.. index:: pair: class; NRPGazeboCommunicationController
.. _doxid-class_n_r_p_gazebo_communication_controller:

class NRPGazeboCommunicationController
======================================

.. toctree::
	:hidden:

Overview
~~~~~~~~

Manages communication with the NRP. :ref:`More...<details-class_n_r_p_gazebo_communication_controller>`


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

	#include <nrp_communication_controller.h>
	
	class NRPGazeboCommunicationController: public :ref:`EngineProtoWrapper<doxid-class_engine_proto_wrapper>` {
	public:
		// typedefs
	
		typedef std::timed_mutex :target:`mutex_t<doxid-class_n_r_p_gazebo_communication_controller_1ab4b58676ef9eec143c24f60f037f0b3f>`;
		typedef std::unique_lock<:ref:`NRPGazeboCommunicationController::mutex_t<doxid-class_n_r_p_gazebo_communication_controller_1ab4b58676ef9eec143c24f60f037f0b3f>`> :target:`lock_t<doxid-class_n_r_p_gazebo_communication_controller_1ab613bfc641b29045c223a88df260583e>`;

		// construction
	
		:target:`NRPGazeboCommunicationController<doxid-class_n_r_p_gazebo_communication_controller_1a94463f7d309060a9c12700a8034aa16a>`(
			const std::string& engineName,
			const std::string& protobufPluginsPath,
			const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& protobufPlugins
		);

		// methods
	
		void :ref:`registerDataPackWithLock<doxid-class_n_r_p_gazebo_communication_controller_1a5146801ced87a2fa051b8d1324635553>`(
			const std::string& datapackName,
			:ref:`ProtoDataPackController<doxid-engine__proto__wrapper_8h_1a8b6f823dadc78cb7cb8e59f426810363>`* interface
		);
	
		void :ref:`registerStepController<doxid-class_n_r_p_gazebo_communication_controller_1a774e03a727d25d02e0ed51b618c6a87e>`(:ref:`GazeboStepController<doxid-class_gazebo_step_controller>`* stepController);
		void :ref:`registerSensorPlugin<doxid-class_n_r_p_gazebo_communication_controller_1a4c06878dbba81c95b2b027cfeca23305>`(gazebo::SensorPlugin* sensorPlugin);
		void :ref:`registerModelPlugin<doxid-class_n_r_p_gazebo_communication_controller_1a2f5ca90e86536680f30b31586397b5a1>`(gazebo::ModelPlugin* modelPlugin);
		virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` :ref:`runLoopStep<doxid-class_n_r_p_gazebo_communication_controller_1a933e26e8fd394ae1cca40850c691d17d>`(:ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeStep);
		virtual void :ref:`initialize<doxid-class_n_r_p_gazebo_communication_controller_1a429d79ebf22d5c76bb572e1951f7acf9>`(const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& data);
		virtual void :ref:`reset<doxid-class_n_r_p_gazebo_communication_controller_1ae3e5f14b3f31a03432212af4c14ba7de>`();
		virtual void :ref:`shutdown<doxid-class_n_r_p_gazebo_communication_controller_1a1426291fdabcdcac37e7a8f0653a14a5>`();
		virtual bool :ref:`initRunFlag<doxid-class_n_r_p_gazebo_communication_controller_1a88a0a5165bdc9f9876ab5c3710249247>`() const;
		virtual bool :ref:`shutdownFlag<doxid-class_n_r_p_gazebo_communication_controller_1a9907af6c468b5732348db61d1cd2fbf4>`() const;
	
		static std::string :ref:`createDataPackName<doxid-class_n_r_p_gazebo_communication_controller_1a1c525aebb3695b1ed6ebcb14a4b12be0>`(
			const std::string& modelName,
			const std::string& objectName
		);
	};

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

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

	public:
		// typedefs
	
		typedef std::timed_mutex :ref:`mutex_t<doxid-class_engine_proto_wrapper_1a55ea500b8cfb47b470497aa4821c35fe>`;
		typedef std::unique_lock<:ref:`EngineProtoWrapper::mutex_t<doxid-class_engine_proto_wrapper_1a55ea500b8cfb47b470497aa4821c35fe>`> :ref:`lock_t<doxid-class_engine_proto_wrapper_1a732902f7d300b2184dc6247c5cc99cad>`;

		// methods
	
		void :ref:`registerDataPack<doxid-class_engine_proto_wrapper_1a7d671316a41d30a5701693471fd9595c>`(
			const std::string& datapackName,
			:ref:`ProtoDataPackController<doxid-engine__proto__wrapper_8h_1a8b6f823dadc78cb7cb8e59f426810363>`* interface
		);
	
		unsigned :ref:`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 :ref:`setDataPacks<doxid-class_engine_proto_wrapper_1abb91dfdd87aa1741339d327062840cd1>`(const EngineGrpc::SetDataPacksRequest& data);
		void :ref:`setDataPack<doxid-class_engine_proto_wrapper_1a4a30f8c711f0e34fc24bb457281571d6>`(const EngineGrpc::DataPackMessage& dataPack);
		std::unique_ptr<gpb::Message> :ref:`unpackFromAny<doxid-class_engine_proto_wrapper_1ab713fce6a9e42a9815604a47fb692744>`(const gpb::Any& data);
	
		virtual void :ref:`getDataPacks<doxid-class_engine_proto_wrapper_1a69d3b8f5afe011d7006d6587b38f1ecc>`(
			const EngineGrpc::GetDataPacksRequest& request,
			EngineGrpc::GetDataPacksReply* reply
		);
	
		bool :ref:`getDataPack<doxid-class_engine_proto_wrapper_1aef74dc34a2084dda686dc03d72a927a9>`(const std::string& name, EngineGrpc::DataPackMessage* dpMsg);
	
		void :ref:`setDataPackMessageData<doxid-class_engine_proto_wrapper_1a1bb98bf8c5b26a27dfdbff0a2e5d2db8>`(
			gpb::Message* data,
			EngineGrpc::DataPackMessage* dpMsg
		);

.. _details-class_n_r_p_gazebo_communication_controller:

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

Manages communication with the NRP.

Implementation of :ref:`EngineProtoWrapper <doxid-class_engine_proto_wrapper>` to manage a Gazebo Engine

Methods
-------

.. index:: pair: function; registerDataPackWithLock
.. _doxid-class_n_r_p_gazebo_communication_controller_1a5146801ced87a2fa051b8d1324635553:

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

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

Registers a datapack controller locking the datapack mutex.



.. 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; registerStepController
.. _doxid-class_n_r_p_gazebo_communication_controller_1a774e03a727d25d02e0ed51b618c6a87e:

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

	void registerStepController(:ref:`GazeboStepController<doxid-class_gazebo_step_controller>`* stepController)

Register a step controller.



.. rubric:: Parameters:

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

	*
		- stepController

		- Pointer to step controller

.. index:: pair: function; registerSensorPlugin
.. _doxid-class_n_r_p_gazebo_communication_controller_1a4c06878dbba81c95b2b027cfeca23305:

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

	void registerSensorPlugin(gazebo::SensorPlugin* sensorPlugin)

Register a sensor plugin.



.. rubric:: Parameters:

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

	*
		- sensorPlugin

		- Pointer to sensor plugin

.. index:: pair: function; registerModelPlugin
.. _doxid-class_n_r_p_gazebo_communication_controller_1a2f5ca90e86536680f30b31586397b5a1:

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

	void registerModelPlugin(gazebo::ModelPlugin* modelPlugin)

Register a model plugin.



.. rubric:: Parameters:

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

	*
		- sensorPlugin

		- Pointer to model plugin

.. index:: pair: function; runLoopStep
.. _doxid-class_n_r_p_gazebo_communication_controller_1a933e26e8fd394ae1cca40850c691d17d:

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

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

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

.. index:: pair: function; initialize
.. _doxid-class_n_r_p_gazebo_communication_controller_1a429d79ebf22d5c76bb572e1951f7acf9:

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

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

Initializes the simulation.



.. rubric:: Parameters:

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

	*
		- data

		- Simulation configuration data

	*
		- datapackLock

		- ???

.. index:: pair: function; reset
.. _doxid-class_n_r_p_gazebo_communication_controller_1ae3e5f14b3f31a03432212af4c14ba7de:

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

	virtual void reset()

Resets the simulation.

.. index:: pair: function; shutdown
.. _doxid-class_n_r_p_gazebo_communication_controller_1a1426291fdabcdcac37e7a8f0653a14a5:

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

	virtual void shutdown()

Shutdowns the simulation.

.. index:: pair: function; initRunFlag
.. _doxid-class_n_r_p_gazebo_communication_controller_1a88a0a5165bdc9f9876ab5c3710249247:

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

	virtual bool initRunFlag() const

Indicates if the simulation was initialized and is running.

.. index:: pair: function; shutdownFlag
.. _doxid-class_n_r_p_gazebo_communication_controller_1a9907af6c468b5732348db61d1cd2fbf4:

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

	virtual bool shutdownFlag() const

Indicates if shutdown was requested by the client.

.. index:: pair: function; createDataPackName
.. _doxid-class_n_r_p_gazebo_communication_controller_1a1c525aebb3695b1ed6ebcb14a4b12be0:

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

	static std::string createDataPackName(
		const std::string& modelName,
		const std::string& objectName
	)

Create datapack name from the given plugin and sensor/joint/link.



.. rubric:: Parameters:

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

	*
		- modelName

		- Name of the parent model of the controlled object

	*
		- objectName

		- Name of the controlled object (sensor, joint, link, ...)



.. rubric:: Returns:

Returns datapack name