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GenericSensor_nws_ros2< 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 </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nws_ros2/GenericSensor_nws_ros2.h>

+ Inheritance diagram for GenericSensor_nws_ros2< ROS_MSG >:

Public Member Functions

 GenericSensor_nws_ros2 ()
 
virtual ~GenericSensor_nws_ros2 ()
 
bool open (yarp::os::Searchable &params) override
 Open the DeviceDriver.
 
bool close () override
 Close the DeviceDriver.
 
bool attachAll (const yarp::dev::PolyDriverList &p) override
 Attach to a list of objects.
 
bool detachAll () override
 Detach the object (you must have first called attach).
 
void threadRelease () override
 Release method.
 
void run () override
 Loop function.
 
- 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 yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (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 DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others.
 
- Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual ~IMultipleWrapper ()
 Destructor.
 

Protected Member Functions

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

Protected Attributes

double m_periodInS {0.01}
 
std::string m_publisherName
 
std::string m_rosNodeName
 
rclcpp::Node::SharedPtr m_node
 
rclcpp::Publisher< ROS_MSG >::SharedPtr m_publisher
 
yarp::dev::PolyDriverm_poly
 
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 GenericSensor_nws_ros2< ROS_MSG >

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

YARP device name
GenericSensor_nws_ros2

The parameters accepted by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
topic_name - string - - Yes The name of the ROS topic opened by this device. MUST start with a '/' character
node_name - string - - Yes 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 GenericSensor_nws_ros2.h.

Constructor & Destructor Documentation

◆ GenericSensor_nws_ros2()

template<class ROS_MSG >
GenericSensor_nws_ros2< ROS_MSG >::GenericSensor_nws_ros2 ( )

Definition at line 81 of file GenericSensor_nws_ros2.h.

◆ ~GenericSensor_nws_ros2()

template<class ROS_MSG >
GenericSensor_nws_ros2< ROS_MSG >::~GenericSensor_nws_ros2 ( )
virtualdefault

Member Function Documentation

◆ attachAll()

template<class ROS_MSG >
bool GenericSensor_nws_ros2< 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 162 of file GenericSensor_nws_ros2.h.

◆ close()

template<class ROS_MSG >
bool GenericSensor_nws_ros2< ROS_MSG >::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 156 of file GenericSensor_nws_ros2.h.

◆ detachAll()

template<class ROS_MSG >
bool GenericSensor_nws_ros2< 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 200 of file GenericSensor_nws_ros2.h.

◆ open()

template<class ROS_MSG >
bool GenericSensor_nws_ros2< 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 94 of file GenericSensor_nws_ros2.h.

◆ run()

template<class ROS_MSG >
void GenericSensor_nws_ros2< 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.

Reimplemented in Imu_nws_ros2, and WrenchStamped_nws_ros2.

Definition at line 210 of file GenericSensor_nws_ros2.h.

◆ threadRelease()

template<class ROS_MSG >
void GenericSensor_nws_ros2< 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 215 of file GenericSensor_nws_ros2.h.

◆ viewInterfaces()

template<class ROS_MSG >
virtual bool GenericSensor_nws_ros2< ROS_MSG >::viewInterfaces ( )
protectedpure virtual

Implemented in Imu_nws_ros2, and WrenchStamped_nws_ros2.

Member Data Documentation

◆ m_framename

template<class ROS_MSG >
std::string GenericSensor_nws_ros2< ROS_MSG >::m_framename
protected

Definition at line 56 of file GenericSensor_nws_ros2.h.

◆ m_node

template<class ROS_MSG >
rclcpp::Node::SharedPtr GenericSensor_nws_ros2< ROS_MSG >::m_node
protected

Definition at line 52 of file GenericSensor_nws_ros2.h.

◆ m_periodInS

template<class ROS_MSG >
double GenericSensor_nws_ros2< ROS_MSG >::m_periodInS {0.01}
protected

Definition at line 49 of file GenericSensor_nws_ros2.h.

◆ m_poly

template<class ROS_MSG >
yarp::dev::PolyDriver* GenericSensor_nws_ros2< ROS_MSG >::m_poly
protected

Definition at line 54 of file GenericSensor_nws_ros2.h.

◆ m_publisher

template<class ROS_MSG >
rclcpp::Publisher<ROS_MSG>::SharedPtr GenericSensor_nws_ros2< ROS_MSG >::m_publisher
protected

Definition at line 53 of file GenericSensor_nws_ros2.h.

◆ m_publisherName

template<class ROS_MSG >
std::string GenericSensor_nws_ros2< ROS_MSG >::m_publisherName
protected

Definition at line 50 of file GenericSensor_nws_ros2.h.

◆ m_rosNodeName

template<class ROS_MSG >
std::string GenericSensor_nws_ros2< ROS_MSG >::m_rosNodeName
protected

Definition at line 51 of file GenericSensor_nws_ros2.h.

◆ m_sens_index

template<class ROS_MSG >
const size_t GenericSensor_nws_ros2< ROS_MSG >::m_sens_index = 0
protected

Definition at line 57 of file GenericSensor_nws_ros2.h.

◆ m_subdevicedriver

template<class ROS_MSG >
yarp::dev::PolyDriver GenericSensor_nws_ros2< ROS_MSG >::m_subdevicedriver
protected

Definition at line 58 of file GenericSensor_nws_ros2.h.

◆ m_timestamp

template<class ROS_MSG >
double GenericSensor_nws_ros2< ROS_MSG >::m_timestamp
protected

Definition at line 55 of file GenericSensor_nws_ros2.h.


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