Aria Class Reference

#include <ariaInternal.h>

List of all members.

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Detailed Description

This class performs global initialization and deinitialization.

Public Types
enum	SigHandleMethod { SIGHANDLE_SINGLE, SIGHANDLE_THREAD, SIGHANDLE_NONE }
Static Public Member Functions
static void	addExitCallback (ArFunctor *functor, int position=50)
	Adds a functor to by called before program exit by Aria::exit().
static void	addInitCallBack (ArFunctor *cb, ArListPos::Pos position)
	Adds a callback to call when Aria is initialized using init().
static void	addLogOptionsCB (ArFunctor *functor, int position=50)
	Adds a callback for when we log options.
static void	addParseArgsCB (ArRetFunctor< bool > *functor, int position=50)
	Adds a callback for when we parse arguments.
static void	addRobot (ArRobot *robot)
	Add a robot to the global list of robots.
static void	addUninitCallBack (ArFunctor *cb, ArListPos::Pos position)
	Adds a callback to call when Aria is uninititialized using uninit().
static void	callExitCallbacks (void)
	Internal, calls the exit callbacks.
static void	delRobot (ArRobot *robot)
	Remove a robot from the global list of robots.
static bool	deviceConnectionAddCreator (const char *deviceConnectionType, ArRetFunctor3< ArDeviceConnection *, const char *, const char *, const char * > *creator)
	Adds a type of deviceConnection for Aria to be able to create.
static ArDeviceConnection *	deviceConnectionCreate (const char *deviceConnectionType, const char *port, const char *defaultInfo, const char *prefix="Aria::deviceConnectionCreate")
	Creates a deviceConnection of the given type.
static const char *	deviceConnectionGetTypes (void)
	Gets a list of the possible deviceConnection types.
static void	exit (int exitCode=0)
	Shutdown all Aria processes/threads, call exit callbacks, and exit the program.
static void	exitOld (int exitCode=0)
	Force an exit of all Aria processes/threads (the old way).
static ArRobot *	findRobot (char *name)
	Finds a robot in the global list of robots, by name.
static ArConfig *	getConfig (void)
	Gets the ArConfig for this program.
static const char *	getDirectory (void)
	Gets the directory that ARIA resides in.
static ArStringInfoGroup *	getInfoGroup (void)
	Gets the ArStringInfoGroup for this program.
static ArJoyHandler *	getJoyHandler (void)
	Get a pointer to the joystick handler if one has been set with setJoyHandler().
static ArKeyHandler *	getKeyHandler (void)
	Gets a pointer to the global key handler, if one has been set with setKeyHandler().
static int	getMaxNumLasers (void)
	Gets the maximum number of lasers to use.
static ArRobotJoyHandler *	getRobotJoyHandler (void)
	Gets the robot joystick handler if one has been set.
static std::list< ArRobot * > *	getRobotList ()
	Get a copy of the global robot list.
static bool	getRunning (void)
	Sees if Aria is still running (mostly for the thread in main).
static void	init (SigHandleMethod method=SIGHANDLE_THREAD, bool initSockets=true, bool sigHandleExitNotShutdown=true)
	Initialize Aria global data struture and perform OS-specific initialization, including adding OS signal handlers on Linux, initializing sockets library on Windows, etc.
static bool	laserAddCreator (const char *laserType, ArRetFunctor2< ArLaser *, int, const char * > *creator)
	Adds a type of laser for Aria to be able to create.
static ArLaser *	laserCreate (const char *laserType, int laserNumber, const char *prefix="Aria::laserCreate")
	Creates a laser of the given type.
static const char *	laserGetTypes (void)
	Gets a list of the possible laser types.
static void	logOptions (void)
	Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB()).
static bool	parseArgs (void)
	Parses the arguments for the program (calls all the callbacks added with addParseArgsCB()).
static void	remExitCallback (ArFunctor *functor)
	Removes a functor to by called before program exit by Aria::exit().
static void	setDirectory (const char *directory)
	Sets the directory that ARIA resides in, to override default.
static void	setExitCallbacksLogLevel (ArLog::LogLevel level)
	Sets the log level for the exit callbacks.
static void	setJoyHandler (ArJoyHandler *joyHandler)
	Sets the joystick handler, so that other classes can find it using getJoyHandler().
static void	setKeyHandler (ArKeyHandler *keyHandler)
	Sets the key handler, so that other classes can find it using getKeyHandler().
static void	setMaxNumLasers (int maxNumLasers)
	Sets the maximum number of lasers to use.
static void	setParseArgLogLevel (ArLog::LogLevel level)
	Sets the log level for the parsing function.
static void	setRobotJoyHandler (ArRobotJoyHandler *robotJoyHandler)
	Sets the robot joystick handler, so that other classes can find it.
static void	shutdown ()
	Shutdown all Aria processes/threads.
static void	signalHandlerCB (int sig)
	Internal, the callback for the signal handling.
static void	uninit ()
	Performs OS-specific deinitialization, used by shutdown() and exit().
Static Protected Attributes
static ArConfig	ourConfig
static std::map< std::string, ArRetFunctor3< ArDeviceConnection *, const char *, const char *, const char * > *, ArStrCaseCmpOp >	ourDeviceConnectionCreatorMap
static std::string	ourDeviceConnectionTypes
static std::string	ourDirectory = ""
static std::multimap< int, ArFunctor * >	ourExitCallbacks
static ArLog::LogLevel	ourExitCallbacksLogLevel = ArLog::Verbose
static ArMutex	ourExitCallbacksMutex
static bool	ourExiting = false
static ArStringInfoGroup	ourInfoGroup
static std::list< ArFunctor * >	ourInitCBs
static bool	ourInited = false
static ArJoyHandler *	ourJoyHandler = NULL
static ArKeyHandler *	ourKeyHandler = NULL
static std::map< std::string, ArRetFunctor2< ArLaser *, int, const char * > *, ArStrCaseCmpOp >	ourLaserCreatorMap
static std::string	ourLaserTypes
static std::multimap< int, ArFunctor * >	ourLogOptionsCBs
static int	ourMaxNumLasers = 9
static std::multimap< int, ArRetFunctor< bool > * >	ourParseArgCBs
static ArLog::LogLevel	ourParseArgsLogLevel = ArLog::Verbose
static ArRobotJoyHandler *	ourRobotJoyHandler = NULL
static std::list< ArRobot * >	ourRobots
static bool	ourRunning = false
static bool	ourShuttingDown = false
static ArMutex	ourShuttingDownMutex
static bool	ourSigHandleExitNotShutdown = true
static ArGlobalFunctor1< int >	ourSignalHandlerCB
static std::list< ArFunctor * >	ourUninitCBs

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Member Enumeration Documentation

enum Aria::SigHandleMethod

Enumeration values: SIGHANDLE_SINGLE  Setup signal handlers in a global, non-thread way. SIGHANDLE_THREAD  Setup a dedicated signal handling thread. SIGHANDLE_NONE  Do no signal handling.

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Member Function Documentation

void Aria::addExitCallback (  ArFunctor *  functor, int  position = 50 )  [static]

Adds a functor to by called before program exit by Aria::exit(). Note, an exit callback may be called at any time; it should not block or wait on any locked mutexes or similar. Examples: gpsRobotTaskExample.cpp.

void Aria::addInitCallBack (  ArFunctor *  cb, ArListPos::Pos  position )  [static]

Adds a callback to call when Aria is initialized using init(). This will add a callback to the list of callbacks to call when Aria has been initialized. It can be called before anything else.

void Aria::addUninitCallBack (  ArFunctor *  cb, ArListPos::Pos  position )  [static]

Adds a callback to call when Aria is uninititialized using uninit(). This will add a callback to the list of callbacks to call right before Aria is un-initialized. It can be called before anything else. This facilitates code that in operating system signal handlers simply calls Aria::uninit() and packages that are based on Aria are unitited as well. It simplifies the entire uninit process.

bool Aria::deviceConnectionAddCreator (  const char *  deviceConnectionType, ArRetFunctor3< ArDeviceConnection *, const char *, const char *, const char * > *  creator )  [static]

Adds a type of deviceConnection for Aria to be able to create. This adds a functor which can create a deviceConnection of a given type. Parameters: deviceConnectionType  The deviceConnection type that the creator will make (these are always checked case insensitively). If there is already a creator for this type, then the old one is replaced and the new one is used. creator  A functor which takes a const char * (port name), a const char * (defaultInfo, for example default tcp port), a const char * (logPrefix) and returns a new deviceConnection of the deviceConnectionType if it can create the desired connection. If the connection failes then it should return NULL.

ArDeviceConnection * Aria::deviceConnectionCreate (  const char *  deviceConnectionType, const char *  port, const char *  defaultInfo, const char *  logPrefix = "Aria::deviceConnectionCreate" )  [static]

Creates a deviceConnection of the given type. Creates a device connection of a given type, connecting to a given port, with the given defaultInfo, logging messages with the given prefix. This is mostly for internal use by ArLaserConnector Parameters: deviceConnectionType  The type of device connection to create port  The port to connect to (for serial, an example is COM1 or /dev/ttyS0, for tcp an example is p3dx:8101) defaultInfo  Default info to use, the only use for this right now is for a default port for a tcp connection (so that if it doesn't have hostname:port format but only hostname then it will use this port) logPrefix  The prefix to use when logging

const char * Aria::deviceConnectionGetTypes (  void   )  [static]

Gets a list of the possible deviceConnection types. Gets a string that is the types of device connections that can be created separated by | characters. Mostly for internal use by ArLaserConnector.

void Aria::exit (  int  exitCode = 0  )  [static]

Shutdown all Aria processes/threads, call exit callbacks, and exit the program. This will call the list of Aria exit callbacks (added by addExitCallback()) and then exit with the given exit code. Note that this could be called from anywhere, mutexes may be locked when called-- the exit callbacks MUST exit and cannot wait for a lock. See also: addExitCallback() Examples: actsColorFollowingExample.cpp, demo.cpp, dpptuExample.cpp, gotoActionExample.cpp, moduleExample.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, and wander.cpp.

void Aria::exitOld (  int  exitCode = 0  )  [static]

Force an exit of all Aria processes/threads (the old way). This method is roughly obsolete, it simply forces all the threads to die immediately and then exits... The new method exit() is preferred. This calls cancel() on all AtThread's and ArASyncTask's. It forces each thread to exit and should only be used in the case of a thread hanging or getting stuck in an infinite loop. This works fine in Linux. In Windows it is not recommended at all that this function be called. Windows can not handle cleanly killing off a thread. See the help in the VC++ compiler on the WIN32 function TerminateThread. The biggest problem is that the state of DLL's can be destroyed. Deprecated:

ArRobot * Aria::findRobot (  char *  name  )  [static]

Finds a robot in the global list of robots, by name. Parameters: name  the name of the robot you want to find Returns: NULL if there is no robot of that name, otherwise the robot with that name

ArConfig * Aria::getConfig (  void   )  [static]

Gets the ArConfig for this program. This gets the global config aria uses. Examples: configExample.cpp.

const char * Aria::getDirectory (  void   )  [static]

Gets the directory that ARIA resides in. This gets the directory that ARIA is located in, this is so ARIA can find param files and the like. Returns: the directory ARIA is located in See also: setDirectory

ArStringInfoGroup * Aria::getInfoGroup (  void   )  [static]

Gets the ArStringInfoGroup for this program. This gets the global string group aria uses.

int Aria::getMaxNumLasers (  void   )  [static]

Gets the maximum number of lasers to use. Gets the maximum number of lasers to check for and use

bool Aria::getRunning (  void   )  [static]

Sees if Aria is still running (mostly for the thread in main). returns true if ARIA is initialized (Aria::init() has been called) and has not been shut down by a call to Aria::shutdown() or Aria::exit() and an operating system signal has not occured (e.g. external KILL signal) Examples: gotoActionExample.cpp, netServerExample.cpp, socketServerExample.cpp, and soundsQueueExample.cpp.

void Aria::init (  SigHandleMethod  method = SIGHANDLE_THREAD, bool  initSockets = true, bool  sigHandleExitNotShutdown = true )  [static]

Initialize Aria global data struture and perform OS-specific initialization, including adding OS signal handlers on Linux, initializing sockets library on Windows, etc. This must be called first before any other Aria functions. It initializes the thread layer and the signal handling method. For Windows it iniatializes the socket layer as well. This also sets the directory Aria is located in using ARIA environmental variable (or Aria registry key on Windows). For more about Aria's directory see getDirectory() and setDirectory(). For Linux the default signal handling method is to intercept OS signals in a dedicated "signal handling thread", which cleanly closes down the program, causes all the instances of ArRobot to stop their run loop and disconnect from their robot. The program will exit on the following signals: SIGHUP, SIGINT, SIGQUIT, and SIGTERM. For Windows, there is no signal handling. This method also adds the file /etc/Aria.args and the environment variable ARIAARGS as locations for ArArgumentParser to obtain default argument values from. Parameters: method  the method in which to handle signals. Defaulted to SIGHANDLE_SINGLE, or the method indicated by the ARIA_SIGHANDLE_METHOD environment variable (NONE, SINGLE or THREAD), if it exists. initSockets  specify whether or not to initialize the socket layer. This is only meaningfull for Windows. Defaulted to true. sigHandleExitNotShutdown  if this is true and a signal happens Aria will use exit() to quit instead of shutdown(), false will still use shutdown which is the old behavior. See also: ArSignalHandler ArSocket Examples: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, configExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gpsExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, joydriveActionExample.cpp, lineFinderExample.cpp, moduleExample.cpp, netServerExample.cpp, robotConnectionCallbacks.cpp, robotSyncTaskExample.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, socketClientExample.cpp, socketServerExample.cpp, sonyPTZDemo.cpp, soundsQueueExample.cpp, teleopActionsExample.cpp, threadExample.cpp, triangleDriveToActionExample.cpp, vcc4CameraExample.cpp, and wander.cpp.

bool Aria::laserAddCreator (  const char *  laserType, ArRetFunctor2< ArLaser *, int, const char * > *  creator )  [static]

Adds a type of laser for Aria to be able to create. This adds a functor which can create a laser of a given type. Parameters: laserType  The laser type that the creator will make (these are always checked case insensitively). If there is already a creator for this type, then the old one is replaced and the new one is used. creator  A functor which takes an int (laser number) and a const char * (logPrefix) and returns a new laser of the laserType

ArLaser * Aria::laserCreate (  const char *  laserType, int  laserNumber, const char *  logPrefix = "Aria::laserCreate" )  [static]

Creates a laser of the given type. Creates a laser of a given type, with the given laserNumber, and uses the logPrefix for logging what happens. This is mostly for internal use by ArLaserConnector. Parameters: laserType  The type of laser to create laserNumber  The laser number to use for the created laser logPrefix  The prefix to use when logging

const char * Aria::laserGetTypes (  void   )  [static]

Gets a list of the possible laser types. Gets a string that is the types of lasers that can be created separated by | characters. Mostly for internal use by ArLaserConnector.

void Aria::logOptions (  void   )  [static]

Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB()). See also: addLogOptionsCB() Examples: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, configExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gpsExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, lineFinderExample.cpp, robotConnectionCallbacks.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, teleopActionsExample.cpp, and wander.cpp.

bool Aria::parseArgs (  void   )  [static]

Parses the arguments for the program (calls all the callbacks added with addParseArgsCB()). See also: addParseArgsCB() Examples: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, configExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gpsExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, lineFinderExample.cpp, robotConnectionCallbacks.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, teleopActionsExample.cpp, and wander.cpp.

void Aria::remExitCallback (  ArFunctor *  functor  )  [static]

Removes a functor to by called before program exit by Aria::exit(). Note, an exit callback may be called at any time; it should not * block or wait on any locked mutexes or similar. Also note that this will not actually happen if it is called while aria is exiting (ie it is walking through the list).

void Aria::setDirectory (  const char *  directory  )  [static]

Sets the directory that ARIA resides in, to override default. This sets the directory that ARIA is located in, so ARIA can find param files and the like. This can also be controlled by the environment variable ARIA, which this is set to (if it exists) when Aria::init is done. So for setDirectory to be effective, it must be done after the Aria::init. Parameters: directory  the directory Aria is located in See also: getDirectory

void Aria::setMaxNumLasers (  int  maxNumLasers  )  [static]

Sets the maximum number of lasers to use. Sets the maximum number of lasers to check for and use, if you are going to set this you should do it after the Aria::init before you start making laser connectors or robots or robot params.

void Aria::shutdown (   )  [static]

Shutdown all Aria processes/threads. Use this function to clean up or uninitialize Aria, in particular, to stop background threads. This calls stop() on all ArThread's and ArASyncTask's. It will block until all ArThread's and ArASyncTask's exit. It is expected that all the tasks will obey the ArThread::myRunning variable and exit when it is false. (Note, this only stop Aria's background threads, it does not exit the program. Use exit() to do some cleanup and exit the program.) See also: Aria::exit() Examples: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, configExample.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gripperExample.cpp, gyroExample.cpp, joydriveActionExample.cpp, lineFinderExample.cpp, moduleExample.cpp, robotConnectionCallbacks.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, sonyPTZDemo.cpp, soundsQueueExample.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, and vcc4CameraExample.cpp.

void Aria::uninit (   )  [static]

Performs OS-specific deinitialization, used by shutdown() and exit(). This must be called last, after all other Aria functions. For both Linux and Windows, it closes all the open ArModules. For Windows it deinitializes the socket layer as well. Examples: socketClientExample.cpp, and socketServerExample.cpp.

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

• ariaInternal.h
• Aria.cpp

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