mc_control::ControllerServerConfiguration Struct Reference

#include <mc_control/ControllerServerConfiguration.h>

Public Types
using	TCPConfiguration = details::SocketConfiguration< 4242, 4343 >
using	WebSocketConfiguration = details::SocketConfiguration< 8080, 8081 >

Public Member Functions
void	load (const mc_rtc::Configuration &config)
std::vector< std::string >	pub_uris () const noexcept
std::vector< std::string >	pull_uris () const noexcept
void	print_serving_information () const noexcept

Static Public Member Functions
static ControllerServerConfiguration	fromConfiguration (const mc_rtc::Configuration &config)

Public Attributes
double	timestep = 0.05
std::optional< std::string >	ipc_socket = mc_rtc::temp_directory_path("mc_rtc")
std::optional< TCPConfiguration >	tcp_config = TCPConfiguration{}
std::optional< WebSocketConfiguration >	websocket_config = std::nullopt

Detailed Description

Configuration for mc_control::ControllerServer

Member Typedef Documentation

TCPConfiguration

using mc_control::ControllerServerConfiguration::TCPConfiguration = details::SocketConfiguration<4242, 4343>

WebSocketConfiguration

using mc_control::ControllerServerConfiguration::WebSocketConfiguration = details::SocketConfiguration<8080, 8081>

Member Function Documentation

fromConfiguration()

static ControllerServerConfiguration mc_control::ControllerServerConfiguration::fromConfiguration ( const mc_rtc::Configuration &  config )

static

load()

void mc_control::ControllerServerConfiguration::load

(

const mc_rtc::Configuration &

config

)

Loads from a configuration object

print_serving_information()

void mc_control::ControllerServerConfiguration::print_serving_information ( ) const

noexcept

Prints a message about the server configuration

pub_uris()

std::vector<std::string> mc_control::ControllerServerConfiguration::pub_uris ( ) const

noexcept

Returns the URI(s) the PUB socket should bind to

pull_uris()

std::vector<std::string> mc_control::ControllerServerConfiguration::pull_uris ( ) const

noexcept

Returns the URI(s) the PULL socket should bind to

Member Data Documentation

ipc_socket

std::optional<std::string> mc_control::ControllerServerConfiguration::ipc_socket = mc_rtc::temp_directory_path("mc_rtc")

IPC socket file

Actual ipc sockets are created as socket + "_pub.ipc" and socket + "_rep.ipc"

If nullopt, IPC is disabled

tcp_config

std::optional<TCPConfiguration> mc_control::ControllerServerConfiguration::tcp_config = TCPConfiguration{}

Configuration for the TCP socket

TCP is disabled if this is nullopt

timestep

double mc_control::ControllerServerConfiguration::timestep = 0.05

Controller server publication timestep

If it is null or negative, the timestep will be the same as the controller

If it happens to be lower than the controller's timestep then it will also be the same

websocket_config

std::optional<WebSocketConfiguration> mc_control::ControllerServerConfiguration::websocket_config = std::nullopt

Configuration for the WebSocket socket

WebSocket is disabled if this is nullopt (default)

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The documentation for this struct was generated from the following file:

• include/mc_control/ControllerServerConfiguration.h