Actuator is the base class for all 'actuator'-type devices. More...

#include <Actuator.h>

Inheritance diagram for twirre::Actuator:

Collaboration diagram for twirre::Actuator:

Public Member Functions
	Actuator (const std::string name, const std::string description)
	Create an actuator. More...

	Actuator (const Actuator &)=delete

	Actuator (Actuator &&)=delete

Actuator &	operator= (const Actuator &)=delete

Actuator &	operator= (Actuator &&)=delete

std::vector< std::string >	getAvailableParameters ()
	Get the names of all available parameters. More...

bool	haveParameter (std::string name)
	Check if a parameter exists. More...

bool	haveParameters (std::vector< std::string > names)
	Check if multiple parameters exist. More...

virtual Parameter &	GetParameter (const std::string &name)
	Get a parameter by name. More...

virtual Parameter &	operator[] (const std::string &name)
	this forwards to GetParameter(name) More...

virtual std::map< std::string, Parameter * >	GetParameters (const std::vector< std::string > &names)
	Get multiple parameters by name. More...

void	Actuate ()
	Apply the updated parameters. More...

void	clearActuateLoggerCallback ()

void	setActuateLoggerCallback (std::function< void(Actuator , std::map< std::string, Parameter > &)> cbfn)

Public Member Functions inherited from twirre::Device
	Device (const std::string name, const std::string description)

virtual const std::string &	getName () const

virtual const std::string &	getDescription () const

virtual std::string	ToString (void)

Protected Member Functions
virtual void	ActuateImpl ()=0
	Update this Actuator using the modified parameters. More...

void	registerParameter (Parameter *val)

void	registerParameters (std::vector< Parameter * > parms)

void	logActuation ()

Protected Attributes
std::map< std::string, Parameter * >	_parametersList

owned_mutex	_actuateMutex

std::function< void(Actuator , std::map< std::string, Parameter > &)>	_actuateLoggerCallback

bool	_actuateLoggerSet

Protected Attributes inherited from twirre::Device
const std::string	_name

const std::string	_description

Detailed Description

Actuator is the base class for all 'actuator'-type devices.

Actuator is thread-safe in such a way that multiple threads can interact with it without requiring external synchronisation. The Actuator will never see an inconsistent/mixed state of parameters.

This safety is implemented using an 'owned_mutex', which keeps track of which thread has currently locked it. Upon setting the first parameter, the thread will take 'ownership' of the mutex, or, if the mutex is already owned by a different thread, wait until ownership is released. Once a thread has ownership, it is free to set additional parameters as required. Upon calling the Actuate() function, ownership is released allowing another thread to interact with the actuator.

Essentially, the Actuator will be locked by a specific thread between setting the first parameter and calling the Actuate() function. Because of this, it is recommended to keep the delay between setting parameters and calling Actuate() as short as possible.

Constructor & Destructor Documentation

twirre::Actuator::Actuator	(	const std::string	name,
		const std::string	description
	)

Create an actuator.

Parameters

name	the name this instance will get in TwirreLink
description	a short description of the type of device this actuator represents

Member Function Documentation

void twirre::Actuator::Actuate ( )

Apply the updated parameters.

The Actuator will get notified that one or more parameters have been updated, giving it the opportunity to react on those changes

virtual void twirre::Actuator::ActuateImpl ( )

protectedpure virtual

Update this Actuator using the modified parameters.

This function must be implemented by a derived class. It will be called inside of the Actuate() function.

Implemented in twirre::SerialActuator.

vector< string > twirre::Actuator::getAvailableParameters ( )

Get the names of all available parameters.

Returns: an array with all available parameter names

Parameter & twirre::Actuator::GetParameter ( const std::string & name )

virtual

Get a parameter by name.

Parameters

name	the name of the parameter to get

Returns: a reference to the requested parameter (if name is valid), a reference to ErrorValue otherwise

std::map< std::string, Parameter * > twirre::Actuator::GetParameters ( const std::vector< std::string > & names )

virtual

Get multiple parameters by name.

Parameters

names the names of the parameters to get

Returns: a map of names to parameter-pointers is returned. For each requested name, an entry will be present. If no parameter exists with a given name, that name will be mapped to a pointer to ErrorValue in the result.

bool twirre::Actuator::haveParameter ( std::string name )

Check if a parameter exists.

Parameters

name	the name of the parameter to check

Returns: true if a parameter with that name exists, false otherwise

bool twirre::Actuator::haveParameters ( std::vector< std::string > names )

Check if multiple parameters exist.

Parameters

names the names of the parameters to check

Returns: true if all names exist, false otherwise

Parameter & twirre::Actuator::operator[] ( const std::string & name )

virtual

this forwards to GetParameter(name)

See Also: GetParameter()

The documentation for this class was generated from the following files:

Core/Actuator.h
Core/Actuator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation