YARP
Yet Another Robot Platform
GenericSensorRosPublisher< ROS_MSG > Class Template Referenceabstract

This abstract template needs to be specialized in a ROS Publisher, for a specific ROS mesagge/sensor type. More...

#include <multipleAnalogSensorsRosPublishers/GenericSensorRosPublisher.h>

+ Inheritance diagram for GenericSensorRosPublisher< ROS_MSG >:

Public Member Functions

 GenericSensorRosPublisher ()
 
virtual ~GenericSensorRosPublisher ()
 
bool open (yarp::os::Searchable &params) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool attachAll (const yarp::dev::PolyDriverList &p) override
 Attach to a list of objects. More...
 
bool detachAll () override
 Detach the object (you must have first called attach). More...
 
void threadRelease () override
 Release method. More...
 
void run () override
 Loop function. 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::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::IMultipleWrapper
virtual ~IMultipleWrapper ()
 Destructor. More...
 

Protected Member Functions

virtual bool viewInterfaces ()=0
 
- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool threadInit ()
 Initialization 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...
 

Protected Attributes

double m_periodInS {0.01}
 
std::string m_publisherName
 
std::string m_rosNodeName
 
yarp::os::Nodem_rosNode
 
yarp::os::Publisher< ROS_MSG > m_publisher
 
yarp::dev::PolyDriverm_poly
 
size_t m_msg_counter
 
double m_timestamp
 
std::string m_framename
 
const size_t m_sens_index = 0
 
yarp::dev::PolyDriver m_subdevicedriver
 

Detailed Description

template<class ROS_MSG>
class GenericSensorRosPublisher< ROS_MSG >

This abstract template needs to be specialized in a ROS Publisher, for a specific ROS mesagge/sensor type.

YARP device name
GenericSensorRosPublisher

The parameters accepted by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
topic - string - - Yes The name of the ROS topic opened by this device. MUST start with a '/' character
node_name - string - $topic + "_node" No The name of the ROS node opened by this device Autogenerated by default
period - double s - Yes Refresh period of the broadcasted values in seconds

Definition at line 43 of file GenericSensorRosPublisher.h.

Constructor & Destructor Documentation

◆ GenericSensorRosPublisher()

template<class ROS_MSG >
GenericSensorRosPublisher< ROS_MSG >::GenericSensorRosPublisher

Definition at line 82 of file GenericSensorRosPublisher.h.

◆ ~GenericSensorRosPublisher()

template<class ROS_MSG >
GenericSensorRosPublisher< ROS_MSG >::~GenericSensorRosPublisher ( )
virtualdefault

Member Function Documentation

◆ attachAll()

template<class ROS_MSG >
bool GenericSensorRosPublisher< ROS_MSG >::attachAll ( const yarp::dev::PolyDriverList drivers)
overridevirtual

Attach to a list of objects.

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

Implements yarp::dev::IMultipleWrapper.

Definition at line 188 of file GenericSensorRosPublisher.h.

◆ close()

template<class ROS_MSG >
bool GenericSensorRosPublisher< ROS_MSG >::close
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 175 of file GenericSensorRosPublisher.h.

◆ detachAll()

template<class ROS_MSG >
bool GenericSensorRosPublisher< ROS_MSG >::detachAll ( )
overridevirtual

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

Returns
true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 226 of file GenericSensorRosPublisher.h.

◆ open()

template<class ROS_MSG >
bool GenericSensorRosPublisher< ROS_MSG >::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 95 of file GenericSensorRosPublisher.h.

◆ run()

template<class ROS_MSG >
void GenericSensorRosPublisher< ROS_MSG >::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 236 of file GenericSensorRosPublisher.h.

◆ threadRelease()

template<class ROS_MSG >
void GenericSensorRosPublisher< ROS_MSG >::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 241 of file GenericSensorRosPublisher.h.

◆ viewInterfaces()

template<class ROS_MSG >
virtual bool GenericSensorRosPublisher< ROS_MSG >::viewInterfaces ( )
protectedpure virtual

Member Data Documentation

◆ m_framename

template<class ROS_MSG >
std::string GenericSensorRosPublisher< ROS_MSG >::m_framename
protected

Definition at line 57 of file GenericSensorRosPublisher.h.

◆ m_msg_counter

template<class ROS_MSG >
size_t GenericSensorRosPublisher< ROS_MSG >::m_msg_counter
protected

Definition at line 55 of file GenericSensorRosPublisher.h.

◆ m_periodInS

template<class ROS_MSG >
double GenericSensorRosPublisher< ROS_MSG >::m_periodInS {0.01}
protected

Definition at line 49 of file GenericSensorRosPublisher.h.

◆ m_poly

template<class ROS_MSG >
yarp::dev::PolyDriver* GenericSensorRosPublisher< ROS_MSG >::m_poly
protected

Definition at line 54 of file GenericSensorRosPublisher.h.

◆ m_publisher

template<class ROS_MSG >
yarp::os::Publisher<ROS_MSG> GenericSensorRosPublisher< ROS_MSG >::m_publisher
protected

Definition at line 53 of file GenericSensorRosPublisher.h.

◆ m_publisherName

template<class ROS_MSG >
std::string GenericSensorRosPublisher< ROS_MSG >::m_publisherName
protected

Definition at line 50 of file GenericSensorRosPublisher.h.

◆ m_rosNode

template<class ROS_MSG >
yarp::os::Node* GenericSensorRosPublisher< ROS_MSG >::m_rosNode
protected

Definition at line 52 of file GenericSensorRosPublisher.h.

◆ m_rosNodeName

template<class ROS_MSG >
std::string GenericSensorRosPublisher< ROS_MSG >::m_rosNodeName
protected

Definition at line 51 of file GenericSensorRosPublisher.h.

◆ m_sens_index

template<class ROS_MSG >
const size_t GenericSensorRosPublisher< ROS_MSG >::m_sens_index = 0
protected

Definition at line 58 of file GenericSensorRosPublisher.h.

◆ m_subdevicedriver

template<class ROS_MSG >
yarp::dev::PolyDriver GenericSensorRosPublisher< ROS_MSG >::m_subdevicedriver
protected

Definition at line 59 of file GenericSensorRosPublisher.h.

◆ m_timestamp

template<class ROS_MSG >
double GenericSensorRosPublisher< ROS_MSG >::m_timestamp
protected

Definition at line 56 of file GenericSensorRosPublisher.h.


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