.. index:: pair: class; EngineJSONNRPClient
.. _doxid-class_engine_j_s_o_n_n_r_p_client:

template class EngineJSONNRPClient
==================================

.. toctree::
	:hidden:

Overview
~~~~~~~~

NRP - Gazebo Communicator on the NRP side. Converts :ref:`DataPackInterface <doxid-class_data_pack_interface>` classes from/to JSON objects. :ref:`More...<details-class_engine_j_s_o_n_n_r_p_client>`


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

	#include <engine_json_nrp_client.h>
	
	template <class ENGINE, const char* SCHEMA>
	class EngineJSONNRPClient: public :ref:`EngineClient<doxid-class_engine_client>` {
	public:
		// construction
	
		:ref:`EngineJSONNRPClient<doxid-class_engine_j_s_o_n_n_r_p_client_1aad4f4671aebfc4e464bc2e67c07f4ff4>`(
			:ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& config,
			:ref:`ProcessLauncherInterface::unique_ptr<doxid-class_ptr_templates_1a6d24e150817ba36df80ce3b603b7c665>`&& launcher
		);
	
		:ref:`EngineJSONNRPClient<doxid-class_engine_j_s_o_n_n_r_p_client_1a793895ec1eb4e4202917d045150429f1>`(
			const std::string& serverAddress,
			: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_j_s_o_n_n_r_p_client_1a3c4dc2c99e6e1c488cd31a99a9cec44e>`();
		virtual void :ref:`sendDataPacksToEngine<doxid-class_engine_j_s_o_n_n_r_p_client_1abdd0cff14bf392654fc56651e29a5553>`(const :ref:`datapacks_set_t<doxid-datapack__interface_8h_1ad5890f126b2321788e7da3a42032beff>`& dataPacks);
		virtual const std::vector<std::string> :ref:`engineProcStartParams<doxid-class_engine_j_s_o_n_n_r_p_client_1a81048fdcb2719ef3e74e67ba42142ca4>`() const;
		virtual :ref:`datapacks_vector_t<doxid-datapack__interface_8h_1abb58261362b3fb30e93be5a3635a572e>` :ref:`getDataPacksFromEngine<doxid-class_engine_j_s_o_n_n_r_p_client_1a22cec43a25513e7850d17178c76edd46>`(const :ref:`datapack_identifiers_set_t<doxid-datapack__interface_8h_1addc7c9f48d8b0b5f40ed49d9de29002a>`& datapackIdentifiers);
	};

	// direct descendants

	template <class ENGINE, const char* SCHEMA>
	class :ref:`PythonEngineJSONNRPClientBase<doxid-class_python_engine_j_s_o_n_n_r_p_client_base>`;

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_j_s_o_n_n_r_p_client:

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

NRP - Gazebo Communicator on the NRP side. Converts :ref:`DataPackInterface <doxid-class_data_pack_interface>` classes from/to JSON objects.



.. rubric:: Parameters:

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

	*
		- ENGINE_INTERFACE

		- Class derived from GeneralInterface. Currently either PhysicsInterface or BrainInterface

Construction
------------

.. index:: pair: function; EngineJSONNRPClient
.. _doxid-class_engine_j_s_o_n_n_r_p_client_1aad4f4671aebfc4e464bc2e67c07f4ff4:

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

	EngineJSONNRPClient(
		:ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& config,
		:ref:`ProcessLauncherInterface::unique_ptr<doxid-class_ptr_templates_1a6d24e150817ba36df80ce3b603b7c665>`&& launcher
	)

Constructor.



.. rubric:: Parameters:

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

	*
		- config

		- Engine Config

	*
		- launcher

		- Process launcher

.. index:: pair: function; EngineJSONNRPClient
.. _doxid-class_engine_j_s_o_n_n_r_p_client_1a793895ec1eb4e4202917d045150429f1:

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

	EngineJSONNRPClient(
		const std::string& serverAddress,
		:ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& config,
		:ref:`ProcessLauncherInterface::unique_ptr<doxid-class_ptr_templates_1a6d24e150817ba36df80ce3b603b7c665>`&& launcher
	)

Constructor.



.. rubric:: Parameters:

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

	*
		- serverAddress

		- Server Address to send requests to

	*
		- config

		- Engine Config

	*
		- launcher

		- Process launcher

Methods
-------

.. index:: pair: function; launchEngine
.. _doxid-class_engine_j_s_o_n_n_r_p_client_1a3c4dc2c99e6e1c488cd31a99a9cec44e:

.. 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; sendDataPacksToEngine
.. _doxid-class_engine_j_s_o_n_n_r_p_client_1abdd0cff14bf392654fc56651e29a5553:

.. 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_j_s_o_n_n_r_p_client_1a81048fdcb2719ef3e74e67ba42142ca4:

.. 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; getDataPacksFromEngine
.. _doxid-class_engine_j_s_o_n_n_r_p_client_1a22cec43a25513e7850d17178c76edd46:

.. 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