.. index:: pair: class; NRPJSONCommunicationController
.. _doxid-class_n_r_p_j_s_o_n_communication_controller:

class NRPJSONCommunicationController
====================================

.. toctree::
	:hidden:

Overview
~~~~~~~~

Manages communication with the NRP. Uses a REST server to send/receive data. Singleton class. :ref:`More...<details-class_n_r_p_j_s_o_n_communication_controller>`


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

	#include <nrp_communication_controller.h>
	
	class NRPJSONCommunicationController: public :ref:`EngineJSONServer<doxid-class_engine_j_s_o_n_server>` {
	public:
		// construction
	
		:ref:`NRPJSONCommunicationController<doxid-class_n_r_p_j_s_o_n_communication_controller_1ad507939391dd8f014958e1d40711e2bf>`(const NRPJSONCommunicationController& other);
		:ref:`NRPJSONCommunicationController<doxid-class_n_r_p_j_s_o_n_communication_controller_1ae07613121608f43f044db225bff2b600>`(NRPJSONCommunicationController&& other);

		// methods
	
		NRPJSONCommunicationController& :ref:`operator =<doxid-class_n_r_p_j_s_o_n_communication_controller_1aec1875e65b1ffb32e474037d3d6d1145>` (const NRPJSONCommunicationController& other);
		NRPJSONCommunicationController&& :ref:`operator =<doxid-class_n_r_p_j_s_o_n_communication_controller_1a5093cbab9eaaba7a1541b94539087afb>` (NRPJSONCommunicationController&& other);
		void :ref:`registerStepController<doxid-class_n_r_p_j_s_o_n_communication_controller_1a9e2cb1afacda96d45c972fb52e83bda8>`(:ref:`GazeboStepController<doxid-class_gazebo_step_controller>`* stepController);
		void :ref:`registerSensorPlugin<doxid-class_n_r_p_j_s_o_n_communication_controller_1a89fa4b70af4e1e5bc96f163e99352b3b>`(gazebo::SensorPlugin* sensorPlugin);
		void :ref:`registerModelPlugin<doxid-class_n_r_p_j_s_o_n_communication_controller_1a937b1d3ec25b418b24dc473885b80ca0>`(gazebo::ModelPlugin* modelPlugin);
		static NRPJSONCommunicationController& :ref:`getInstance<doxid-class_n_r_p_j_s_o_n_communication_controller_1a8d2a189fd615c6faf18bfbdb310647f3>`();
	
		static NRPJSONCommunicationController& :ref:`resetInstance<doxid-class_n_r_p_j_s_o_n_communication_controller_1adc1224c551c0bae66f4405ba8fe389f1>`(
			const std::string& serverURL,
			const std::string& engineName,
			const std::string& registrationURL
		);
	
		static std::string :ref:`createDataPackName<doxid-class_n_r_p_j_s_o_n_communication_controller_1aba1a5b06526fea7c974854d7fccebebf>`(
			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_j_s_o_n_server_1a5df75e9fa8a25592e4e3ad7064362673>`;
		typedef std::unique_lock<:ref:`EngineJSONServer::mutex_t<doxid-class_engine_j_s_o_n_server_1a5df75e9fa8a25592e4e3ad7064362673>`> :ref:`lock_t<doxid-class_engine_j_s_o_n_server_1aa010b9dfa5920648e0605e93213c0c1e>`;

		// methods
	
		:ref:`EngineJSONServer<doxid-class_engine_j_s_o_n_server>`& :ref:`operator =<doxid-class_engine_j_s_o_n_server_1acfacf46dfa94ab1b35047f8ef4ff0d64>` (const :ref:`EngineJSONServer<doxid-class_engine_j_s_o_n_server>`&);
		bool :ref:`isServerRunning<doxid-class_engine_j_s_o_n_server_1a0f65133b9a3a09f6bd2141d135d21e7c>`() const;
		void :ref:`startServerAsync<doxid-class_engine_j_s_o_n_server_1a33acfbda554050d3d47cab00e3d4869e>`();
		void :ref:`startServer<doxid-class_engine_j_s_o_n_server_1a10dbdbcbf4ee934d1b7740c4e3bb11d7>`();
		void :ref:`shutdownServer<doxid-class_engine_j_s_o_n_server_1ad3a67a6b3fb7889725d8474b8631eb10>`();
		uint16_t :ref:`serverPort<doxid-class_engine_j_s_o_n_server_1add529a3d33c10daff532d50790f206e6>`() const;
		std::string :ref:`serverAddress<doxid-class_engine_j_s_o_n_server_1ab98b796faed11c13f43300fc8fdbacb2>`() const;
	
		void :ref:`registerDataPack<doxid-class_engine_j_s_o_n_server_1a20aa263c3e4605edc9b461b270bd6b3b>`(
			const std::string& datapackName,
			:ref:`JsonDataPackController<doxid-class_json_data_pack_controller>`* interface
		);
	
		void :ref:`registerDataPackNoLock<doxid-class_engine_j_s_o_n_server_1a64df4ef44c6a98b8d125cd77bd43bcb6>`(
			const std::string& datapackName,
			:ref:`JsonDataPackController<doxid-class_json_data_pack_controller>`* interface
		);
	
		virtual :ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` :ref:`runLoopStep<doxid-class_engine_j_s_o_n_server_1a0345dec840e4827786442050a6589787>`(:ref:`SimulationTime<doxid-time__utils_8h_1aadff625b29e39dc2d75a7d476d5040c1>` timeStep) = 0;
	
		virtual :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>` :ref:`initialize<doxid-class_engine_j_s_o_n_server_1ac8df612106fa7d2d92663f8fd6cfcfe5>`(
			const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& data,
			:ref:`EngineJSONServer::lock_t<doxid-class_engine_j_s_o_n_server_1aa010b9dfa5920648e0605e93213c0c1e>`& datapackLock
		) = 0;
	
		virtual :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>` :ref:`reset<doxid-class_engine_j_s_o_n_server_1a76b6062e7a83a6b5adefb01c07547de0>`(:ref:`EngineJSONServer::lock_t<doxid-class_engine_j_s_o_n_server_1aa010b9dfa5920648e0605e93213c0c1e>`& datapackLock) = 0;
		virtual :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>` :ref:`shutdown<doxid-class_engine_j_s_o_n_server_1a83f8f54978e715ce341af674e1813f90>`(const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& data) = 0;
		bool :ref:`shutdownFlag<doxid-class_engine_j_s_o_n_server_1ae91f2b2f343cae0bd152ca906820377a>`();

.. _details-class_n_r_p_j_s_o_n_communication_controller:

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

Manages communication with the NRP. Uses a REST server to send/receive data. Singleton class.

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

.. index:: pair: function; NRPJSONCommunicationController
.. _doxid-class_n_r_p_j_s_o_n_communication_controller_1ad507939391dd8f014958e1d40711e2bf:

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

	NRPJSONCommunicationController(const NRPJSONCommunicationController& other)

Delete for singleton.

.. index:: pair: function; NRPJSONCommunicationController
.. _doxid-class_n_r_p_j_s_o_n_communication_controller_1ae07613121608f43f044db225bff2b600:

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

	NRPJSONCommunicationController(NRPJSONCommunicationController&& other)

Delete for singleton.

Methods
-------

.. index:: pair: function; operator=
.. _doxid-class_n_r_p_j_s_o_n_communication_controller_1aec1875e65b1ffb32e474037d3d6d1145:

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

	NRPJSONCommunicationController& operator = (const NRPJSONCommunicationController& other)

Delete for singleton.

.. index:: pair: function; operator=
.. _doxid-class_n_r_p_j_s_o_n_communication_controller_1a5093cbab9eaaba7a1541b94539087afb:

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

	NRPJSONCommunicationController&& operator = (NRPJSONCommunicationController&& other)

Delete for singleton.

.. index:: pair: function; registerStepController
.. _doxid-class_n_r_p_j_s_o_n_communication_controller_1a9e2cb1afacda96d45c972fb52e83bda8:

.. 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_j_s_o_n_communication_controller_1a89fa4b70af4e1e5bc96f163e99352b3b:

.. 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_j_s_o_n_communication_controller_1a937b1d3ec25b418b24dc473885b80ca0:

.. 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; getInstance
.. _doxid-class_n_r_p_j_s_o_n_communication_controller_1a8d2a189fd615c6faf18bfbdb310647f3:

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

	static NRPJSONCommunicationController& getInstance()

Get singleton instance.



.. rubric:: Returns:

Gets instance of :ref:`NRPJSONCommunicationController <doxid-class_n_r_p_j_s_o_n_communication_controller>`

.. index:: pair: function; resetInstance
.. _doxid-class_n_r_p_j_s_o_n_communication_controller_1adc1224c551c0bae66f4405ba8fe389f1:

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

	static NRPJSONCommunicationController& resetInstance(
		const std::string& serverURL,
		const std::string& engineName,
		const std::string& registrationURL
	)

Reset server with the given server URL.



.. rubric:: Parameters:

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

	*
		- serverURL

		- URL used by server

	*
		- engineName

		- Name of this engine

	*
		- registrationURL

		- URL used to register this engine server's URL



.. rubric:: Returns:

Returns reference to server instance

.. index:: pair: function; createDataPackName
.. _doxid-class_n_r_p_j_s_o_n_communication_controller_1aba1a5b06526fea7c974854d7fccebebf:

.. 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 model 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