Maintains a registry of network-connected modules and returns Group objects to the user. More...

#include <lookup.hpp>

Classes
class	EntryList

Public Member Functions
	Lookup ()
	Creates a Lookup object which can create Module and Group references. Typically, only one Lookup object should exist at a time. More...

	~Lookup () noexcept
	Destructor frees all resources created by Lookup object, and stops the background query thread. More...

std::shared_ptr< Group >	getGroupFromNames (const std::vector< std::string > &families, const std::vector< std::string > &names, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from modules with the given names and families. More...

std::shared_ptr< Group >	getGroupFromMacs (const std::vector< MacAddress > &addresses, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from modules with the given mac addresses. More...

std::shared_ptr< Group >	getGroupFromFamily (const std::string &family, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from all known modules with the given family. More...

std::shared_ptr< Group >	getConnectedGroupFromName (const std::string &family, const std::string &name, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from all modules known to connect to a module with the given name and family. More...

std::shared_ptr< Group >	getConnectedGroupFromMac (const MacAddress &address, int32_t timeout_ms=DEFAULT_TIMEOUT)
	Get a group from all modules known to connect to a module with the given mac address. More...

float	getInitialGroupFeedbackFrequencyHz ()
	Gets the default feedback frequency value for groups created from this lookup. More...

void	setInitialGroupFeedbackFrequencyHz (float frequency)
	Sets the default feedback frequency value for groups created from this lookup. More...

int32_t	getInitialGroupCommandLifetimeMs ()
	Gets the default command lifetime value for groups created from this lookup. More...

void	setInitialGroupCommandLifetimeMs (int32_t ms)
	Sets the default command lifetime value for groups created from this lookup. More...

double	getLookupFrequencyHz () const
	Gets the rate [Hz] at which "discovery" packets are broadcast. More...

bool	setLookupFrequencyHz (double frequency)
	Sets the lookup rate [Hz]. More...

std::shared_ptr< EntryList >	getEntryList ()

Detailed Description

Maintains a registry of network-connected modules and returns Group objects to the user.

Only one Lookup object is needed per application.

Author: Matthew Tesch < matt @ hebirobotics.com >

Since: 18 Feb 2016

Constructor & Destructor Documentation

◆ Lookup()

hebi::Lookup::Lookup ( )

Creates a Lookup object which can create Module and Group references. Typically, only one Lookup object should exist at a time.

Note that this call invokes a background thread to query the network for modules at regular intervals.

◆ ~Lookup()

hebi::Lookup::~Lookup ( )

noexcept

Destructor frees all resources created by Lookup object, and stops the background query thread.

Member Function Documentation

◆ getGroupFromNames()

std::shared_ptr< Group > hebi::Lookup::getGroupFromNames	(	const std::vector< std::string > &	families,
		const std::vector< std::string > &	names,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from modules with the given names and families.

If one of the input vectors is of length one, then that element is assumed to pair with each item in the other input vector.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

families	A list of families of desired group modules, as viewable in the HEBI GUI. If of length one, this family is paried with each given name.
names	A list of names of desired group modules, as viewable in the HEBI GUI. If of length one, this name is paired with each given family
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

◆ getGroupFromMacs()

std::shared_ptr< Group > hebi::Lookup::getGroupFromMacs	(	const std::vector< MacAddress > &	addresses,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from modules with the given mac addresses.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

addresses	List of physical mac addresses for desired group modules.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

◆ getGroupFromFamily()

std::shared_ptr< Group > hebi::Lookup::getGroupFromFamily	(	const std::string &	family,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from all known modules with the given family.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

family	The family of each of the desired group modules.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

◆ getConnectedGroupFromName()

std::shared_ptr< Group > hebi::Lookup::getConnectedGroupFromName	(	const std::string &	family,
		const std::string &	name,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from all modules known to connect to a module with the given name and family.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

family	The given family of the module, as viewable in the HEBI GUI, to form the group from.
name	The given name of the module, as viewable in the HEBI GUI, to form the group from.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

◆ getConnectedGroupFromMac()

std::shared_ptr< Group > hebi::Lookup::getConnectedGroupFromMac	(	const MacAddress &	address,
		int32_t	timeout_ms = `DEFAULT_TIMEOUT`
	)

Get a group from all modules known to connect to a module with the given mac address.

Blocking call which returns a reference to a Group object with the given parameters. Times out after timeout_msec milliseconds.

Parameters

address	Physical mac address of the module to form the group from.
timeout_ms	Timeout in milliseconds. A value of -1 blocks until a group is found, and a value of 0 returns immediately if no group with that address is currently known by the Lookup class.

Returns: A shared_ptr with no reference if no group found in allotted time, or reference to a newly allocated group object corresponding to the given parameters otherwise.

◆ getInitialGroupFeedbackFrequencyHz()

float hebi::Lookup::getInitialGroupFeedbackFrequencyHz ( )

Gets the default feedback frequency value for groups created from this lookup.

Defaults to 100 Hz.

See Group documentation for detailed usage, and docs.hebi.us for more information on feedback requests.

◆ setInitialGroupFeedbackFrequencyHz()

void hebi::Lookup::setInitialGroupFeedbackFrequencyHz ( float frequency )

Sets the default feedback frequency value for groups created from this lookup.

Parameters

frequency The frequency, in Hz, that newly-created groups will request feedback at.

◆ getInitialGroupCommandLifetimeMs()

int32_t hebi::Lookup::getInitialGroupCommandLifetimeMs ( )

Gets the default command lifetime value for groups created from this lookup.

Defaults to 250 ms.

See Group documentation for detailed usage, and docs.hebi.us for more information on Command Lifetime.

◆ setInitialGroupCommandLifetimeMs()

void hebi::Lookup::setInitialGroupCommandLifetimeMs ( int32_t ms )

Sets the default command lifetime value for groups created from this lookup.

Parameters

ms	The number of milliseconds that newly-created groups will use as their command lifetime when sending out commands.

◆ getLookupFrequencyHz()

double hebi::Lookup::getLookupFrequencyHz ( ) const

Gets the rate [Hz] at which "discovery" packets are broadcast.

Defaults to 5 Hz.

◆ setLookupFrequencyHz()

bool hebi::Lookup::setLookupFrequencyHz ( double frequency )

Sets the lookup rate [Hz].

Parameters

frequency The rate at which "discovery" packets get broadcast on the network to search for modules.

Returns: true on success, false on failure (e.g., invalid frequency)

◆ getEntryList()

std::shared_ptr< Lookup::EntryList > hebi::Lookup::getEntryList ( )

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

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Lookup()

◆ ~Lookup()

Member Function Documentation

◆ getGroupFromNames()

◆ getGroupFromMacs()

◆ getGroupFromFamily()

◆ getConnectedGroupFromName()

◆ getConnectedGroupFromMac()

◆ getInitialGroupFeedbackFrequencyHz()

◆ setInitialGroupFeedbackFrequencyHz()

◆ getInitialGroupCommandLifetimeMs()

◆ setInitialGroupCommandLifetimeMs()

◆ getLookupFrequencyHz()

◆ setLookupFrequencyHz()

◆ getEntryList()