YARP
Yet Another Robot Platform

frameGrabber_nws_yarp: A YARP NWS for camera devices. More...

#include <ServerFrameGrabberDual/FrameGrabber_nws_yarp.h>

+ Inheritance diagram for FrameGrabber_nws_yarp:

Public Member Functions

 FrameGrabber_nws_yarp ()
 
 FrameGrabber_nws_yarp (const FrameGrabber_nws_yarp &)=delete
 
 FrameGrabber_nws_yarp (FrameGrabber_nws_yarp &&)=delete
 
FrameGrabber_nws_yarpoperator= (const FrameGrabber_nws_yarp &)=delete
 
FrameGrabber_nws_yarpoperator= (FrameGrabber_nws_yarp &&)=delete
 
 ~FrameGrabber_nws_yarp () override
 
bool close () override
 Close the DeviceDriver. More...
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool attach (yarp::dev::PolyDriver *poly) override
 Attach to another object. More...
 
bool detach () override
 Detach the object (you must have first called attach). More...
 
bool threadInit () override
 Initialization method. More...
 
void run () override
 Loop function. More...
 
bool respond (const yarp::os::Bottle &command, yarp::os::Bottle &reply) override
 Respond to a message. 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::dev::WrapperSingle
 ~WrapperSingle () override
 Destructor. More...
 
bool attachAll (const yarp::dev::PolyDriverList &drivers) final
 Attach to a list of objects. More...
 
bool detachAll () final
 Detach the object (you must have first called attach). More...
 
- Public Member Functions inherited from yarp::dev::IWrapper
virtual ~IWrapper ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual ~IMultipleWrapper ()
 Destructor. 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::DeviceResponder
 DeviceResponder ()
 Constructor. More...
 
void addUsage (const char *txt, const char *explain=nullptr)
 Add information about a message that the respond() method understands. More...
 
void addUsage (const yarp::os::Bottle &bot, const char *explain=nullptr)
 Add information about a message that the respond() method understands. More...
 
bool read (yarp::os::ConnectionReader &connection) override
 Handler for reading messages from the network, and passing them on to the respond() method. More...
 
void onRead (yarp::os::Bottle &v) override
 Alternative handler for reading messages from the network, and passing them on to the respond() method. More...
 
void makeUsage ()
 Regenerate usage information. More...
 
void attach (yarp::os::TypedReader< yarp::os::Bottle > &source)
 Attach this object to a source of messages. More...
 
- Public Member Functions inherited from yarp::os::PortReader
virtual ~PortReader ()
 Destructor. More...
 
virtual Type getReadType () const
 
- Public Member Functions inherited from yarp::os::TypedReaderCallback< yarp::os::Bottle >
virtual ~TypedReaderCallback ()
 Destructor. More...
 
virtual void onRead (yarp::os::Bottle &datum)
 Callback method. More...
 
virtual void onRead (yarp::os::Bottle &datum, const yarp::os::TypedReader< yarp::os::Bottle > &reader)
 Callback method. More...
 

Additional Inherited Members

- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void threadRelease ()
 Release method. More...
 
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

frameGrabber_nws_yarp: A YARP NWS for camera devices.

This device is paired with its client called frameGrabber_nwc_yarp to receive the data streams and perform remote operations.

It is also possible to read the images without the client connecting to the streaming Port.

Description of input parameters

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
period - double s 0.03 No refresh period (in s) of the broadcasted values through yarp ports default 0.03s
name - string - /grabber No Prefix name of the ports opened by the FrameGrabber_nws_yarp Required suffix like '/rpc' will be added by the device
capabilities - string - COLOR No two capabilities supported, COLOR and RAW respectively for rgb and raw streaming -
subdevice - string - - No name of the subdevice to use as a data source when used, parameters for the subdevice must be provided as well; when not used, the device should be 'attached'

FIXME DRDANZ no_drop?

Some example of configuration files:

Example of configuration file using .ini format.

device frameGrabber_nws_yarp
capabilities COLOR # not necessary to specify 'COLOR', this is the default value if capabilities is omitted
period 30
subdevice fakeFrameGrabber

Example of configuration file using .xml format.

<device name="grabber" type="fakeFrameGrabber">
<param name="mode"> grid </param>
<param name="timestamp"> 1 </param>
<param name="freq"> 30 </param>
</device>
<device name="wrapper" type="frameGrabber_nws_yarp">
<param name="period"> 30 </param>
<param name="name"> /grabber </param>
<param name="capabilities"> COLOR </param>
<action phase="startup" level="10" type="attach">
<param name="device"> grabber </param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>

Definition at line 84 of file FrameGrabber_nws_yarp.h.

Constructor & Destructor Documentation

◆ FrameGrabber_nws_yarp() [1/3]

FrameGrabber_nws_yarp::FrameGrabber_nws_yarp ( )

Definition at line 21 of file FrameGrabber_nws_yarp.cpp.

◆ FrameGrabber_nws_yarp() [2/3]

FrameGrabber_nws_yarp::FrameGrabber_nws_yarp ( const FrameGrabber_nws_yarp )
delete

◆ FrameGrabber_nws_yarp() [3/3]

FrameGrabber_nws_yarp::FrameGrabber_nws_yarp ( FrameGrabber_nws_yarp &&  )
delete

◆ ~FrameGrabber_nws_yarp()

FrameGrabber_nws_yarp::~FrameGrabber_nws_yarp ( )
override

Definition at line 27 of file FrameGrabber_nws_yarp.cpp.

Member Function Documentation

◆ attach()

bool FrameGrabber_nws_yarp::attach ( yarp::dev::PolyDriver driver)
overridevirtual

Attach to another object.

Parameters
driverthe polydriver that you want to attach to.
Returns
true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 158 of file FrameGrabber_nws_yarp.cpp.

◆ close()

bool FrameGrabber_nws_yarp::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 33 of file FrameGrabber_nws_yarp.cpp.

◆ detach()

bool FrameGrabber_nws_yarp::detach ( )
overridevirtual

Detach the object (you must have first called attach).

Returns
true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 230 of file FrameGrabber_nws_yarp.cpp.

◆ open()

bool FrameGrabber_nws_yarp::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 66 of file FrameGrabber_nws_yarp.cpp.

◆ operator=() [1/2]

FrameGrabber_nws_yarp& FrameGrabber_nws_yarp::operator= ( const FrameGrabber_nws_yarp )
delete

◆ operator=() [2/2]

FrameGrabber_nws_yarp& FrameGrabber_nws_yarp::operator= ( FrameGrabber_nws_yarp &&  )
delete

◆ respond()

bool FrameGrabber_nws_yarp::respond ( const yarp::os::Bottle command,
yarp::os::Bottle reply 
)
overridevirtual

Respond to a message.

Parameters
commandthe message
replythe response
Returns
true if there was no critical failure

Reimplemented from yarp::dev::DeviceResponder.

Definition at line 296 of file FrameGrabber_nws_yarp.cpp.

◆ run()

void FrameGrabber_nws_yarp::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 258 of file FrameGrabber_nws_yarp.cpp.

◆ threadInit()

bool FrameGrabber_nws_yarp::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 246 of file FrameGrabber_nws_yarp.cpp.


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