YARP
Yet Another Robot Platform

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. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool read (yarp::os::ConnectionReader &connection) override
 Read this object from a network connection. More...
 
bool threadInit () override
 Initialization method. More...
 
void threadRelease () override
 Release method. More...
 
void run () override
 Loop function. 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::os::PortReader
virtual ~PortReader ()
 Destructor. More...
 
virtual Type getReadType () const
 
- 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...
 

Protected Attributes

yarp::os::Port m_rpc_InterfaceToUser
 
std::string m_local_name
 
double m_period
 
std::mutex m_rpc_mutex
 
yarp::robotinterface::Robot m_robot
 

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

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:

Parameter name SubParameter Type Units Default Value Required Description
filexml_option - string - fts_yarp_only.xml no The name of the xml file containing the needed server configuration

Example of command line:

yarpdev --device frameTransformServer --filexml_option fts_yarp_only.xml

Example of configuration files using .ini format.

device frameTransformServer
filexml_option fts_yarp_only.xml

Definition at line 61 of file FrameTransformServer.h.

Constructor & Destructor Documentation

◆ FrameTransformServer()

FrameTransformServer::FrameTransformServer ( )

Definition at line 120 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 112 of file FrameTransformServer.cpp.

◆ open()

bool FrameTransformServer::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 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
readeran interface to the network connection for reading
Returns
true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 30 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 138 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 127 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 133 of file FrameTransformServer.cpp.

Member Data Documentation

◆ m_local_name

std::string FrameTransformServer::m_local_name
protected

Definition at line 69 of file FrameTransformServer.h.

◆ m_period

double FrameTransformServer::m_period
protected

Definition at line 70 of file FrameTransformServer.h.

◆ m_robot

yarp::robotinterface::Robot FrameTransformServer::m_robot
protected

Definition at line 74 of file FrameTransformServer.h.

◆ m_rpc_InterfaceToUser

yarp::os::Port FrameTransformServer::m_rpc_InterfaceToUser
protected

Definition at line 68 of file FrameTransformServer.h.

◆ m_rpc_mutex

std::mutex FrameTransformServer::m_rpc_mutex
protected

Definition at line 71 of file FrameTransformServer.h.


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