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Commit e0a6a7de authored by Raphael's avatar Raphael
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add doxygen for LVL1Controller

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etc/doxygen/images/LVL1ControllerAtomicDataFlow.svg 0 → 100644
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<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<svg xmlns="http://www.w3.org/2000/svg" style="background-color: rgb(255, 255, 255);" xmlns:xlink="http://www.w3.org/1999/xlink" width="602px" height="302px" version="1.1" content="&lt;mxfile userAgent=&quot;Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:51.0) Gecko/20100101 Firefox/51.0&quot; version=&quot;6.1.0.3&quot; editor=&quot;www.draw.io&quot; type=&quot;device&quot;&gt;&lt;diagram name=&quot;Page-1&quot;&gt;7Vttk9o2EP41zLSdOUay/MbHg1zTzFw7mdw1bT8KW4AbYVEhDi6/PpItYQuZCxzG0PbywbFXQi/77LNarXQ9NJpv3nO8mP3KUkJ7Hkg3PfSu53kRiOVTCZ5LQRAHpWDKs7QUwUrwkH0lWgi0dJWlZGlVFIxRkS1sYcLynCTCkmHO2dquNmHU7nWBp8QRPCSYutI/slTMSqkHAKgKfiHZdCZ2S8Y4+TLlbJXrDnsemhT/yuI5No3p+ssZTtm6JkJ3PTTijInybb4ZEap0a/RW/u7nPaXbgXOSi4N+oAqLgYhnM3uSSmXoT8bFjE1ZjuldJR0WEySqCSC/ZmJO5SuUr2STiT+VuO8F+vMvXfQ3EeJZQ41XgklR1fg9Ywtdz52BnpQaVk2g5/OesDkR/FlW4IRikT3ZGGJtCtNtve1PP7JMduGBjTG+yOt7cRBBXz/LFrQNh35otygwnxKhG6mr+Lh2JTf6MRgEHiqfkd3Lkq14Qpxe5Ett7pWogHcf1OANau2gBkE/hAPgR+Uz2EE6eh3SLzcbxGE3QIfawJ4wXWkN3X++hyOWC84oJdwxg+U6m1OcK7zXs0yQhwVOVNFaencb9b2QPREuyOZF0DZGvcDSix/r73XlakPjT2c1L4uM8AWgP8nlAOdTObGj+oOwoT8P2d1hKgjPsSBDxYnlqXSE6Dx0rLNRVZJI8eeyKArM9+lUNVZW2m0pG2iLLwmjZVHbnLaU/qKGBw4Rel5I5cCGE1YQt9J9+M+KmYKbZaGQW1khXmyqMvk2Vf//vkilFZim5DDK1spCB1RJC2FjxYnsAI+LCgqhhSJ9MdFg2AveSQmm2TSXgkSqW/IVDRW9Mhmg3OqCeZamhUFQPCZ0uI06RowyXvRr4o5Gzhrbc1i7jan08KywpInN0t5iT6+Mr/XKpgqbTJbk5GUORP89XoUuryBAlyOW/0asZmIZ42uDWJEX2BEEvCKauTHGp8cT4opJRmlNxSkm8SSR8qUMWb6QWkmYxGTcrPxt3PP9UEQr1AucSAA1RR6eCeUOjDxM826gEXQeZ5j1t4bUg6ixbMwrgrVA4R/sVkohW4hMOb49zP7xUMYfHZwebhGmFMUW5UIXwqgxND3dqw5iB6jHwt9LCwA/XUIXdtwMzY6lA11Aw8KaMj6rV62LN9P9vul6oDvbRQ5av7FcCtSa4GLV1ioxmZAwaVwl0mgwBuDUVWKzsyScedXY191hMJ55FQkchD9ijmULhC9P5yMEjYR8yrAsvBVsniXLtqjGmVz+JKflp1Jkk43s2x3tNZEb6EW2s/QGDmqNi7/fird0+dfhGv/KVi7mWY9GV+53+rX0bez7l4oRoOfy0FGI2rAsDp/20TuTGxjaDspz5u/DBgfVyvxdSz/dICqtHrxzcEMh1AA5bGXKZ9psl271rJvtlWDlIIofmL03JRPRsPMWKikyXErcsnz6WGRIbvyT8bItvW6iTWtoG3gh2IDXhSka+t1RFLmpgRYoig4/Z+ieoqjJK/2/KXoEXhegqJsTuThFUdghRd1UQxsU3Zf7vAqKnuks6N9M0cPx6p6ipuFromjgBvpno6h/QBRxPEW3Wr1GipqLMW8UfQ1eF6Do6RsT1Jj36ff7140WBJVIdzNjPPsqR4qpFhzul/b7H8/2P7E6aY5DD4TxIAwC6O67m7jZTj7exXo0w/lU5S3ricAdeM598H6Bc3eTCe3+2N2MpobBh0QB8EGdZU/UMnDkCuGkQncS7ASmAYmaEuyDMEI4bCnB7oc759yhm2FvPjltxbTdYHiEabKiRQIV5GQtn9uTuE4NHNbNu6zXwYWt+FIGDk0jZ72hCk7S4nXcUA2RdZV0YDffzn3VCLzYyavvq8rP6n57Wb36IwJ09w0=&lt;/diagram&gt;&lt;/mxfile&gt;"><defs/><g transform="translate(0.5,0.5)"><path d="M 432.29 105.81 L 432.29 159.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 432.29 164.88 L 428.79 157.88 L 432.29 159.63 L 435.79 157.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 155.62 106.81 L 155.62 160.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 155.62 165.88 L 152.12 158.88 L 155.62 160.63 L 159.12 158.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 0 23 L 0 0 L 600 0 L 600 23 Z" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 0 23 L 0 300 L 600 300 L 600 23" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(257.5,5.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="85" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; 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font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 17px; white-space: nowrap; overflow-wrap: normal; font-weight: bold; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">RT</div></div></foreignObject><text x="8" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica" font-weight="bold">RT</text></switch></g><rect x="138" y="85" width="70" height="30" fill="#ffffff" stroke="#000000" pointer-events="none"/><g transform="translate(156.5,86.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="32" height="27" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 33px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">State<br /><font style="font-size: 8px">(<font>optional</font>)</font></div></div></foreignObject><text x="16" y="20" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">[Not supported by viewer]</text></switch></g><rect x="10" y="162" width="70" height="30" fill="#ffffff" stroke="#000000" pointer-events="none"/><g transform="translate(20.5,170.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="48" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 49px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Targets *</div></div></foreignObject><text x="24" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Targets *</text></switch></g><rect x="138" y="225" width="70" height="30" fill="#ffffff" stroke="#000000" pointer-events="none"/><g transform="translate(150.5,226.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="45" height="27" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 46px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Values *<br /><font style="font-size: 8px">(<font>optional</font>)</font></div></div></foreignObject><text x="23" y="20" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">[Not supported by viewer]</text></switch></g><path d="M 300 48 L 300 25 L 600 25 L 600 48 Z" fill="#ffe6cc" stroke="#d79b00" stroke-miterlimit="10" pointer-events="none"/><path d="M 300 48 L 300 300 L 600 300 L 600 48" fill="none" stroke="#d79b00" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(428.5,30.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="42" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 43px; white-space: nowrap; overflow-wrap: normal; font-weight: bold; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Non RT<br /></div></div></foreignObject><text x="21" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica" font-weight="bold">Non RT&lt;br&gt;</text></switch></g><rect x="173" y="154" width="250" height="40" fill="#ffffff" stroke="#000000" transform="rotate(270,298,174)" pointer-events="none"/><g transform="translate(266.5,160.5)rotate(270,31.5,13.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="63" height="27" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; 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font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;"><font style="font-size: 30px">...</font></div></div></foreignObject><text x="12" y="23" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">[Not supported by viewer]</text></switch></g><path d="M 580.28 175 L 449.24 175 L 449.24 174.31 L 324.57 174.31" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 319.32 174.31 L 326.32 170.81 L 324.57 174.31 L 326.32 177.81 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(399.5,168.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="98" height="11" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Change Parameters</div></div></foreignObject><text x="49" y="11" fill="#000000" text-anchor="middle" font-size="11px" font-family="Helvetica">Change Parameters</text></switch></g><rect x="465" y="165" width="250" height="20" fill="#e1d5e7" stroke="#9673a6" transform="rotate(270,590,175)" pointer-events="none"/><g transform="translate(556.5,168.5)rotate(270,33,6)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="66" height="12" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; width: 67px; white-space: nowrap; overflow-wrap: normal; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;">Ice Interface</div></div></foreignObject><text x="33" y="12" fill="#000000" text-anchor="middle" font-size="12px" font-family="Helvetica">Ice Interface</text></switch></g><path d="M 278.21 174.31 L 178.9 174.31 L 178.9 177.07 L 86.64 177.07" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 81.39 177.07 L 88.39 173.57 L 86.64 177.07 L 88.39 180.57 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><g transform="translate(124.5,169.5)"><switch><foreignObject style="overflow:visible;" pointer-events="all" width="108" height="11" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; vertical-align: top; white-space: nowrap; text-align: center;"><div xmlns="http://www.w3.org/1999/xhtml" style="display:inline-block;text-align:inherit;text-decoration:inherit;background-color:#ffffff;">Calculate new Targets</div></div></foreignObject><text x="54" y="11" fill="#000000" text-anchor="middle" font-size="11px" font-family="Helvetica">Calculate new Targets</text></switch></g><path d="M 155.62 223.81 L 155.62 190.18" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/><path d="M 155.62 184.93 L 159.12 191.93 L 155.62 190.18 L 152.12 191.93 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/></g></svg>
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source/RobotAPI/libraries/RobotRTControllers/LVL1Controller.h
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......@@ -38,6 +38,79 @@
namespace armarx
{
/**
* @defgroup Library-RobotRTControllers RobotRTControllers
* @ingroup RobotAPI
* A description of the library RobotRTControllers.
*/
/**
* @ingroup Library-RobotRTControllers
* @brief A high level controller writing its results into targes.
*
* This is the abstract base class for all LVL1Controllers.
* It implements basic management routines required by the RobotUnit and some basic ice calls.
* LVL1Controllers are intantiated and managed by RobotUnits.
*
* Each LVL1Controller has to do the following in their constructor:
* \li Request joints in exactly one control mode from the robot unit (the control mode can't be changed later)
* You will receive pointer targets where it can store its results.
* \li Get pointer to the state of required joints / sensors. (you can't request other data at a later point)
* You will receive pointer to the values.
*
* Each controller has two parts:
* \li The RT controll loop
* \li The NonRT ice communication
*
* \section rtcontrollloop The RT controll loop (rtRun)
* Here you have access to the robots current state and write your results into targets.
* \warning This part has to satisfy realtime conditions!
* All realtime able functions of this class have the 'rt' prefix.
*
* You must not:
* \li call any blocking operation
* \li allocate ram on the heap (since this is a blocking operation)
* \li resize any datastructure (e.g. vector::resize) (this sometimes allocates ram on the heap)
* \li insert new datafields into datastructures (e.g. vector::push_back) (this sometimes allocates ram on the heap)
* \li write to any stream (e.g. ARMARX_VERBOSE, std::cout, print, filestreams) (this sometimes blocks/allocates ram on the heap)
* \li make network calls (e.g. through ice) (this blocks/allocates ram on the heap) (using begin_... end_... version of ice calls IS NO SOLUTION)
* \li do any expensive calculations (e.g. calculate IK, run some solver, invert big matrices)
*
* \section nonrtpart The NonRT ice communication
* This part consits of any ice communication.
* Here you could get new controll parameters or targets from other components.
*
* \section rtnrtcomm Communication between RT and NonRT
* All communication between RT and NonRT has to be lockfree.
* So you have to use constructs like atomics or TripleBuffers (See armarx::LVL1ControllerTemplate).
*
* \image html LVL1ControllerGeneralDataFlow.svg "General Dataflow in a LVL1Controller"
*
*
*
*
* \image html LVL1ControllerAtomicDataFlow.svg "Dataflow in a LVL1Controller using atomics for communication between RT and NonRT"
*
*
*
*
* \image html LVL1ControllerTripleBufferDataFlow.svg "Dataflow in a LVL1Controller using a triple buffer for communication between RT and NonRT"
*
* \section expensivework How to do expensive calculations
* You have to execute expensive calculations in a different worker thread.
* This thread could calculate target values at its own speed (e.g. 100 Hz).
*
* While rtRun runs at a higher frequency (e.g. 1000 Hz) and:
* \li reads target values
* \li optionally passes the target values to a PID controller
* \li writes them to the targets
* \li sends the sensor values to the worker thread.
*
* If you do some additional calculation in rtRun, you maybe need to pass config parameters from NonRT to RT using a nonblocking method.
*
* \image html LVL1ControllerWorkerThreadDataFlow.svg "Dataflow in a LVL1Controller using a worker thread"
*
*/
class LVL1Controller:
virtual public LVL1ControllerInterface,
virtual public Component
......@@ -115,11 +188,6 @@ namespace armarx
};
/**
* @defgroup Library-RobotRTControllers RobotRTControllers
* @ingroup RobotAPI
* A description of the library RobotRTControllers.
*
* @class LVL1Controller
* @ingroup Library-RobotRTControllers
* @brief Brief description of class LVL1Controller.
*
......
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