YARP
Yet Another Robot Platform

frameTransformGet_nws_yarp: A network wrapper client which converts the input retrieved from an IFrameTransformStorageGet interface to a FrameTransformStorageGetRPC thrift interface. More...

#include <frameTransformGet/FrameTransformGet_nws_yarp.h>

+ Inheritance diagram for FrameTransformGet_nws_yarp:

Public Member Functions

 FrameTransformGet_nws_yarp ()
 
 FrameTransformGet_nws_yarp (const FrameTransformGet_nws_yarp &)=delete
 
 FrameTransformGet_nws_yarp (FrameTransformGet_nws_yarp &&)=delete
 
FrameTransformGet_nws_yarpoperator= (const FrameTransformGet_nws_yarp &)=delete
 
FrameTransformGet_nws_yarpoperator= (FrameTransformGet_nws_yarp &&)=delete
 
 ~FrameTransformGet_nws_yarp ()=default
 
bool threadInit () override
 Initialization method. More...
 
void threadRelease () override
 Release method. More...
 
void run () override
 Loop function. More...
 
bool open (yarp::os::Searchable &params) override
 Device driver interface. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool attach (yarp::dev::PolyDriver *deviceToAttach) override
 Attach to another object. More...
 
bool detach () override
 Detach the object (you must have first called attach). More...
 
return_getAllTransforms getTransformsRPC () override
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (DeviceDriver &&other) noexcept=delete
 
 ~DeviceDriver () override
 
virtual std::string id () const
 Return the id assigned to the PolyDriver. More...
 
virtual void setId (const std::string &id)
 Set the id for this device. 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 FrameTransformStorageGetRPC
 FrameTransformStorageGetRPC ()
 
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. More...
 
- Public Member Functions inherited from yarp::os::Wire
yarp::os::WireLinkyarp ()
 Get YARP state associated with this object. More...
 
const yarp::os::WireLinkyarp () const
 Get YARP state associated with this object (const version). More...
 
- Public Member Functions inherited from yarp::os::PortReader
virtual ~PortReader ()
 Destructor. More...
 
virtual Type getReadType () const
 
- 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...
 

Additional Inherited Members

- 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

frameTransformGet_nws_yarp: A network wrapper client which converts the input retrieved from an IFrameTransformStorageGet interface to a FrameTransformStorageGetRPC thrift interface.

Parameters

this device listens on a FrameTransformStorageGetRPC interface for an RPC and then forwards the request to an IFrameTransformStorageGet interface (device attached) This device is paired with its client called FrameTransformGet_nwc_yarp. It receives a rpc from a port (the port is declared in thrift and is FrameTransformStorageGetRPC). After that it sends on the port all the transforms taken from the attached device. The attached device must implement an IFrameTransformStorageGet interface. For further information see FrameTransform: start all the required devices needed for transforming frames.

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description
default-config - bool - true No tells whether or not the nws is instanciated by the frameTransformServer device. If true, "/frameTransformServer" will appended to the port name prefix
nws_thrift_port_prefix - string - "" No a prefix for the nws thrift rpc port name
output_streaming_port_prefix - string - "" No a prefix for the output streaming port name
streaming_enabled - bool - true No enable/disable the tf publishing on the streaming port
period float s 0.010 No It affects the period of thread publishing transforms on the streaming port

Port names examples

Here follow some examples of port names obtained with different parameters configurations

  1. With
    • default-config = true
    • nws_thrift_port_prefix = ""
      The frameTransformGet_nws_yarp thrift port name will be: /frameTransformServer/frameTransformGet_nws_yarp/thrift
  2. With
    • default-config = true
    • nws_thrift_port_prefix = "/cer"
      The frameTransformGet_nws_yarp thrift port name will be: /cer/frameTransformServer/frameTransformGet_nws_yarp/thrift
  3. With
    • default-config = false
    • nws_thrift_port_prefix = "/cer"
      The frameTransformGet_nws_yarp thrift port name will be: /cer/frameTransformGet_nws_yarp/thrift
  4. With
    • default-config = true
    • output_streaming_port_prefix = ""
      The name of the frameTransformGet_nws_yarp output port for the tf stream will be: /frameTransformServer/frameTransformGet_nws_yarp/tf:o
  5. With
    • default-config = true
    • output_streaming_port_prefix = "/cer"
      The name of the frameTransformGet_nws_yarp output port for the tf stream will be: /cer/frameTransformServer/frameTransformGet_nws_yarp/tf:o
  6. With
    • default-config = false
    • output_streaming_port_prefix = "/cer"
      The name of the frameTransformGet_nws_yarp output port for the tf stream will be: /cer/frameTransformGet_nws_yarp/tf:o

Example of configuration file using .ini format.

device frameTransformGet_nws_yarp
default-config true
thrift_port_prefix /cer

Definition at line 75 of file FrameTransformGet_nws_yarp.h.

Constructor & Destructor Documentation

◆ FrameTransformGet_nws_yarp() [1/3]

FrameTransformGet_nws_yarp::FrameTransformGet_nws_yarp ( )

Definition at line 14 of file FrameTransformGet_nws_yarp.cpp.

◆ FrameTransformGet_nws_yarp() [2/3]

FrameTransformGet_nws_yarp::FrameTransformGet_nws_yarp ( const FrameTransformGet_nws_yarp )
delete

◆ FrameTransformGet_nws_yarp() [3/3]

FrameTransformGet_nws_yarp::FrameTransformGet_nws_yarp ( FrameTransformGet_nws_yarp &&  )
delete

◆ ~FrameTransformGet_nws_yarp()

FrameTransformGet_nws_yarp::~FrameTransformGet_nws_yarp ( )
default

Member Function Documentation

◆ attach()

bool FrameTransformGet_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 115 of file FrameTransformGet_nws_yarp.cpp.

◆ close()

bool FrameTransformGet_nws_yarp::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 92 of file FrameTransformGet_nws_yarp.cpp.

◆ detach()

bool FrameTransformGet_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 108 of file FrameTransformGet_nws_yarp.cpp.

◆ getTransformsRPC()

return_getAllTransforms FrameTransformGet_nws_yarp::getTransformsRPC ( )
overridevirtual

Reimplemented from FrameTransformStorageGetRPC.

Definition at line 127 of file FrameTransformGet_nws_yarp.cpp.

◆ open()

bool FrameTransformGet_nws_yarp::open ( yarp::os::Searchable params)
overridevirtual

Device driver interface.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 22 of file FrameTransformGet_nws_yarp.cpp.

◆ operator=() [1/2]

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

◆ operator=() [2/2]

FrameTransformGet_nws_yarp& FrameTransformGet_nws_yarp::operator= ( FrameTransformGet_nws_yarp &&  )
delete

◆ run()

void FrameTransformGet_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 156 of file FrameTransformGet_nws_yarp.cpp.

◆ threadInit()

bool FrameTransformGet_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 140 of file FrameTransformGet_nws_yarp.cpp.

◆ threadRelease()

void FrameTransformGet_nws_yarp::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 150 of file FrameTransformGet_nws_yarp.cpp.


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