#include <mc_control/ControllerServer.h>

Public Member Functions
	ControllerServer (double dt, double server_dt, const std::vector< std::string > &pub_bind_uri, const std::vector< std::string > &pull_bind_uri)

	ControllerServer (double dt, const ControllerServerConfiguration &config)

	~ControllerServer ()

void	handle_requests (mc_rtc::gui::StateBuilder &gui_builder)

void	handle_requests (mc_rtc::gui::StateBuilder &gui, const char *data)

void	publish (mc_rtc::gui::StateBuilder &gui_builder)

std::pair< const char *, size_t >	data () const

void	set_logger (std::shared_ptr< mc_rtc::Logger > logger) noexcept

void	push_requests (const std::vector< mc_rtc::Logger::GUIEvent > &requests)

void	update_rate (double dt, double server_dt)

Detailed Description

Serves data and allow interaction with the controllers

Uses a PUB socket to send the data stream
Uses a PULL socket to handle requests

Constructor & Destructor Documentation

◆ ControllerServer() [1/2]

mc_control::ControllerServer::ControllerServer	(	double	dt,
		double	server_dt,
		const std::vector< std::string > &	pub_bind_uri,
		const std::vector< std::string > &	pull_bind_uri
	)

Constructor

Parameters

dt	Controller timestep
server_dt	Publication timestep
pub_bind_uri	List of URI the PUB socket should bind to
pull_bind_uri	List of URI the PULL socket should bind to

Check nanomsg documentation for supported protocols

◆ ControllerServer() [2/2]

mc_control::ControllerServer::ControllerServer	(	double	dt,
		const ControllerServerConfiguration &	config
	)

Construct from the provided configuration

Parameters

dt	Controller timestep
config	Server configuration ControllerServerConfiguration for details

◆ ~ControllerServer()

mc_control::ControllerServer::~ControllerServer ( )

Member Function Documentation

◆ data()

std::pair<const char *, size_t> mc_control::ControllerServer::data ( ) const

Get latest published data

◆ handle_requests() [1/2]

void mc_control::ControllerServer::handle_requests	(	mc_rtc::gui::StateBuilder &	gui,
		const char *	data
	)

Handle requests from raw data

◆ handle_requests() [2/2]

void mc_control::ControllerServer::handle_requests ( mc_rtc::gui::StateBuilder & gui_builder )

Handle requests made by the GUI users

◆ publish()

void mc_control::ControllerServer::publish ( mc_rtc::gui::StateBuilder & gui_builder )

Publish the current GUI state

◆ push_requests()

void mc_control::ControllerServer::push_requests ( const std::vector< mc_rtc::Logger::GUIEvent > & requests )

inline

Set requests to handle on the next iteration

◆ set_logger()

void mc_control::ControllerServer::set_logger ( std::shared_ptr< mc_rtc::Logger > logger )

inlinenoexcept

Attach a logger to the server

◆ update_rate()

void mc_control::ControllerServer::update_rate	(	double	dt,
		double	server_dt
	)

Update the rate of the server

The documentation for this struct was generated from the following file:

include/mc_control/ControllerServer.h

Public Member Functions