std::string& mc_config_path,
             const std::atomic<bool>& interrupt)

Description

Load `mc_config_path` and initialize every robot. Returns once all robots are initialized or interrupt is set.

Declared at: robot_manager/include/robot_manager/RobotManager.h:44

Parameters

const std::string& mc_config_path

const std::atomic<bool>& interrupt

¶RobotManager(const robot_manager::RobotManager&)

Declared at: robot_manager/include/robot_manager/RobotManager.h:48

Parameters

const robot_manager::RobotManager&

¶RobotManager(robot_manager::RobotManager&&)

Declared at: robot_manager/include/robot_manager/RobotManager.h:50

Parameters

robot_manager::RobotManager&&

¶static bool autostartEnabled(
    const mc_rtc::Configuration& robot_config)

Declared at: robot_manager/include/robot_manager/RobotManager.h:84

Parameters

const mc_rtc::Configuration& robot_config

¶robot_controller::Controller& controller()

Description

The controller backend.

Declared at: robot_manager/include/robot_manager/RobotManager.h:54

¶void init(const std::atomic<bool>& interrupt)

Declared at: robot_manager/include/robot_manager/RobotManager.h:72

Parameters

const std::atomic<bool>& interrupt

¶const auto& interfaces()

Declared at: robot_manager/include/robot_manager/RobotManager.h:60

¶void launchZenohRouter()

Declared at: robot_manager/include/robot_manager/RobotManager.h:78

¶void mainThread(
    size_t step_size,
    const std::atomic<bool>& interrupt)

Declared at: robot_manager/include/robot_manager/RobotManager.h:103

Parameters

size_t step_size

const std::atomic<bool>& interrupt

¶void notify()

Description

Wake the main thread for the next control step.

Declared at: robot_manager/include/robot_manager/RobotManager.h:66

¶void processGConfig(
    mc_control::MCGlobalController::
        GlobalConfiguration& gconfig)

Declared at: robot_manager/include/robot_manager/RobotManager.h:90

Parameters

mc_control::MCGlobalController:: GlobalConfiguration& gconfig

¶pid_t spawnRobotInterface(
    const std::string& robot_name,
    const mc_rtc::Configuration& robot_config)

Declared at: robot_manager/include/robot_manager/RobotManager.h:85

Parameters

const std::string& robot_name

const mc_rtc::Configuration& robot_config

¶void stopSpawnedInterfaces()

Declared at: robot_manager/include/robot_manager/RobotManager.h:86

¶~RobotManager()

Declared at: robot_manager/include/robot_manager/RobotManager.h:46