YARP
Yet Another Robot Platform

multipleanalogsensorsserver: The server side of the MultipleAnalogSensorsClient, useful to expose device implementing MultipleAnalogSensors interfaces over the YARP network. More...

#include <multipleanalogsensorsserver/MultipleAnalogSensorsServer.h>

+ Inheritance diagram for MultipleAnalogSensorsServer:

Public Member Functions

 MultipleAnalogSensorsServer ()
 
 ~MultipleAnalogSensorsServer ()
 
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...
 
SensorRPCData getMetadata () override
 Read the sensor metadata necessary to configure the MultipleAnalogSensorsClient device. 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...
 
- Public Member Functions inherited from yarp::os::Wire
yarp::os::WireLinkyarp ()
 Get YARP state associated with this object. More...
 
const yarp::os::WireLinkyarp () const
 Get YARP state associated with this object (const version). More...
 
- Public Member Functions inherited from yarp::os::PortReader
virtual ~PortReader ()
 Destructor. More...
 
virtual Type getReadType () const
 

Additional Inherited Members

- 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...
 

Detailed Description

multipleanalogsensorsserver: The server side of the MultipleAnalogSensorsClient, useful to expose device implementing MultipleAnalogSensors interfaces over the YARP network.

This device opens two ports: /${name}/measures:o that streams the data of the sensors, and /${name}/rpc:o that is a YARP RPC port that exposes the metadata. The data on the /${name}/measures:o is streamed every ${period} milliseconds, and an envelope to each data is added with a timestamp obtained by calling the yarp::os::Time::now() method when the message is written on the port.

YARP device name
multipleanalogsensorsserver

The parameters accepted by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
name - string - - Yes Prefix of the port opened by this device MUST start with a '/' character
period - int ms - Yes Refresh period of the broadcasted values in ms

Definition at line 40 of file MultipleAnalogSensorsServer.h.

Constructor & Destructor Documentation

◆ MultipleAnalogSensorsServer()

MultipleAnalogSensorsServer::MultipleAnalogSensorsServer ( )

Definition at line 21 of file MultipleAnalogSensorsServer.cpp.

◆ ~MultipleAnalogSensorsServer()

MultipleAnalogSensorsServer::~MultipleAnalogSensorsServer ( )
default

Member Function Documentation

◆ attachAll()

bool MultipleAnalogSensorsServer::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 248 of file MultipleAnalogSensorsServer.cpp.

◆ close()

bool MultipleAnalogSensorsServer::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 103 of file MultipleAnalogSensorsServer.cpp.

◆ detachAll()

bool MultipleAnalogSensorsServer::detachAll ( )
overridevirtual

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

Returns
true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 339 of file MultipleAnalogSensorsServer.cpp.

◆ getMetadata()

SensorRPCData MultipleAnalogSensorsServer::getMetadata ( )
overridevirtual

Read the sensor metadata necessary to configure the MultipleAnalogSensorsClient device.

Reimplemented from MultipleAnalogSensorsMetadata.

Definition at line 353 of file MultipleAnalogSensorsServer.cpp.

◆ open()

bool MultipleAnalogSensorsServer::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 28 of file MultipleAnalogSensorsServer.cpp.

◆ run()

void MultipleAnalogSensorsServer::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 390 of file MultipleAnalogSensorsServer.cpp.

◆ threadRelease()

void MultipleAnalogSensorsServer::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 458 of file MultipleAnalogSensorsServer.cpp.


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