.. index:: pair: class; NRPGRPCCommunicationController
.. _doxid-class_n_r_p_g_r_p_c_communication_controller:

class NRPGRPCCommunicationController
====================================

.. toctree::
	:hidden:

Overview
~~~~~~~~

Manages communication with the NRP. Uses a GRPC server to send/receive data. :ref:`More...<details-class_n_r_p_g_r_p_c_communication_controller>`


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

	#include <nrp_communication_controller.h>
	
	class NRPGRPCCommunicationController: public :ref:`EngineGrpcServer<doxid-class_engine_grpc_server>` {
	public:
		// construction
	
		:ref:`NRPGRPCCommunicationController<doxid-class_n_r_p_g_r_p_c_communication_controller_1af56cec130eebc15c4df7de19692ed83e>`(const NRPGRPCCommunicationController& other);
		:ref:`NRPGRPCCommunicationController<doxid-class_n_r_p_g_r_p_c_communication_controller_1ab082ae76aa328f1db0b39d00d40ed06d>`(NRPGRPCCommunicationController&& other);

		// methods
	
		NRPGRPCCommunicationController& :ref:`operator =<doxid-class_n_r_p_g_r_p_c_communication_controller_1a186305e6d2da291d1e614d9e89b52a8b>` (const NRPGRPCCommunicationController& other);
		NRPGRPCCommunicationController&& :ref:`operator =<doxid-class_n_r_p_g_r_p_c_communication_controller_1a0ae7bbcd10f47ad2ceab8d0216e8b3ef>` (NRPGRPCCommunicationController&& other);
		void :ref:`registerStepController<doxid-class_n_r_p_g_r_p_c_communication_controller_1a300d82dd0ddeb82496bb5a67b1699c1c>`(:ref:`GazeboStepController<doxid-class_gazebo_step_controller>`* stepController);
		void :ref:`registerSensorPlugin<doxid-class_n_r_p_g_r_p_c_communication_controller_1a85bed72e2215a3b367e3e20a29eca4ee>`(gazebo::SensorPlugin* sensorPlugin);
		void :ref:`registerModelPlugin<doxid-class_n_r_p_g_r_p_c_communication_controller_1aa16e108009049ef0a58817914e49140f>`(gazebo::ModelPlugin* modelPlugin);
		static NRPGRPCCommunicationController& :ref:`getInstance<doxid-class_n_r_p_g_r_p_c_communication_controller_1a1ad1614a63a4aa343fd8cb6ac43b71fb>`();
	
		static NRPGRPCCommunicationController& :ref:`resetInstance<doxid-class_n_r_p_g_r_p_c_communication_controller_1aae1942b91ccda1505421e972bc3d39d7>`(
			const std::string& serverURL,
			const std::string& engineName,
			const std::string& protobufPluginsPath,
			const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& protobufPlugins
		);
	
		static std::string :ref:`createDataPackName<doxid-class_n_r_p_g_r_p_c_communication_controller_1a47be20dbecfd8fd0828ffd61d9444ed5>`(
			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_grpc_server_1ab40542dacc855a02ffcc1ef23157ec90>`;
		typedef std::unique_lock<:ref:`EngineGrpcServer::mutex_t<doxid-class_engine_grpc_server_1ab40542dacc855a02ffcc1ef23157ec90>`> :ref:`lock_t<doxid-class_engine_grpc_server_1a07a6378e03bd4eacbb3f5255c225744e>`;

		// methods
	
		void :ref:`startServer<doxid-class_engine_grpc_server_1a578b6d98acd6e1b102a131a6b09ce1bd>`();
		void :ref:`startServerAsync<doxid-class_engine_grpc_server_1a873debfc6573e9b5d343bf9fff970d0b>`();
		void :ref:`shutdownServer<doxid-class_engine_grpc_server_1ae5bef34e951ed424c5ad52d10babfcc0>`();
		bool :ref:`isServerRunning<doxid-class_engine_grpc_server_1a3016dbda087eaaef054472de914093e1>`() const;
		const std::string :ref:`serverAddress<doxid-class_engine_grpc_server_1acd608554e1b2f520c75b7d77652e1c58>`() const;
	
		void :ref:`registerDataPack<doxid-class_engine_grpc_server_1a50502d2f65705c5d8bdeb3de6f29d8fc>`(
			const std::string& datapackName,
			:ref:`ProtoDataPackController<doxid-engine__grpc__server_8h_1a8b6f823dadc78cb7cb8e59f426810363>`* interface
		);
	
		void :ref:`registerDataPackNoLock<doxid-class_engine_grpc_server_1ae1966279b174aad6b985f25890ed5f1e>`(
			const std::string& datapackName,
			:ref:`ProtoDataPackController<doxid-engine__grpc__server_8h_1a8b6f823dadc78cb7cb8e59f426810363>`* interface
		);
	
		unsigned :ref:`getNumRegisteredDataPacks<doxid-class_engine_grpc_server_1a0fe86763e3a6e67c64829a207f68f7c4>`();
		const std::string& :ref:`getEngineName<doxid-class_engine_grpc_server_1ae6ba3c50128215f71618e63069e8f329>`();

.. _details-class_n_r_p_g_r_p_c_communication_controller:

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

Manages communication with the NRP. Uses a GRPC server to send/receive data.

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

.. index:: pair: function; NRPGRPCCommunicationController
.. _doxid-class_n_r_p_g_r_p_c_communication_controller_1af56cec130eebc15c4df7de19692ed83e:

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

	NRPGRPCCommunicationController(const NRPGRPCCommunicationController& other)

Delete for singleton.

.. index:: pair: function; NRPGRPCCommunicationController
.. _doxid-class_n_r_p_g_r_p_c_communication_controller_1ab082ae76aa328f1db0b39d00d40ed06d:

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

	NRPGRPCCommunicationController(NRPGRPCCommunicationController&& other)

Delete for singleton.

Methods
-------

.. index:: pair: function; operator=
.. _doxid-class_n_r_p_g_r_p_c_communication_controller_1a186305e6d2da291d1e614d9e89b52a8b:

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

	NRPGRPCCommunicationController& operator = (const NRPGRPCCommunicationController& other)

Delete for singleton.

.. index:: pair: function; operator=
.. _doxid-class_n_r_p_g_r_p_c_communication_controller_1a0ae7bbcd10f47ad2ceab8d0216e8b3ef:

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

	NRPGRPCCommunicationController&& operator = (NRPGRPCCommunicationController&& other)

Delete for singleton.

.. index:: pair: function; registerStepController
.. _doxid-class_n_r_p_g_r_p_c_communication_controller_1a300d82dd0ddeb82496bb5a67b1699c1c:

.. 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_g_r_p_c_communication_controller_1a85bed72e2215a3b367e3e20a29eca4ee:

.. 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_g_r_p_c_communication_controller_1aa16e108009049ef0a58817914e49140f:

.. 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_g_r_p_c_communication_controller_1a1ad1614a63a4aa343fd8cb6ac43b71fb:

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

	static NRPGRPCCommunicationController& getInstance()

Get singleton instance.



.. rubric:: Returns:

Gets instance of :ref:`NRPGRPCCommunicationController <doxid-class_n_r_p_g_r_p_c_communication_controller>`

.. index:: pair: function; resetInstance
.. _doxid-class_n_r_p_g_r_p_c_communication_controller_1aae1942b91ccda1505421e972bc3d39d7:

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

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

Reset server with the given server URL.



.. rubric:: Parameters:

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

	*
		- serverURL

		- URL used by server

	*
		- engineName

		- Name of this engine



.. rubric:: Returns:

Returns reference to server instance

.. index:: pair: function; createDataPackName
.. _doxid-class_n_r_p_g_r_p_c_communication_controller_1a47be20dbecfd8fd0828ffd61d9444ed5:

.. 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