#include <nrt/Core/Model/Manager.H>

Manager of an entire model of Components.

A Manager should be the top-level Component of any hierarchy of Components. It is primarily responsible for handling the setting of Parameters via the command-line or otherwise.

Users should only need to construct a Manager, add any subComponents to it, and then call start(), which will parse all command line options (via parseCommandLine()), bind them to their relevant Parameters, and call start() on all subComponents (which in turn calls start() on all of their subComponents, etc.).

Beware that the Manager is not thread-safe so make sure only one thread at a time calls init(), start(), etc, typically this would be your main thread.

The Manager resets the nrt::CentralTimer at each start(), such that durations returned by the nrt::CentralTimer are since the last start().

Examples:: tests/test-Component.C, tests/test-Geometry.C, tests/test-ImageReader.C, tests/test-Option.C, tests/test-PointCloud2OpenNI.C, tests/test-Pyramid.C, tests/test-stream.C, and tests/test-UKF.C.

Definition at line 83 of file Manager.H.

Inheritance diagram for nrt::Manager:

Public Member Functions
	Manager (std::string const &instanceID="TheManager")
	Constructor without command-line args. More...

	Manager (int argc, char const *argv[], std::string const &instanceID="TheManager")
	Constructor. More...

void	setCommandLineArgs (int argc, char const *argv[])
	Set the command-line arguments, call this before start() if args were not passed at construction.

virtual	~Manager ()
	Destructor.

std::vector< std::string > const &	remainingArgs () const
	Get the remaining arguments that were not parsed by the command line. More...

void	delayParseCommandLine ()
	Do not parse command-line arguments during preInit() More...

template<>
std::shared_ptr< Component >	getComponent (std::string const &instanceName) const

Component hierarchies
template<class Comp >
std::shared_ptr< Comp >	addComponent (std::string const &instanceName="")
	Pseudo-constructor: construct a top-level Component. More...

template<class Comp >
std::shared_ptr< Comp >	addSubComponent (std::string const &instanceName)=delete
	Use addComponent() on the Manager as opposed to nrt::Component::addSubComponent()

template<class Comp >
void	removeComponent (std::shared_ptr< Comp > &component)
	Remove a top-level Component from the Manager, by shared_ptr. More...

template<class Comp >
void	removeSubComponent (std::shared_ptr< Comp > &component)=delete
	Use removeComponent() on the Manager as opposed to nrt::Component::removeSubComponent()

void	removeComponent (std::string const &instanceName)
	Remove a top-level Component from the Manager, by instance name.

void	removeSubComponent (std::string const &instanceName)=delete
	Use removeComponent() on the Manager as opposed to nrt::Component::removeSubComponent()

template<class Comp = nrt::Component>
std::shared_ptr< Comp >	getComponent (std::string const &instanceName) const
	Get a top-level component by instance name. More...

template<class Comp >
std::shared_ptr< Comp >	getSubComponent (std::string const &instanceName) const =delete
	Use getComponent() on the Manager as opposed to nrt::Component::getSubComponent()

Public Member Functions inherited from nrt::Component
	Component (std::string const &instanceName)
	Constructor. More...

void	prepareForDeletion ()
	Prepare for deletion: uninit and disconnect from our parent. More...

virtual	~Component ()
	Virtual destructor for safe inheritance. More...

template<>
std::shared_ptr< Component >	getSubComponent (std::string const &instanceName) const

template<class Comp >
std::shared_ptr< Comp >	addSubComponent (std::string const &instanceName="")
	Pseudo-constructor: construct and add another component as a subcomponent of this one. More...

template<class Comp >
void	removeSubComponent (std::shared_ptr< Comp > &component)
	Remove a sub-Component from this Component, by shared_ptr. More...

void	removeSubComponent (std::string const &instanceName)
	Remove a sub-Component from this Component, by instance name.

template<class Comp = nrt::Component>
std::shared_ptr< Comp >	getSubComponent (std::string const &instanceName) const
	Get a sub-component by instance name. More...

bool	isTopLevel () const
	Returns true if this component is top-level, i.e., its parent is an nrt::Manager (including nrt::Blackboard)

bool	initialized () const
	Has this component been initialized yet?

bool	started () const
	Is this component started, i.e., it has passed the start() state and not yet entered the stop() state.

bool	running () const
	Is this component running, i.e., has passed start() and been launch()ed and not yet entered the stop() state.

void	wait ()
	Wait until all run() functions decide on their own that they are finished. More...

Component::MetaInfo const &	meta () const
	Get the metainfo of this Component. More...

template<typename T >
std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)
	Set a parameter value. More...

template<typename T >
void	setParamValUnique (std::string const &paramdescriptor, T const &val)
	Set a parameter value, simple version assuming only one parameter match. More...

template<typename T >
std::vector< std::pair < std::string, T > >	getParamVal (std::string const &paramdescriptor) const
	Get parameter(s) value(s) by descriptor. More...

template<typename T >
T	getParamValUnique (std::string const &paramdescriptor) const
	Get a parameter value, simple version assuming only one parameter match. More...

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)
	Set a parameter value, by string. More...

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)
	Set a parameter value by string, simple version assuming only one parameter match. More...

std::vector< std::pair < std::string, std::string > >	getParamString (std::string const &paramdescriptor) const
	Get a parameter value, by string. More...

std::string	getParamStringUnique (std::string const &paramdescriptor) const
	Get a parameter value by string, simple version assuming only one parameter match. More...

std::string	descriptor () const
	Get our full descriptor (including all parents) as [Classname-Instancename]:[...]:[...].

std::string	parentModuleUID () const
	Get the ModuleUID (as string) of this Component's nearest parent Module, or an empty string.

void	prettyPrintTree (std::ostream &os, int indent=0) const
	Produce a nice textual hierarchy of this Component's sub-tree.

std::vector< std::pair < std::string, nrt::ParameterSummary > >	getParamSummary (std::string const &paramdescriptor) const
	Return a list of parameter summaries for a given descriptor. More...

std::vector< std::pair < std::string, nrt::ParameterSummary > >	getParamSummary (bool skipsubmodules=false) const
	Return a list of parameter summaries for all parameters of this Component and its subcomponents. More...

void	setPath (std::string const &path)
	Assign a filesystem path to this component.

std::string	absolutePath (std::string const &path)
	If given path is relative (not starting with /), prepend the Component path to it; otherwise, no-op.

virtual void	notifyAllParamChanged (nrt::ParameterState const state) const
	This method is called by the Blackboard to refresh a ParamChangedListener.

virtual void	getAllParamSummaries (std::vector< nrt::ParameterSummary > &ps) const
	Recursively get all param summaries.

Public Member Functions inherited from nrt::ParameterRegistry
void	addParameter (ParameterBase *const param)
	The parameter class uses this method to register itself on construction with it's owning Component.

void	removeParameter (ParameterBase *const param)
	The parameter class uses this method to un-register itself on destruction with it's owning Component.

Protected Member Functions
void	preInit ()
	Calls parseCommandLine()

void	postInit ()
	Checks for the –help flag.

void	preStart ()
	Resets the nrt::CentralTimer.

void	constructHelpMessage (std::ostream &out) const
	Constructs a help message from all parameters in the model, and outputs it to 'out'.

void	printHelpMessage () const
	Constructs a help message and tries to send it to /usr/bin/less.

Protected Member Functions inherited from nrt::Component
virtual void	postStart ()
	Called after all sub-Components are start()ed.

virtual void	run ()
	Called in its own thread after all Components have been start()ed. More...

virtual void	preStop ()
	Called before all sub-Components are stop()ed.

virtual void	postStop ()
	Called after all sub-Components are stop()ed.

virtual void	preUninit ()
	Called before all sub-Components are uninit()ed.

virtual void	postUninit ()
	Called after all sub-Components are uninit()ed.

virtual void	notifyParamChanged (nrt::ParameterState const state, ParameterBase const *const param) const
	This method is called by a Parameter when it has been changed. Users should never overload this method.

void	populateHelpMessage (std::string const &cname, std::unordered_map< std::string, std::unordered_map< std::string, std::vector< std::pair< std::string, std::string > > > > &helplist) const

Additional Inherited Members
Protected Attributes inherited from nrt::Component
boost::shared_mutex	itsMtx
	Mutex used to protect our internals other than subcomponents and parameters.

std::vector< std::shared_ptr < Component > >	itsSubComponents

boost::shared_mutex	itsSubMtx

Component *const	nrt_component_this

Constructor & Destructor Documentation

nrt::Manager::Manager ( std::string const & instanceID = "TheManager")

Constructor without command-line args.

The command-line args should be passed later using setArgs(), before you init(), otherwise the manager will issue a non-fatal warning.

nrt::Manager::Manager	(	int	argc,
		char const *	argv[],
		std::string const &	instanceID = `"TheManager"`
	)

Constructor.

Creates the Manager, and optionally takes in the command line arguments.

Member Function Documentation

template<class Comp >

std::shared_ptr< Comp > nrt::Manager::addComponent ( std::string const & instanceName = "")

inline

Pseudo-constructor: construct a top-level Component.

A component of type Comp (which must derive from nrt::Component) will be created and added as a sub-component of the manager (making it a so-called top-level component). The child logically "belongs" to the Manager, and will automatically be deleted when the Manager is deleted. In addition to construction, the component will be brought to the same runstate as the Manager.

Examples:: tests/test-Geometry.C, tests/test-PointCloud2OpenNI.C, and tests/test-Pyramid.C.

Definition at line 42 of file ManagerImpl.H.

References NRT_FATAL, and NRT_MODDEBUG.

Referenced by main().

template<class Comp >

void nrt::Manager::removeComponent ( std::shared_ptr< Comp > & component)

Remove a top-level Component from the Manager, by shared_ptr.

Note: Beware that the passed shared_ptr is invalidated in the process. A warning is issued if the use_count is not down to zero after that (i.e., there are additional shared_ptr pointers to this Component floating around, which prevent it from actually being deleted.

FIXME static_assert( ! std::is_base_of<nrt::ModuleBase, Mod>::value, "Use nrt::Blackboard::removeModule() for objects "

Definition at line 122 of file ManagerImpl.H.

References NRT_MODDEBUG, and NRT_WARNING.

template<class Comp >

std::shared_ptr< Comp > nrt::Manager::getComponent ( std::string const & instanceName) const

inline

Get a top-level component by instance name.

This method does a dynamic_pointer_cast to Comp if it is not the default (nrt::Component). Throws if component is not found by instance name, or it is found but not of type Comp (if Comp is specified). Note that once you hold a shared_ptr to a Component, it is guaranteed that the component will not be destroyed until that shared_ptr is released. If the NRT system tries to destroy the component (e.g., someone calls removeSubComponent()), the component will be un-initialized and its parent will be unset, so it will not be fully operational and will be actually deleted when the last shared_ptr to it runs out of scope.

Definition at line 83 of file ManagerImpl.H.

References NRT_FATAL.

std::vector<std::string> const& nrt::Manager::remainingArgs ( ) const

Get the remaining arguments that were not parsed by the command line.

Any command line arguments after a lone '–' will be available in remainingArgs()

void nrt::Manager::delayParseCommandLine ( )

Do not parse command-line arguments during preInit()

By default, the Manager automatically parses the command-line arguments and sets parameters during preInit(). In general, this is the best time to do this. In some applications where setting parameters could trigger Blackboard operations, however, preInit() is too early to start setting parameters. People who "know what they are doing" can use delayParseCommandLine() to prevent the automatic parsing during preInit() and instead do it during postInit(), at which point the Blackboard should be fully operational.

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

include/nrt/Core/Model/Manager.H
include/nrt/Core/Model/details/ManagerImpl.H

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation