.. index:: pair: class; EngineGrpcClient
.. _doxid-class_engine_grpc_client:

template class EngineGrpcClient
===============================

.. toctree::
	:hidden:

Overview
~~~~~~~~




.. ref-code-block:: cpp
	:class: doxyrest-overview-code-block

	#include <engine_grpc_client.h>
	
	template <class ENGINE, const char* SCHEMA>
	class EngineGrpcClient: public :ref:`EngineClient<doxid-class_engine_client>` {
	public:
		// construction
	
		:target:`EngineGrpcClient<doxid-class_engine_grpc_client_1aa3d993a92988d3842f9d902476dcc41d>`(
			:ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& config,
			:ref:`ProcessLauncherInterface::unique_ptr<doxid-class_ptr_templates_1a6d24e150817ba36df80ce3b603b7c665>`&& launcher
		);

		// methods
	
		virtual pid_t :ref:`launchEngine<doxid-class_engine_grpc_client_1a21caf0fc4f9ece3da42c512164503aaf>`();
		void :target:`connectToServer<doxid-class_engine_grpc_client_1a25eff98a06df0e6d4f5724b6967c89c9>`();
		void :target:`sendInitializeCommand<doxid-class_engine_grpc_client_1a61af19c58f80b6ab06bd9dd5b37cdf4f>`(const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& data);
		void :target:`sendResetCommand<doxid-class_engine_grpc_client_1a6acd19f1acb4660895a03b6cb6818d44>`();
		void :target:`sendShutdownCommand<doxid-class_engine_grpc_client_1ab96e2108831043efb8325aa9db3a864c>`(const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& data);
		virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` :ref:`runLoopStepCallback<doxid-class_engine_grpc_client_1a7c80b9e9a256530bfc371421958d9828>`(const :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeStep);
		virtual :ref:`datapacks_vector_t<doxid-datapack__interface_8h_1abb58261362b3fb30e93be5a3635a572e>` :ref:`getDataPacksFromEngine<doxid-class_engine_grpc_client_1ad15735550b7a84076281f17dd1efbe2e>`(const :ref:`datapack_identifiers_set_t<doxid-datapack__interface_8h_1addc7c9f48d8b0b5f40ed49d9de29002a>`& datapackIdentifiers);
		virtual void :ref:`sendDataPacksToEngine<doxid-class_engine_grpc_client_1a17904518bc211e9d05d75fea23b6949d>`(const :ref:`datapacks_set_t<doxid-datapack__interface_8h_1ad5890f126b2321788e7da3a42032beff>`& dataPacks);
		virtual const std::vector<std::string> :ref:`engineProcStartParams<doxid-class_engine_grpc_client_1a015ddb2275454f62601b05be4242b6d7>`() const;
		std::string :target:`tryBind<doxid-class_engine_grpc_client_1ae070f46ac3d47f47eeed4847b73af184>`(const std::string& address);
		void :ref:`validateServerAddress<doxid-class_engine_grpc_client_1aac80dd4fd907a3d9526f81c95895619b>`();
		const std::string :ref:`serverAddress<doxid-class_engine_grpc_client_1a724376e7b2ec67a0277d6ccf16fc9ef1>`() const;
	};

	// direct descendants

	class :ref:`GazeboEngineGrpcNRPClient<doxid-class_gazebo_engine_grpc_n_r_p_client>`;
	class :ref:`PythonEngineGRPCNRPClient<doxid-class_python_engine_g_r_p_c_n_r_p_client>`;

Inherited Members
-----------------

.. ref-code-block:: cpp
	:class: doxyrest-overview-inherited-code-block

	public:
		// typedefs
	
		typedef std::shared_ptr<T> :ref:`shared_ptr<doxid-class_ptr_templates_1a71a8266f22feaa7154763ceb94e25457>`;
		typedef std::shared_ptr<const T> :ref:`const_shared_ptr<doxid-class_ptr_templates_1ac36bfa374f3b63c85ba97d8cf953ce3b>`;
		typedef std::unique_ptr<T> :ref:`unique_ptr<doxid-class_ptr_templates_1a6d24e150817ba36df80ce3b603b7c665>`;
		typedef std::unique_ptr<const T> :ref:`const_unique_ptr<doxid-class_ptr_templates_1aef0eb44f9c386dbf0de54d0f5afac667>`;
		typedef ENGINE :ref:`engine_t<doxid-class_engine_client_1ae642237dab2cde85069f302ed91a6f73>`;

		// classes
	
		template <const char* ENGINE_TYPE>
		class :ref:`EngineLauncher<doxid-class_engine_client_1_1_engine_launcher>`;

		// methods
	
		virtual const std::string :ref:`engineName<doxid-class_engine_client_interface_1abb12cc28100d5fb2baddbad92d0293f6>`() const = 0;
		virtual const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& :ref:`engineConfig<doxid-class_engine_client_interface_1a176fcd0c5de87a149574999c53461ac2>`() const = 0;
		virtual :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& :ref:`engineConfig<doxid-class_engine_client_interface_1a450994aebcb9dda0252d08d14fbde89a>`() = 0;
		virtual const std::vector<std::string> :ref:`engineProcStartParams<doxid-class_engine_client_interface_1a6747137f2b551040adca807e6df38a59>`() const = 0;
		virtual pid_t :ref:`launchEngine<doxid-class_engine_client_interface_1a42dd02dc80abcc1f48dccf9da0ce2f0c>`();
		virtual void :ref:`initialize<doxid-class_engine_client_interface_1ac600fd036f83cc1aa0ae8fa79b176b44>`() = 0;
		virtual void :ref:`reset<doxid-class_engine_client_interface_1a65d86ba09fd72e32b0399ca290c38632>`() = 0;
		virtual void :ref:`shutdown<doxid-class_engine_client_interface_1a0a15d1d539bc8134f8ed62668c284883>`() = 0;
		virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` :ref:`getEngineTimestep<doxid-class_engine_client_interface_1a292b03422ca28976dc3d70f90e11d4e4>`() const = 0;
		virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` :ref:`getEngineTime<doxid-class_engine_client_interface_1ab3080a4a253a676d9be0205a3abe9224>`() const = 0;
		virtual const std::string :ref:`engineSchema<doxid-class_engine_client_interface_1a93fc42d5d932c15f856e3db395dac5d5>`() const = 0;
		virtual void :ref:`runLoopStepAsync<doxid-class_engine_client_interface_1aabe6d06f4b2272422b782aef2ba7df4b>`(:ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeStep) = 0;
		virtual void :ref:`runLoopStepAsyncGet<doxid-class_engine_client_interface_1af7df79c71a0b87597b1638b07384c4e9>`(:ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeOut) = 0;
		virtual void :ref:`sendDataPacksToEngine<doxid-class_engine_client_interface_1af27e2651c84893b47966ec72715e287b>`(const :ref:`datapacks_set_t<doxid-datapack__interface_8h_1ad5890f126b2321788e7da3a42032beff>`& dataPacks) = 0;
		virtual :ref:`datapacks_vector_t<doxid-datapack__interface_8h_1abb58261362b3fb30e93be5a3635a572e>` :ref:`getDataPacksFromEngine<doxid-class_engine_client_interface_1a866fdbecf9d82b1315561c985d0cddf5>`(const :ref:`datapack_identifiers_set_t<doxid-datapack__interface_8h_1addc7c9f48d8b0b5f40ed49d9de29002a>`& datapackIdentifiers) = 0;
		virtual const std::string :ref:`engineName<doxid-class_engine_client_1a04f80dd3fbb46b0056d825addb2231d7>`() const;
		virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` :ref:`getEngineTimestep<doxid-class_engine_client_1a1089097a855a6ab0b4b27605529e1231>`() const;
		virtual const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& :ref:`engineConfig<doxid-class_engine_client_1a5495185601ad8529d112df7591e18b69>`() const;
		virtual :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& :ref:`engineConfig<doxid-class_engine_client_1a645831aa5aae4233085c3739c0669992>`();
		virtual const std::string :ref:`engineSchema<doxid-class_engine_client_1a356309d9f16c2d0c38002f7978400370>`() const;
		virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` :ref:`getEngineTime<doxid-class_engine_client_1a9b05083f880d664d4a4eaaba5e461584>`() const;
		virtual void :ref:`runLoopStepAsync<doxid-class_engine_client_1a4b95a41aa73bbc8367d7acf0f47c2756>`(:ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeStep);
		virtual void :ref:`runLoopStepAsyncGet<doxid-class_engine_client_1ae94c9afd2b99f20dff28c3138e3eb5b1>`(:ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeOut);

.. _details-class_engine_grpc_client:

Detailed Documentation
~~~~~~~~~~~~~~~~~~~~~~



Methods
-------

.. index:: pair: function; launchEngine
.. _doxid-class_engine_grpc_client_1a21caf0fc4f9ece3da42c512164503aaf:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	virtual pid_t launchEngine()

Launch the engine.



.. rubric:: Returns:

Returns engine process ID on success, throws on failure

.. index:: pair: function; runLoopStepCallback
.. _doxid-class_engine_grpc_client_1a7c80b9e9a256530bfc371421958d9828:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` runLoopStepCallback(const :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeStep)

Executes a single loop step.

This function is going to be called by runLoopStep using std::async. It will be executed by a worker thread, which allows for runLoopStepFunction from multiple engines to run simultaneously.



.. rubric:: Parameters:

.. list-table::
	:widths: 20 80

	*
		- timeStep

		- A time step by which the simulation should be advanced



.. rubric:: Returns:

Engine time after loop step execution

.. index:: pair: function; getDataPacksFromEngine
.. _doxid-class_engine_grpc_client_1ad15735550b7a84076281f17dd1efbe2e:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	virtual :ref:`datapacks_vector_t<doxid-datapack__interface_8h_1abb58261362b3fb30e93be5a3635a572e>` getDataPacksFromEngine(const :ref:`datapack_identifiers_set_t<doxid-datapack__interface_8h_1addc7c9f48d8b0b5f40ed49d9de29002a>`& datapackIdentifiers)

Gets requested datapacks from engine.



.. rubric:: Parameters:

.. list-table::
	:widths: 20 80

	*
		- datapackNames

		- All requested datapack ids

	*
		- Throws

		- on error



.. rubric:: Returns:

Returns all requested datapacks

.. index:: pair: function; sendDataPacksToEngine
.. _doxid-class_engine_grpc_client_1a17904518bc211e9d05d75fea23b6949d:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	virtual void sendDataPacksToEngine(const :ref:`datapacks_set_t<doxid-datapack__interface_8h_1ad5890f126b2321788e7da3a42032beff>`& dataPacks)

Sends datapacks to engine.



.. rubric:: Parameters:

.. list-table::
	:widths: 20 80

	*
		- datapacksArray

		- Array of datapacks that will be send to the engine

	*
		- Throws

		- on error



.. rubric:: Returns:

Returns SUCCESS if all datapacks could be handles, ERROR otherwise

.. index:: pair: function; engineProcStartParams
.. _doxid-class_engine_grpc_client_1a015ddb2275454f62601b05be4242b6d7:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	virtual const std::vector<std::string> engineProcStartParams() const

Get all Engine Process Startup parameters.

.. index:: pair: function; validateServerAddress
.. _doxid-class_engine_grpc_client_1aac80dd4fd907a3d9526f81c95895619b:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	void validateServerAddress()

Validates if server address is already in use.

.. index:: pair: function; serverAddress
.. _doxid-class_engine_grpc_client_1a724376e7b2ec67a0277d6ccf16fc9ef1:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	const std::string serverAddress() const

Returns the address used by the gRPC server.