.. index:: pair: class; EngineProtoWrapper
.. _doxid-class_engine_proto_wrapper:

class EngineProtoWrapper
========================

.. toctree::
	:hidden:

Overview
~~~~~~~~

Abstract class defining an interface to interact with an Engine with data exchange via protobuf messages. :ref:`More...<details-class_engine_proto_wrapper>`


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

	#include <engine_proto_wrapper.h>
	
	class EngineProtoWrapper {
	public:
		// typedefs
	
		typedef std::timed_mutex :target:`mutex_t<doxid-class_engine_proto_wrapper_1a55ea500b8cfb47b470497aa4821c35fe>`;
		typedef std::unique_lock<:ref:`EngineProtoWrapper::mutex_t<doxid-class_engine_proto_wrapper_1a55ea500b8cfb47b470497aa4821c35fe>`> :target:`lock_t<doxid-class_engine_proto_wrapper_1a732902f7d300b2184dc6247c5cc99cad>`;

		// construction
	
		:ref:`EngineProtoWrapper<doxid-class_engine_proto_wrapper_1a8d7c6dd47ed71e6bba79196749880ddd>`();
	
		:ref:`EngineProtoWrapper<doxid-class_engine_proto_wrapper_1ab843dfd55d525feeffd131a6b0852dd4>`(
			const std::string& engineName,
			const std::string& protobufPluginsPath,
			const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& protobufPlugins
		);

		// methods
	
		void :ref:`registerDataPack<doxid-class_engine_proto_wrapper_1a7d671316a41d30a5701693471fd9595c>`(
			const std::string& datapackName,
			:ref:`ProtoDataPackController<doxid-engine__proto__wrapper_8h_1a8b6f823dadc78cb7cb8e59f426810363>`* interface
		);
	
		unsigned :target:`getNumRegisteredDataPacks<doxid-class_engine_proto_wrapper_1a0e84378baf1ce0ee5afcf5404bb98c73>`();
		std::vector<std::string> :ref:`getNamesRegisteredDataPacks<doxid-class_engine_proto_wrapper_1a63c4a17bcfb49d88520ead26bfb9dc0b>`();
		const std::string& :ref:`getEngineName<doxid-class_engine_proto_wrapper_1a27d1df2f8ad1ba3ee16c3b84d38fa665>`();
		virtual bool :ref:`initRunFlag<doxid-class_engine_proto_wrapper_1a6f3beb5e368a842f4a069590d9f97883>`() const = 0;
		virtual bool :ref:`shutdownFlag<doxid-class_engine_proto_wrapper_1a300b44054e781d0ed070dcd52779b880>`() const = 0;
		virtual void :ref:`initialize<doxid-class_engine_proto_wrapper_1ac3406c1e14e4551199c6a87548c69bd5>`(const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& data) = 0;
		virtual void :ref:`reset<doxid-class_engine_proto_wrapper_1a0556c09a3a8142a5f6317c6bf210dc2c>`() = 0;
		virtual void :ref:`shutdown<doxid-class_engine_proto_wrapper_1aef9b74102a953358cef4514b4c2d97ee>`() = 0;
		virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` :ref:`runLoopStep<doxid-class_engine_proto_wrapper_1ad07184924bdfe021967bd51464214648>`(const :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeStep) = 0;
		void :target:`setDataPacks<doxid-class_engine_proto_wrapper_1abb91dfdd87aa1741339d327062840cd1>`(const EngineGrpc::SetDataPacksRequest& data);
		void :target:`setDataPack<doxid-class_engine_proto_wrapper_1a4a30f8c711f0e34fc24bb457281571d6>`(const EngineGrpc::DataPackMessage& dataPack);
		std::unique_ptr<gpb::Message> :target:`unpackFromAny<doxid-class_engine_proto_wrapper_1ab713fce6a9e42a9815604a47fb692744>`(const gpb::Any& data);
	
		virtual void :target:`getDataPacks<doxid-class_engine_proto_wrapper_1a69d3b8f5afe011d7006d6587b38f1ecc>`(
			const EngineGrpc::GetDataPacksRequest& request,
			EngineGrpc::GetDataPacksReply* reply
		);
	
		bool :target:`getDataPack<doxid-class_engine_proto_wrapper_1aef74dc34a2084dda686dc03d72a927a9>`(const std::string& name, EngineGrpc::DataPackMessage* dpMsg);
	
		void :target:`setDataPackMessageData<doxid-class_engine_proto_wrapper_1a1bb98bf8c5b26a27dfdbff0a2e5d2db8>`(
			gpb::Message* data,
			EngineGrpc::DataPackMessage* dpMsg
		);
	};

	// direct descendants

	class :ref:`NRPGazeboCommunicationController<doxid-class_n_r_p_gazebo_communication_controller>`;
.. _details-class_engine_proto_wrapper:

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

Abstract class defining an interface to interact with an Engine with data exchange via protobuf messages.

Derived classes are responsible for implementing simulation initialization, shutdown and run step methods.

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

.. index:: pair: function; EngineProtoWrapper
.. _doxid-class_engine_proto_wrapper_1a8d7c6dd47ed71e6bba79196749880ddd:

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

	EngineProtoWrapper()

No dummy wrappers, only those with name.

.. index:: pair: function; EngineProtoWrapper
.. _doxid-class_engine_proto_wrapper_1ab843dfd55d525feeffd131a6b0852dd4:

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

	EngineProtoWrapper(
		const std::string& engineName,
		const std::string& protobufPluginsPath,
		const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& protobufPlugins
	)

Constructor.



.. rubric:: Parameters:

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

	*
		- engineName

		- Name of the simulation engine

Methods
-------

.. index:: pair: function; registerDataPack
.. _doxid-class_engine_proto_wrapper_1a7d671316a41d30a5701693471fd9595c:

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

	void registerDataPack(
		const std::string& datapackName,
		:ref:`ProtoDataPackController<doxid-engine__proto__wrapper_8h_1a8b6f823dadc78cb7cb8e59f426810363>`* interface
	)

Registers a datapack controller with the given name in the engine.



.. rubric:: Parameters:

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

	*
		- datapackName

		- Name of the datapack to be registered

	*
		- datapackController

		- Pointer to the datapack controller object that's supposed to be registered in the engine

.. index:: pair: function; getNamesRegisteredDataPacks
.. _doxid-class_engine_proto_wrapper_1a63c4a17bcfb49d88520ead26bfb9dc0b:

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

	std::vector<std::string> getNamesRegisteredDataPacks()

Get the names of registered datapacks.

.. index:: pair: function; getEngineName
.. _doxid-class_engine_proto_wrapper_1a27d1df2f8ad1ba3ee16c3b84d38fa665:

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

	const std::string& getEngineName()

Get the Engine name.

.. index:: pair: function; initRunFlag
.. _doxid-class_engine_proto_wrapper_1a6f3beb5e368a842f4a069590d9f97883:

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

	virtual bool initRunFlag() const = 0

Indicates if the simulation was initialized and is running.

.. index:: pair: function; shutdownFlag
.. _doxid-class_engine_proto_wrapper_1a300b44054e781d0ed070dcd52779b880:

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

	virtual bool shutdownFlag() const = 0

Indicates if shutdown was requested by the client.

.. index:: pair: function; initialize
.. _doxid-class_engine_proto_wrapper_1ac3406c1e14e4551199c6a87548c69bd5:

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

	virtual void initialize(const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& data) = 0

Initializes the simulation.



.. rubric:: Parameters:

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

	*
		- data

		- Simulation configuration data

	*
		- datapackLock

		- ???

.. index:: pair: function; reset
.. _doxid-class_engine_proto_wrapper_1a0556c09a3a8142a5f6317c6bf210dc2c:

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

	virtual void reset() = 0

Resets the simulation.

.. index:: pair: function; shutdown
.. _doxid-class_engine_proto_wrapper_1aef9b74102a953358cef4514b4c2d97ee:

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

	virtual void shutdown() = 0

Shutdowns the simulation.

.. index:: pair: function; runLoopStep
.. _doxid-class_engine_proto_wrapper_1ad07184924bdfe021967bd51464214648:

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

	virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` runLoopStep(const :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeStep) = 0

Runs a single simulation loop step.



.. rubric:: Parameters:

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

	*
		- timeStep

		- Time step by which the simulation should be advanced



.. rubric:: Returns:

Engine time after running the step