YARP
Yet Another Robot Platform

fakeAnalogSensor: Fake analog sensor device for testing purpose and reference for new analog devices More...

#include <fakeAnalogSensor/fakeAnalogSensor.h>

+ Inheritance diagram for FakeAnalogSensor:

Public Member Functions

 FakeAnalogSensor (double period=0.02)
 
 ~FakeAnalogSensor ()
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
int getChannels () override
 Get the number of channels of the sensor. More...
 
int getState (int ch) override
 Check the state value of a given channel. More...
 
int read (yarp::sig::Vector &out) override
 Read a vector from the sensor. More...
 
int calibrateSensor () override
 Calibrates the whole sensor. More...
 
int calibrateSensor (const yarp::sig::Vector &v) override
 Calibrates the whole sensor, using an vector of calibration values. More...
 
int calibrateChannel (int ch) override
 Calibrates one single channel. More...
 
int calibrateChannel (int ch, double v) override
 Calibrates one single channel, using a calibration value. More...
 
void run () override
 Loop function. More...
 
bool threadInit () override
 Initialization method. More...
 
void threadRelease () override
 Release method. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 ~DeviceDriver () override=default
 Destructor. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor. More...
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor. More...
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread. More...
 
void step ()
 Call this to "step" the thread rather than starting it. More...
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...
 
void askToStop ()
 Stop the thread. More...
 
bool isRunning () const
 Returns true when the thread is started, false otherwise. More...
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise. More...
 
bool setPeriod (double period)
 Set the (new) period of the thread. More...
 
double getPeriod () const
 Return the current period of the thread. More...
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed. More...
 
void resume ()
 Resume the thread if previously suspended. More...
 
void resetStat ()
 Reset thread statistics. More...
 
double getEstimatedPeriod () const
 Return estimated period since last reset. More...
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset. More...
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset. More...
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset. More...
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset. More...
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that. More...
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that. More...
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that. More...
 
- Public Member Functions inherited from yarp::dev::IAnalogSensor
virtual ~IAnalogSensor ()
 

Additional Inherited Members

- Public Types inherited from yarp::dev::IAnalogSensor
enum  {
  AS_OK =0 ,
  AS_ERROR =1 ,
  AS_OVF =2 ,
  AS_TIMEOUT =3
}
 
- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void beforeStart ()
 Called just before a new thread starts. More...
 
virtual void afterStart (bool success)
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...
 

Detailed Description

fakeAnalogSensor: Fake analog sensor device for testing purpose and reference for new analog devices

Parameters accepted in the config argument of the open method: | Parameter name | Type | Units | Default Value | Required | Description | Notes | |:-----------—:|:---—:|:--—:|:----------—:|:-----—:|:--------—:|:--—:| |

Definition at line 28 of file fakeAnalogSensor.h.

Constructor & Destructor Documentation

◆ FakeAnalogSensor()

FakeAnalogSensor::FakeAnalogSensor ( double  period = 0.02)

Definition at line 19 of file fakeAnalogSensor.cpp.

◆ ~FakeAnalogSensor()

FakeAnalogSensor::~FakeAnalogSensor ( )

Definition at line 28 of file fakeAnalogSensor.cpp.

Member Function Documentation

◆ calibrateChannel() [1/2]

int FakeAnalogSensor::calibrateChannel ( int  ch)
overridevirtual

Calibrates one single channel.

Parameters
chchannel number.
Returns
status.

Implements yarp::dev::IAnalogSensor.

Definition at line 124 of file fakeAnalogSensor.cpp.

◆ calibrateChannel() [2/2]

int FakeAnalogSensor::calibrateChannel ( int  ch,
double  value 
)
overridevirtual

Calibrates one single channel, using a calibration value.

Parameters
chchannel number.
valuecalibration value.
Returns
status.

Implements yarp::dev::IAnalogSensor.

Definition at line 110 of file fakeAnalogSensor.cpp.

◆ calibrateSensor() [1/2]

int FakeAnalogSensor::calibrateSensor ( )
overridevirtual

Calibrates the whole sensor.

Returns
status.

Implements yarp::dev::IAnalogSensor.

Definition at line 103 of file fakeAnalogSensor.cpp.

◆ calibrateSensor() [2/2]

int FakeAnalogSensor::calibrateSensor ( const yarp::sig::Vector value)
overridevirtual

Calibrates the whole sensor, using an vector of calibration values.

Parameters
valuea vector of calibration values.
Returns
status.

Implements yarp::dev::IAnalogSensor.

Definition at line 117 of file fakeAnalogSensor.cpp.

◆ close()

bool FakeAnalogSensor::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 72 of file fakeAnalogSensor.cpp.

◆ getChannels()

int FakeAnalogSensor::getChannels ( )
overridevirtual

Get the number of channels of the sensor.

Returns
number of channels (0 in case of errors).

Implements yarp::dev::IAnalogSensor.

Definition at line 97 of file fakeAnalogSensor.cpp.

◆ getState()

int FakeAnalogSensor::getState ( int  ch)
overridevirtual

Check the state value of a given channel.

Parameters
chchannel number.
Returns
status.

Implements yarp::dev::IAnalogSensor.

Definition at line 90 of file fakeAnalogSensor.cpp.

◆ open()

bool FakeAnalogSensor::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).
Returns
true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 34 of file fakeAnalogSensor.cpp.

◆ read()

int FakeAnalogSensor::read ( yarp::sig::Vector out)
overridevirtual

Read a vector from the sensor.

Parameters
outa vector containing the sensor's last readings.
Returns
AS_OK or return code. AS_TIMEOUT if the sensor timed-out.

Implements yarp::dev::IAnalogSensor.

Definition at line 81 of file fakeAnalogSensor.cpp.

◆ run()

void FakeAnalogSensor::run ( )
overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 137 of file fakeAnalogSensor.cpp.

◆ threadInit()

bool FakeAnalogSensor::threadInit ( )
overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 131 of file fakeAnalogSensor.cpp.

◆ threadRelease()

void FakeAnalogSensor::threadRelease ( )
overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 155 of file fakeAnalogSensor.cpp.


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