A server to manage FrameTransforms for a robot (see FrameTransform: start all the required devices needed for transforming frames) More...

#include <frameTransformServer/FrameTransformServer.h>

Inheritance diagram for FrameTransformServer:

Public Member Functions
	FrameTransformServer ()

	~FrameTransformServer ()

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

bool	close () override
	Close the DeviceDriver.

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

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

void	run () override
	Loop function.

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::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

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 FrameTransformServer_ParamsParser
	FrameTransformServer_ParamsParser ()

	~FrameTransformServer_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
yarp::os::Port	m_rpc_InterfaceToUser

std::string	m_local_name

std::mutex	m_rpc_mutex

yarp::robotinterface::Robot	m_robot

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

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_testxml_from_defaultValue = {""}

const std::string	m_testxml_context_defaultValue = {""}

const std::string	m_filexml_option_defaultValue = {"fts_yarp_only.xml"}

const std::string	m_local_rpc_defaultValue = {"/ftServer/rpc"}

const std::string	m_FrameTransform_verbose_debug_defaultValue = {"false"}

const std::string	m_period_defaultValue = {"0.10"}

std::string	m_testxml_from = {}

std::string	m_testxml_context = {}

std::string	m_filexml_option = {"fts_yarp_only.xml"}

std::string	m_local_rpc = {"/ftServer/rpc"}

bool	m_FrameTransform_verbose_debug = {false}

double	m_period = {0.10}

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

A server to manage FrameTransforms for a robot (see FrameTransform: start all the required devices needed for transforming frames)

Description of input parameters

Parameters required by this device are shown in class: FrameTransformServer_ParamsParser

Definition at line 47 of file FrameTransformServer.h.

Constructor & Destructor Documentation

◆ FrameTransformServer()

FrameTransformServer::FrameTransformServer ( )

Definition at line 152 of file FrameTransformServer.cpp.

◆ ~FrameTransformServer()

FrameTransformServer::~FrameTransformServer ( )

default

Member Function Documentation

◆ close()

bool FrameTransformServer::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 140 of file FrameTransformServer.cpp.

◆ open()

bool FrameTransformServer::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 67 of file FrameTransformServer.cpp.

◆ read()

bool FrameTransformServer::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 31 of file FrameTransformServer.cpp.

◆ run()

void FrameTransformServer::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 169 of file FrameTransformServer.cpp.

◆ threadInit()

bool FrameTransformServer::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 158 of file FrameTransformServer.cpp.

◆ threadRelease()

void FrameTransformServer::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 164 of file FrameTransformServer.cpp.

Member Data Documentation

◆ m_local_name

std::string FrameTransformServer::m_local_name

protected

Definition at line 56 of file FrameTransformServer.h.

◆ m_robot

yarp::robotinterface::Robot FrameTransformServer::m_robot

protected

Definition at line 60 of file FrameTransformServer.h.

◆ m_rpc_InterfaceToUser

yarp::os::Port FrameTransformServer::m_rpc_InterfaceToUser

protected

Definition at line 55 of file FrameTransformServer.h.

◆ m_rpc_mutex

std::mutex FrameTransformServer::m_rpc_mutex

protected

Definition at line 57 of file FrameTransformServer.h.

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

src/devices/frameTransformServer/FrameTransformServer.h
src/devices/frameTransformServer/FrameTransformServer.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ FrameTransformServer()

◆ ~FrameTransformServer()

Member Function Documentation

◆ close()

◆ open()

◆ read()

◆ run()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ m_local_name

◆ m_robot

◆ m_rpc_InterfaceToUser

◆ m_rpc_mutex