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

#include <networkWrappers/frameGrabber_nws_yarp/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_yarp &	operator= (const FrameGrabber_nws_yarp &)=delete

FrameGrabber_nws_yarp &	operator= (FrameGrabber_nws_yarp &&)=delete

	~FrameGrabber_nws_yarp () override

bool	close () override
	Close the DeviceDriver.

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

bool	attach (yarp::dev::PolyDriver *poly) override
	Attach to another object.

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

bool	threadInit () override
	Initialization method.

void	run () override
	Loop function.

bool	respond (const yarp::os::Bottle &command, yarp::os::Bottle &reply) override
	Respond to a message.

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 yarp::dev::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

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

Public Member Functions inherited from yarp::dev::IWrapper
virtual	~IWrapper ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

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::DeviceResponder
	DeviceResponder ()
	Constructor.

void	addUsage (const char txt, const char explain=nullptr)
	Add information about a message that the respond() method understands.

void	addUsage (const yarp::os::Bottle &bot, const char *explain=nullptr)
	Add information about a message that the respond() method understands.

bool	read (yarp::os::ConnectionReader &connection) override
	Handler for reading messages from the network, and passing them on to the respond() method.

void	onRead (yarp::os::Bottle &v) override
	Alternative handler for reading messages from the network, and passing them on to the respond() method.

void	makeUsage ()
	Regenerate usage information.

void	attach (yarp::os::TypedReader< yarp::os::Bottle > &source)
	Attach this object to a source of messages.

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

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::TypedReaderCallback< yarp::os::Bottle >
virtual	~TypedReaderCallback ()
	Destructor.

virtual void	onRead (yarp::os::Bottle &datum, const yarp::os::TypedReader< yarp::os::Bottle > &reader)
	Callback method.

Public Member Functions inherited from FrameGrabber_nws_yarp_ParamsParser
	FrameGrabber_nws_yarp_ParamsParser ()

	~FrameGrabber_nws_yarp_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 ()

Additional Inherited Members
Public Attributes inherited from FrameGrabber_nws_yarp_ParamsParser
const std::string	m_device_classname = {"FrameGrabber_nws_yarp"}

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_period_defaultValue = {"0.033"}

const std::string	m_name_defaultValue = {"/grabber"}

const std::string	m_capabilities_defaultValue = {"COLOR"}

const std::string	m_no_drop_defaultValue = {"true"}

double	m_period = {0.033}

std::string	m_name = {"/grabber"}

std::string	m_capabilities = {"COLOR"}

bool	m_no_drop = {true}

Protected Member Functions inherited from yarp::os::PeriodicThread
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

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 shown in class: FrameGrabber_nws_yarp_ParamsParser

Definition at line 46 of file FrameGrabber_nws_yarp.h.

Constructor & Destructor Documentation

◆ FrameGrabber_nws_yarp() [1/3]

FrameGrabber_nws_yarp::FrameGrabber_nws_yarp ( )

Definition at line 23 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 29 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

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 90 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 35 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 162 of file FrameGrabber_nws_yarp.cpp.

◆ open()

bool FrameGrabber_nws_yarp::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 55 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

command	the message
reply	the response

Returns: true if there was no critical failure

Reimplemented from yarp::dev::DeviceResponder.

Definition at line 232 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 190 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 178 of file FrameGrabber_nws_yarp.cpp.

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

src/devices/networkWrappers/frameGrabber_nws_yarp/FrameGrabber_nws_yarp.h
src/devices/networkWrappers/frameGrabber_nws_yarp/FrameGrabber_nws_yarp.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ FrameGrabber_nws_yarp() [1/3]

◆ FrameGrabber_nws_yarp() [2/3]

◆ FrameGrabber_nws_yarp() [3/3]

◆ ~FrameGrabber_nws_yarp()

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ respond()

◆ run()

◆ threadInit()