This abstract template needs to be specialized in a ROS2 subscription, for a specific ROS2 message/sensor type. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nwc_ros2/GenericSensor_nwc_ros2.h>

Inheritance diagram for GenericSensor_nwc_ros2< ROS_MSG >:

Public Member Functions
	GenericSensor_nwc_ros2 ()

virtual	~GenericSensor_nwc_ros2 ()

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

bool	close () override
	Close the DeviceDriver.

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.

Protected Member Functions
virtual void	subscription_callback (const std::shared_ptr< ROS_MSG > msg)=0

Protected Member Functions inherited from GenericSensor_nwc_ros2_ParamsParser
	GenericSensor_nwc_ros2_ParamsParser ()

	~GenericSensor_nwc_ros2_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.

Protected Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Protected Attributes
double	m_periodInS {0.01}

double	m_timestamp

std::string	m_framename

Ros2Spinner *	m_spinner {nullptr}

const size_t	m_sens_index = 0

std::mutex	m_dataMutex

yarp::dev::MAS_status	m_internalStatus

rclcpp::Node::SharedPtr	m_node

rclcpp::Subscription< ROS_MSG >::SharedPtr	m_subscription

Protected Attributes inherited from GenericSensor_nwc_ros2_ParamsParser
const std::string	m_device_classname = {"GenericSensor_nwc_ros2"}

const std::string	m_device_name = {"genericSensor_nwc_ros2"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_node_name_defaultValue = {""}

const std::string	m_topic_name_defaultValue = {""}

const std::string	m_sensor_name_defaultValue = {""}

std::string	m_node_name = {}

std::string	m_topic_name = {}

std::string	m_sensor_name = {}

Detailed Description

template<class ROS_MSG>
class GenericSensor_nwc_ros2< ROS_MSG >

This abstract template needs to be specialized in a ROS2 subscription, for a specific ROS2 message/sensor type.

YARP device name
`genericSensor_nwc_ros2`

The parameters accepted by this device are shown in class: GenericSensor_nwc_ros2_ParamsParser

Definition at line 42 of file GenericSensor_nwc_ros2.h.

Constructor & Destructor Documentation

◆ GenericSensor_nwc_ros2()

template<class ROS_MSG >

GenericSensor_nwc_ros2< ROS_MSG >::GenericSensor_nwc_ros2 ( )

Definition at line 70 of file GenericSensor_nwc_ros2.h.

◆ ~GenericSensor_nwc_ros2()

template<class ROS_MSG >

GenericSensor_nwc_ros2< ROS_MSG >::~GenericSensor_nwc_ros2 ( )

virtualdefault

Member Function Documentation

◆ close()

template<class ROS_MSG >

bool GenericSensor_nwc_ros2< ROS_MSG >::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 121 of file GenericSensor_nwc_ros2.h.

◆ open()

template<class ROS_MSG >

bool GenericSensor_nwc_ros2< ROS_MSG >::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 81 of file GenericSensor_nwc_ros2.h.

◆ subscription_callback()

template<class ROS_MSG >

virtual void GenericSensor_nwc_ros2< ROS_MSG >::subscription_callback ( const std::shared_ptr< ROS_MSG > msg )

protectedpure virtual

Implemented in Imu_nwc_ros2.

Member Data Documentation

◆ m_dataMutex

template<class ROS_MSG >

std::mutex GenericSensor_nwc_ros2< ROS_MSG >::m_dataMutex

mutableprotected

Definition at line 52 of file GenericSensor_nwc_ros2.h.

◆ m_framename

template<class ROS_MSG >

std::string GenericSensor_nwc_ros2< ROS_MSG >::m_framename

protected

Definition at line 49 of file GenericSensor_nwc_ros2.h.

◆ m_internalStatus

template<class ROS_MSG >

yarp::dev::MAS_status GenericSensor_nwc_ros2< ROS_MSG >::m_internalStatus

protected

Definition at line 53 of file GenericSensor_nwc_ros2.h.

◆ m_node

template<class ROS_MSG >

rclcpp::Node::SharedPtr GenericSensor_nwc_ros2< ROS_MSG >::m_node

protected

Definition at line 54 of file GenericSensor_nwc_ros2.h.

◆ m_periodInS

template<class ROS_MSG >

double GenericSensor_nwc_ros2< ROS_MSG >::m_periodInS {0.01}

protected

Definition at line 47 of file GenericSensor_nwc_ros2.h.

◆ m_sens_index

template<class ROS_MSG >

const size_t GenericSensor_nwc_ros2< ROS_MSG >::m_sens_index = 0

protected

Definition at line 51 of file GenericSensor_nwc_ros2.h.

◆ m_spinner

template<class ROS_MSG >

Ros2Spinner* GenericSensor_nwc_ros2< ROS_MSG >::m_spinner {nullptr}

protected

Definition at line 50 of file GenericSensor_nwc_ros2.h.

◆ m_subscription

template<class ROS_MSG >

rclcpp::Subscription<ROS_MSG>::SharedPtr GenericSensor_nwc_ros2< ROS_MSG >::m_subscription

protected

Definition at line 55 of file GenericSensor_nwc_ros2.h.

◆ m_timestamp

template<class ROS_MSG >

double GenericSensor_nwc_ros2< ROS_MSG >::m_timestamp

protected

Definition at line 48 of file GenericSensor_nwc_ros2.h.

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

opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nwc_ros2/GenericSensor_nwc_ros2.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GenericSensor_nwc_ros2()

◆ ~GenericSensor_nwc_ros2()

Member Function Documentation

◆ close()

◆ open()

◆ subscription_callback()

Member Data Documentation

◆ m_dataMutex

◆ m_framename

◆ m_internalStatus

◆ m_node

◆ m_periodInS

◆ m_sens_index

◆ m_spinner

◆ m_subscription

◆ m_timestamp