YARP
Yet Another Robot Platform
FrameTransformServer.h
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1 /*
2  * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3  * SPDX-License-Identifier: LGPL-2.1-or-later
4  */
5 
6 #ifndef YARP_DEV_FRAMETRANSFORMSERVER_H
7 #define YARP_DEV_FRAMETRANSFORMSERVER_H
8 
9 
10 #include <yarp/os/BufferedPort.h>
11 #include <yarp/os/Network.h>
12 #include <yarp/os/PeriodicThread.h>
13 #include <yarp/os/Semaphore.h>
14 #include <yarp/os/Time.h>
15 
16 #include <yarp/sig/Vector.h>
17 
23 #include <yarp/dev/PolyDriver.h>
24 
26 #include <yarp/os/PeriodicThread.h>
27 #include <mutex>
30 
31 #include <mutex>
32 
33 #define DEFAULT_THREAD_PERIOD 20 //ms
34 const int MAX_PORTS = 5;
35 
64  public yarp::os::PortReader,
66 {
67 protected:
68 
70  std::string m_local_name;
71  double m_period;
72  std::mutex m_rpc_mutex;
73 
74  //new stuff
76 
77 public:
80 
81 public:
82  // DeviceDriver methods
83  bool open(yarp::os::Searchable& config) override;
84  bool close() override;
85  bool read(yarp::os::ConnectionReader& connection) override;
86 
87  //PeriodicThread
88  bool threadInit() override;
89  void threadRelease() override;
90  void run() override;
91 };
92 
93 #endif // YARP_DEV_FRAMETRANSFORMSERVER_H
define control board standard interfaces
const int MAX_PORTS
contains the definition of a Vector type
A server to manage FrameTransforms for a robot (see FrameTransform: start all the required devices ne...
bool close() override
Close the DeviceDriver.
bool open(yarp::os::Searchable &config) override
Open the DeviceDriver.
void threadRelease() override
Release method.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
yarp::os::Port m_rpc_InterfaceToUser
yarp::robotinterface::Robot m_robot
bool threadInit() override
Initialization method.
void run() override
Loop function.
Interface implemented by all device drivers.
Definition: DeviceDriver.h:30
An interface for reading from a network connection.
An abstraction for a periodic thread.
Interface implemented by all objects that can read themselves from the network, such as Bottle object...
Definition: PortReader.h:24
A mini-server for network communication.
Definition: Port.h:46
A base class for nested structures that can be searched.
Definition: Searchable.h:63