This class is a simple dynamic graph manager with a fake hardware interface used for unittesting. More...

#include <simple_dgm.hpp>

Inheritance diagram for dynamic_graph_manager::SimpleDGM:

Collaboration diagram for dynamic_graph_manager::SimpleDGM:

Public Member Functions
	SimpleDGM ()
	Construct a new SimpleDGM object.

	~SimpleDGM ()
	Destroy the SimpleDGM object.

void	initialize_hardware_communication_process ()
	Simple overload doing nothing. More...

void	get_sensors_to_map (dynamic_graph::VectorDGMap &map)
	Get the sensors to the map object. More...

void	set_motor_controls_from_map (const dynamic_graph::VectorDGMap &map)
	Set the motor controls from map object to no hardware. More...

bool	get_has_user_command_been_executed ()
	Get the has_user_command_been_executed_ object.

bool	user_command_callback (dynamic_graph_manager::TestUserCmdBool::Request &req, dynamic_graph_manager::TestUserCmdBool::Response &res)
	This service callback parse the ros messages and register and internal method for further call using the data from the ros message. More...

bool	is_in_safety_mode ()
	is_in_safety_mode check if the dynamic graph is still alive and sending commands at a descent frequency. More...

void	compute_safety_controls ()
	compute_safety_controls computes safety controls very fast in case the dynamic graph is taking to much computation time or has crashed.

Public Member Functions inherited from dynamic_graph::DynamicGraphManager
	DynamicGraphManager ()
	DynamicGraphManager, constructor of the class.

virtual	~DynamicGraphManager ()
	DynamicGraphManager, destructor of the class.

void	initialize (YAML::Node param)
	initialize the basic variables

void	run ()
	run() splits the process in the dynamic_graph process and the hadware_communication process. More...

void	wait_start_dynamic_graph ()
	wait_start_dynamic_graph put the current thread to sleep until the user start the dynamic graph

void	wait_stop_dynamic_graph ()
	wait_stop_dynamic_graph put the current thread to sleep until the user stop the dynamic graph

void	wait_stop_hardware_communication ()
	wait_stop_hardware_communication put the current thread to sleep until the user stop the hardware communication. More...

void	initialize_dynamic_graph_process ()
	initialize_dynamic_graph_process instanciates all variables related to the dynamic_graph and user interface.

void	run_python_command (std::ostream &file, const std::string &command)
	run_python_command More...

void	python_prologue ()
	python_prologue get the pointer of the device in the the python interpretor.

virtual void	run_dynamic_graph_process ()
	run_dynamic_graph_process spawns the real time thread and becomes a ros spinner (thread in charge of the ros::service callbacks). More...

virtual void	run_hardware_communication_process ()
	run_hardware_communication_process spawns the real time thread. More...

virtual void	run_single_process ()
	run_single_process spawns the real time thread. More...

void	stop_dynamic_graph ()
	stop_dynamic_graph stop the DynamicGraph. More...

void	start_dynamic_graph ()
	start_dynamic_graph start the DynamicGraph. More...

bool	is_dynamic_graph_stopped ()
	get the status of the dynamic graph (is running or not) More...

void	stop_hardware_communication ()
	stop_hardware_communication stops the hardware communication. More...

void	start_hardware_communication ()
	start_hardware_communication starts the hardware communication. More...

bool	is_hardware_communication_stopped ()
	get the status of the hardware communication (is running or not). More...

pid_t	pid_dynamic_graph_process ()
	pid_dynamic_graph_process is an accessor on the pid of the process More...

pid_t	pid_hardware_communication_process ()
	pid_hardware_communication_process is an accessor on the pid of the process More...

Device &	device ()
	device is a getter method on the Device internal pointer. More...

bool	has_dynamic_graph_process_died ()
	has_dynamic_graph_process_died check if the process of the DynamicGraph has died or not. More...

Private Member Functions
void	user_command (bool user_input)
	The actuall user command called in the real time thread. More...

Private Attributes
std::atomic_bool	boolean_set_by_user_cmd_

dynamicgraph::Vector	desired_torques_

dynamicgraph::Vector	desired_positions_

Additional Inherited Members
Static Public Attributes inherited from dynamic_graph::DynamicGraphManager
static const std::string	dg_ros_node_name_ = "dynamic_graph"
	dg_ros_node_name_ this is the ros node name of the dynamic graph process

static const std::string	hw_com_ros_node_name_
	hw_com_ros_node_name_ this is the ros node name of the harware communication process More...

static const std::string	shared_memory_name_ = "DGM_ShM"
	shared_memory_name is the name of the shared memory segment to be used

static const std::string	sensors_map_name_ = "sensors_map"
	sensors_map_name is the name of the sensor map inside the shared memory segment

static const std::string	motor_controls_map_name_
	motor_controls_map_name is the name of the motor controls map inside the shared memory segment More...

static const std::string	cond_var_name_ = "cond_var"
	cond_var_sensors_name_ is the name of the condition variable in the shared memory

Protected Member Functions inherited from dynamic_graph::DynamicGraphManager
void	add_user_command (std::function< void(void)> func)
	Method inherited. More...

Protected Attributes inherited from dynamic_graph::DynamicGraphManager
ros::ServiceServer	ros_service_start_dg_
	ros_service_start_dg_ allows to start the dynamic graph on call. More...

ros::ServiceServer	ros_service_stop_dg_
	ros_service_stop_dg_ allows to stop the dynamic graph on call. More...

std::atomic< bool >	is_dynamic_graph_stopped_
	is_dynamic_graph_stopped_ is the flag reflecting the state of the dynamic graph. More...

std::atomic< bool >	is_hardware_communication_stopped_
	is_hardware_communication_stopped_ is the flag reflecting the state of the hardware communication thread. More...

std::unique_ptr< dynamic_graph::RosPythonInterpreter >	ros_python_interpreter_
	ros_python_interpreter_ptr_ is a ROS wrapper around a python interpreter.

std::unique_ptr< real_time_tools::RealTimeThread >	thread_dynamic_graph_
	thread_dynamic_graph_ is the real time thread that runs the dynamic graph.

std::unique_ptr< real_time_tools::RealTimeThread >	thread_hardware_communication_
	thread_hardware_communication_ is the real thread that communicate with the hardware.

pid_t	pid_dynamic_graph_process_
	pid_dynamic_graph_process_ is the pid of the DynamicGraph process. More...

pid_t	pid_hardware_communication_process_
	pid_hardware_communication_process_ is the pid of the hardware communication process. More...

std::unique_ptr< Device >	device_
	device_ is the DynamicGraph device that manages the computation of the graph.

VectorDGMap	sensors_map_
	sensors_map_ is a map of dynamicgraph::Vector. More...

VectorDGMap	motor_controls_map_
	motor_controls_map_ is a map of dynamicgraph::Vector. More...

std::unique_ptr< shared_memory::LockedConditionVariable >	cond_var_
	cond_var_sensors_ this condition variable allow the computation of the dynamic graph just after the acquisition of the sensors

bool	has_been_waken_by_dg_
	has_been_waken_by_dg_ is a flag that indicates if the hardware communication process has been awaken by the dynamic_graph process or not.

unsigned	missed_control_count_
	missed_control_count_ is counting the number of iteration when the dynamic_graph failed to provide data.

unsigned	max_missed_control_
	max_missed_control_ if the missed_control_count_ reach the value of max_missed_control_ then we switch to safety mode.

clock::duration	control_period_
	control_period_ this is the control period in nanoseconds.

clock::time_point	hw_time_loop_before_sleep_
	hw_time_loop_before_sleep_ is the time measurement just before the hardware communication loop goes to sleep.

clock::time_point	hw_time_loop_after_sleep_
	hw_time_loop_after_sleep_ is the time measurement just after the hardware communication loop goes to sleep.

clock::duration	hw_meas_sleep_time_
	hw_measured_sleep_time_ is the time during which the hardware communication process actually slept.

clock::duration	hw_ref_sleep_time_
	hw_ref_sleep_time_ is the time during which the hardware communication process is supposed to sleep.

clock::duration	hw_meas_active_time_
	hw_meas_active_time_ is the time during which the hardware communication process is supposed to sleep.

bool	is_real_robot_
	is_real_robot this boolean is a parameter to indicate if yes or no we are in simulation or in a real robot mode.

std::string	dg_active_timer_file_
	dg_active_timer_file_ this is the path to the file that will contain the computation time of each of the dynamic graph complete execution.

std::string	dg_sleep_timer_file_
	dg_sleep_timer_file_ this is the path to the file that will contain the sleep duration of the dynamic graph thread.

std::string	dg_timer_file_
	dg_timer_file_ this is the path to the file that will contain the time of the dynamic graph loop.

std::string	hwc_active_timer_file_
	hwc_active_timer_file_ this is the path to the file that will contain the computation time of each active period of the hardware communication loop.

std::string	hwc_sleep_timer_file_
	hwc_sleep_timer_file_ this is the path to the file that will contain the sleeping time of the hardware communication loop.

std::string	hwc_timer_file_
	hwc_timer_file_ this is the path to the file that will contain the computation time of each of the hardware communication complete execution.

std::string	log_dir_
	log_folder_ is the folder where all the data of the current experiment will be saved.

std::string	python_log_file_
	This file will contain the python interpreter output.

std::string	app_dir_
	This is the application directory in the home directory.

real_time_tools::Timer	dg_active_timer_
	dg_active_timer_ is the timer measuring the computation time of the dynamic graph loop.

real_time_tools::Timer	dg_sleep_timer_
	dg_sleep_timer_ is the timer measuring the time during which the dynamic graph loop sleeps.

real_time_tools::Timer	dg_timer_
	dg_timer_ is the timer measuring the duration time of the dynamic graph loop.

real_time_tools::Timer	hwc_active_timer_
	hwc_active_timer is measuring the active time of the hardware communication loop

real_time_tools::Timer	hwc_sleep_timer_
	hwc_sleep_timer is measuring the sleeping time of the hardware communication loop

real_time_tools::Timer	hwc_timer_
	hwc_timer is measuring the time of the hardware communication loop

unsigned	memory_buffer_timers_
	memory_buffer_timers_ is the size of the memory buffers for the real_time_tools timers.

real_time_tools::Spinner	hwc_spinner_
	This class allows us to time the real time thread for the hardware communication.

double	hwc_predicted_sleeping_time_
	This corresponds to the predicted sleeping time for the hardware communication process. More...

double	maximum_time_for_user_cmd_
	This the duration during which a user command can be executed.

std::deque< std::function< void(void)> >	user_commands_
	This is the list of the user commands.

std::deque< ros::ServiceServer >	ros_user_commands_
	Attribute shared with the daughter class. More...

double	control_period_sec_
	control_period_sec_ this is the control period in Seconds (S.I. More...

YAML::Node	params_
	params_ is the pool of parameters in a yaml tree

std::mutex	hwc_mutex_

Detailed Description

This class is a simple dynamic graph manager with a fake hardware interface used for unittesting.

Examples:: main.cpp.

Member Function Documentation

◆ get_sensors_to_map()

void dynamic_graph_manager::SimpleDGM::get_sensors_to_map ( dynamic_graph::VectorDGMap & map )

inlinevirtual

Get the sensors to the map object.

Parameters

map	of sensors

Reimplemented from dynamic_graph::DynamicGraphManager.

Examples:: simple_dgm.hpp.

◆ initialize_hardware_communication_process()

void dynamic_graph_manager::SimpleDGM::initialize_hardware_communication_process ( )

inlinevirtual

Simple overload doing nothing.

We have no hardware here for the unit tests.

initialize the user commands

Reimplemented from dynamic_graph::DynamicGraphManager.

Examples:: simple_dgm.hpp.

◆ is_in_safety_mode()

bool dynamic_graph_manager::SimpleDGM::is_in_safety_mode ( )

inlinevirtual

is_in_safety_mode check if the dynamic graph is still alive and sending commands at a descent frequency.

Inheriting this method is not mandatory but recommanded.

Returns: true if there is a problem

Reimplemented from dynamic_graph::DynamicGraphManager.

Examples:: simple_dgm.hpp.

◆ set_motor_controls_from_map()

void dynamic_graph_manager::SimpleDGM::set_motor_controls_from_map ( const dynamic_graph::VectorDGMap & map )

inlinevirtual

Set the motor controls from map object to no hardware.

So nothing to be done here

Parameters

map	of controls

Reimplemented from dynamic_graph::DynamicGraphManager.

Examples:: simple_dgm.hpp.

◆ user_command()

void dynamic_graph_manager::SimpleDGM::user_command ( bool user_input )

inlineprivate

The actuall user command called in the real time thread.

Parameters

user_input is some boolean

Examples:: simple_dgm.hpp.

◆ user_command_callback()

bool dynamic_graph_manager::SimpleDGM::user_command_callback	(	dynamic_graph_manager::TestUserCmdBool::Request &	req,
		dynamic_graph_manager::TestUserCmdBool::Response &	res
	)

inline

This service callback parse the ros messages and register and internal method for further call using the data from the ros message.

Parameters

req	this is the user argument
res	this is the feedback of the user command

Returns: true in case the service hase been properly executed; false in case of failure

Examples:: simple_dgm.hpp.

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

demos/simple_dgm.hpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ get_sensors_to_map()

◆ initialize_hardware_communication_process()

◆ is_in_safety_mode()

◆ set_motor_controls_from_map()

◆ user_command()

◆ user_command_callback()