fakeBattery: Documentation to be added More...

#include <fake/fakeBattery/FakeBattery.h>

Inheritance diagram for FakeBattery:

Public Member Functions
	FakeBattery ()

	FakeBattery (const FakeBattery &)=delete

	FakeBattery (FakeBattery &&)=delete

FakeBattery &	operator= (const FakeBattery &)=delete

FakeBattery &	operator= (FakeBattery &&)=delete

	~FakeBattery () override=default

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

void	run () override
	Loop function.

yarp::dev::ReturnValue	getBatteryVoltage (double &voltage) override
	Get the instantaneous voltage measurement.

yarp::dev::ReturnValue	getBatteryCurrent (double &current) override
	Get the instantaneous current measurement.

yarp::dev::ReturnValue	getBatteryCharge (double &charge) override
	get the battery status of charge

yarp::dev::ReturnValue	getBatteryStatus (Battery_status &status) override
	get the battery status

yarp::dev::ReturnValue	getBatteryInfo (std::string &info) override
	get the battery hardware characteristics (e.g.

yarp::dev::ReturnValue	getBatteryTemperature (double &temperature) override
	get the battery temperature

void	setBatteryVoltage (const double voltage) override

void	setBatteryCurrent (const double current) override

void	setBatteryCharge (const double charge) override

void	setBatteryStatus (const yarp::dev::IBattery::Battery_status status) override

void	setBatteryInfo (const std::string &info) override

void	setBatteryTemperature (const double temperature) override

double	getBatteryVoltage () override

double	getBatteryCurrent () override

double	getBatteryCharge () override

Battery_status	getBatteryStatus () override

std::string	getBatteryStatusString () override

std::string	getBatteryInfo () override

double	getBatteryTemperature () override

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Member Functions inherited from yarp::dev::IBattery
virtual	~IBattery ()

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from FakeBatteryService
	FakeBatteryService ()

virtual std::vector< std::string >	help (const std::string &functionName="--all")

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

Public Member Functions inherited from yarp::os::Wire
yarp::os::WireLink &	yarp ()
	Get YARP state associated with this object.

const yarp::os::WireLink &	yarp () const
	Get YARP state associated with this object (const version).

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from FakeBattery_ParamsParser
	FakeBattery_ParamsParser ()

	~FakeBattery_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Protected Attributes
std::mutex	m_mutex

double	battery_charge {50.0}

double	battery_voltage {30.0}

double	battery_current {3.0}

double	battery_temperature {20.0}

std::string	battery_info {"Fake battery system v2.0"}

Battery_status	battery_status {BATTERY_OK_IN_USE}

bool	suspend_battery_status_update {false}

bool	debugEnable {false}

yarp::os::RpcServer	ctrl_port

Additional Inherited Members
Public Types inherited from yarp::dev::IBattery
enum	Battery_status { BATTERY_OK_STANDBY = 0 , BATTERY_OK_IN_CHARGE = 1 , BATTERY_OK_IN_USE = 2 , BATTERY_GENERAL_ERROR = 3 , BATTERY_TIMEOUT = 4 , BATTERY_LOW_WARNING = 5 , BATTERY_CRITICAL_WARNING = 6 }

Public Attributes inherited from FakeBattery_ParamsParser
const std::string	m_device_classname = {"FakeBattery"}

const std::string	m_device_name = {"fakeBattery"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_period_defaultValue = {"0.02"}

const std::string	m_charge_defaultValue = {"50.0"}

const std::string	m_voltage_defaultValue = {"30.0"}

const std::string	m_current_defaultValue = {"3.0"}

const std::string	m_temperature_defaultValue = {"20.0"}

const std::string	m_info_defaultValue = {"Fake battery system v2.0"}

const std::string	m_rpc_port_name_defaultValue = {"/fakeBattery/rpc"}

double	m_period = {0.02}

double	m_charge = {50.0}

double	m_voltage = {30.0}

double	m_current = {3.0}

double	m_temperature = {20.0}

std::string	m_info = {"Fake battery system v2.0"}

std::string	m_rpc_port_name = {"/fakeBattery/rpc"}

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method.

virtual void	threadRelease ()
	Release method.

virtual void	beforeStart ()
	Called just before a new thread starts.

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().

Detailed Description

fakeBattery: Documentation to be added

Parameters required by this device are shown in class: FakeBattery_ParamsParser

Definition at line 27 of file FakeBattery.h.

Constructor & Destructor Documentation

◆ FakeBattery() [1/3]

FakeBattery::FakeBattery ( )

Definition at line 29 of file FakeBattery.cpp.

◆ FakeBattery() [2/3]

FakeBattery::FakeBattery ( const FakeBattery & )

delete

◆ FakeBattery() [3/3]

FakeBattery::FakeBattery ( FakeBattery && )

delete

◆ ~FakeBattery()

FakeBattery::~FakeBattery ( )

overridedefault

Member Function Documentation

◆ close()

bool FakeBattery::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 61 of file FakeBattery.cpp.

◆ getBatteryCharge() [1/2]

double FakeBattery::getBatteryCharge ( )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 180 of file FakeBattery.cpp.

◆ getBatteryCharge() [2/2]

ReturnValue FakeBattery::getBatteryCharge ( double & charge )

overridevirtual

get the battery status of charge

Parameters

charge the charge measurement (0-100%)

Returns: true/false.

Implements yarp::dev::IBattery.

Definition at line 97 of file FakeBattery.cpp.

◆ getBatteryCurrent() [1/2]

double FakeBattery::getBatteryCurrent ( )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 174 of file FakeBattery.cpp.

◆ getBatteryCurrent() [2/2]

ReturnValue FakeBattery::getBatteryCurrent ( double & current )

overridevirtual

Get the instantaneous current measurement.

Parameters

current the current measurement

Returns: true/false.

Implements yarp::dev::IBattery.

Definition at line 90 of file FakeBattery.cpp.

◆ getBatteryInfo() [1/2]

std::string FakeBattery::getBatteryInfo ( )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 216 of file FakeBattery.cpp.

◆ getBatteryInfo() [2/2]

ReturnValue FakeBattery::getBatteryInfo ( std::string & battery_info )

overridevirtual

get the battery hardware characteristics (e.g.

max voltage etc)

Parameters

a	string containing the battery infos

Returns: true/false.

Implements yarp::dev::IBattery.

Definition at line 118 of file FakeBattery.cpp.

◆ getBatteryStatus() [1/2]

yarp::dev::IBattery::Battery_status FakeBattery::getBatteryStatus ( )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 186 of file FakeBattery.cpp.

◆ getBatteryStatus() [2/2]

ReturnValue FakeBattery::getBatteryStatus ( Battery_status & status )

overridevirtual

get the battery status

Parameters

status the battery status

Returns: true/false.

Implements yarp::dev::IBattery.

Definition at line 104 of file FakeBattery.cpp.

◆ getBatteryStatusString()

std::string FakeBattery::getBatteryStatusString ( )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 193 of file FakeBattery.cpp.

◆ getBatteryTemperature() [1/2]

double FakeBattery::getBatteryTemperature ( )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 222 of file FakeBattery.cpp.

◆ getBatteryTemperature() [2/2]

ReturnValue FakeBattery::getBatteryTemperature ( double & temperature )

overridevirtual

get the battery temperature

Parameters

temperature the battery temperature

Returns: true/false.

Implements yarp::dev::IBattery.

Definition at line 111 of file FakeBattery.cpp.

◆ getBatteryVoltage() [1/2]

double FakeBattery::getBatteryVoltage ( )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 168 of file FakeBattery.cpp.

◆ getBatteryVoltage() [2/2]

ReturnValue FakeBattery::getBatteryVoltage ( double & voltage )

overridevirtual

Get the instantaneous voltage measurement.

Parameters

voltage the voltage measurement

Returns: true/false.

Implements yarp::dev::IBattery.

Definition at line 83 of file FakeBattery.cpp.

◆ open()

bool FakeBattery::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is 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 35 of file FakeBattery.cpp.

◆ operator=() [1/2]

FakeBattery & FakeBattery::operator= ( const FakeBattery & )

delete

◆ operator=() [2/2]

FakeBattery & FakeBattery::operator= ( FakeBattery && )

delete

◆ run()

void FakeBattery::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 72 of file FakeBattery.cpp.

◆ setBatteryCharge()

void FakeBattery::setBatteryCharge ( const double charge )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 141 of file FakeBattery.cpp.

◆ setBatteryCurrent()

void FakeBattery::setBatteryCurrent ( const double current )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 133 of file FakeBattery.cpp.

◆ setBatteryInfo()

void FakeBattery::setBatteryInfo ( const std::string & info )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 156 of file FakeBattery.cpp.

◆ setBatteryStatus()

void FakeBattery::setBatteryStatus ( const yarp::dev::IBattery::Battery_status status )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 149 of file FakeBattery.cpp.

◆ setBatteryTemperature()

void FakeBattery::setBatteryTemperature ( const double temperature )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 162 of file FakeBattery.cpp.

◆ setBatteryVoltage()

void FakeBattery::setBatteryVoltage ( const double voltage )

overridevirtual

Reimplemented from FakeBatteryService.

Definition at line 125 of file FakeBattery.cpp.

Member Data Documentation

◆ battery_charge

double FakeBattery::battery_charge {50.0}

protected

Definition at line 36 of file FakeBattery.h.

◆ battery_current

double FakeBattery::battery_current {3.0}

protected

Definition at line 38 of file FakeBattery.h.

◆ battery_info

std::string FakeBattery::battery_info {"Fake battery system v2.0"}

protected

Definition at line 40 of file FakeBattery.h.

◆ battery_status

Battery_status FakeBattery::battery_status {BATTERY_OK_IN_USE}

protected

Definition at line 41 of file FakeBattery.h.

◆ battery_temperature

double FakeBattery::battery_temperature {20.0}

protected

Definition at line 39 of file FakeBattery.h.

◆ battery_voltage

double FakeBattery::battery_voltage {30.0}

protected

Definition at line 37 of file FakeBattery.h.

◆ ctrl_port

yarp::os::RpcServer FakeBattery::ctrl_port

protected

Definition at line 46 of file FakeBattery.h.

◆ debugEnable

bool FakeBattery::debugEnable {false}

protected

Definition at line 44 of file FakeBattery.h.

◆ m_mutex

std::mutex FakeBattery::m_mutex

protected

Definition at line 35 of file FakeBattery.h.

◆ suspend_battery_status_update

bool FakeBattery::suspend_battery_status_update {false}

protected

Definition at line 42 of file FakeBattery.h.

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

src/devices/fake/fakeBattery/FakeBattery.h
src/devices/fake/fakeBattery/FakeBattery.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeBattery() [1/3]

◆ FakeBattery() [2/3]

◆ FakeBattery() [3/3]

◆ ~FakeBattery()

Member Function Documentation

◆ close()

◆ getBatteryCharge() [1/2]

◆ getBatteryCharge() [2/2]

◆ getBatteryCurrent() [1/2]

◆ getBatteryCurrent() [2/2]

◆ getBatteryInfo() [1/2]

◆ getBatteryInfo() [2/2]

◆ getBatteryStatus() [1/2]

◆ getBatteryStatus() [2/2]

◆ getBatteryStatusString()

◆ getBatteryTemperature() [1/2]

◆ getBatteryTemperature() [2/2]

◆ getBatteryVoltage() [1/2]

◆ getBatteryVoltage() [2/2]

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ run()

◆ setBatteryCharge()

◆ setBatteryCurrent()

◆ setBatteryInfo()

◆ setBatteryStatus()

◆ setBatteryTemperature()

◆ setBatteryVoltage()

Member Data Documentation

◆ battery_charge

◆ battery_current

◆ battery_info

◆ battery_status

◆ battery_temperature

◆ battery_voltage

◆ ctrl_port

◆ debugEnable

◆ m_mutex

◆ suspend_battery_status_update