#include <networkWrappers/navigation2D_nws_yarp/Navigation2D_nws_yarp.h>
Public Member Functions | |
Navigation2D_nws_yarp () | |
Default module constructor. | |
virtual bool | open (yarp::os::Searchable &prop) override |
Open the DeviceDriver. | |
virtual bool | close () override |
Close the DeviceDriver. | |
virtual bool | detach () override |
Detach the object (you must have first called attach). | |
virtual bool | attach (yarp::dev::PolyDriver *drv) override |
Attach to another object. | |
virtual void | run () override |
Loop function. | |
bool | initialize_YARP (yarp::os::Searchable &config) |
virtual bool | read (yarp::os::ConnectionReader &connection) override |
Read this object from a network connection. | |
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. | |
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::WrapperSingle | |
~WrapperSingle () override | |
Destructor. | |
bool | attachAll (const yarp::dev::PolyDriverList &drivers) final |
Attach to a list of objects. | |
bool | detachAll () final |
Detach the object (you must have first called attach). | |
Public Member Functions inherited from yarp::dev::IWrapper | |
virtual | ~IWrapper () |
Destructor. | |
Public Member Functions inherited from yarp::dev::IMultipleWrapper | |
virtual | ~IMultipleWrapper () |
Destructor. | |
Public Member Functions inherited from yarp::os::PortReader | |
virtual | ~PortReader () |
Destructor. | |
virtual Type | getReadType () const |
Public Member Functions inherited from Navigation2D_nws_yarp_ParamsParser | |
Navigation2D_nws_yarp_ParamsParser () | |
~Navigation2D_nws_yarp_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. | |
Public Member Functions inherited from yarp::dev::IDeviceDriverParams | |
virtual | ~IDeviceDriverParams () |
Protected Attributes | |
INavigation2DRPCd | m_RPC |
yarp::os::Port | m_rpcPort |
yarp::os::Port | m_statusPort |
std::string | m_rpcPortName |
std::string | m_statusPortName |
yarp::dev::Nav2D::NavigationStatusEnum | m_navigation_status |
std::string | m_prev_navigation_status |
yarp::dev::PolyDriver | pNav |
yarp::dev::Nav2D::INavigation2DControlActions * | iNav_ctrl = nullptr |
yarp::dev::Nav2D::INavigation2DTargetActions * | iNav_target = nullptr |
yarp::dev::Nav2D::INavigation2DVelocityActions * | iNav_vel = nullptr |
double | m_stats_time_last |
Additional Inherited Members | |
Public Attributes inherited from Navigation2D_nws_yarp_ParamsParser | |
const std::string | m_device_classname = {"Navigation2D_nws_yarp"} |
const std::string | m_device_name = {"navigation2D_nws_yarp"} |
bool | m_parser_is_strict = false |
const parser_version_type | m_parser_version = {} |
const std::string | m_GENERAL_period_defaultValue = {"0.01"} |
const std::string | m_GENERAL_name_defaultValue = {"/navigation2D_nws_yarp"} |
double | m_GENERAL_period = {0.01} |
std::string | m_GENERAL_name = {"/navigation2D_nws_yarp"} |
Protected Member Functions inherited from yarp::os::PeriodicThread | |
virtual bool | threadInit () |
Initialization method. | |
virtual void | threadRelease () |
Release 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(). | |
Definition at line 39 of file Navigation2D_nws_yarp.h.
Navigation2D_nws_yarp::Navigation2D_nws_yarp | ( | ) |
Default module constructor.
Definition at line 27 of file Navigation2D_nws_yarp.cpp.
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overridevirtual |
Attach to another object.
driver | the polydriver that you want to attach to. |
Implements yarp::dev::IWrapper.
Definition at line 34 of file Navigation2D_nws_yarp.cpp.
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overridevirtual |
Close the DeviceDriver.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 110 of file Navigation2D_nws_yarp.cpp.
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overridevirtual |
Detach the object (you must have first called attach).
Implements yarp::dev::IWrapper.
Definition at line 61 of file Navigation2D_nws_yarp.cpp.
bool Navigation2D_nws_yarp::initialize_YARP | ( | yarp::os::Searchable & | config | ) |
Definition at line 92 of file Navigation2D_nws_yarp.cpp.
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overridevirtual |
Open the DeviceDriver.
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). |
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 74 of file Navigation2D_nws_yarp.cpp.
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overridevirtual |
Read this object from a network connection.
Override this for your particular class.
reader | an interface to the network connection for reading |
Implements yarp::os::PortReader.
Definition at line 122 of file Navigation2D_nws_yarp.cpp.
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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 136 of file Navigation2D_nws_yarp.cpp.
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Definition at line 58 of file Navigation2D_nws_yarp.h.
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Definition at line 59 of file Navigation2D_nws_yarp.h.
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Definition at line 60 of file Navigation2D_nws_yarp.h.
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Definition at line 53 of file Navigation2D_nws_yarp.h.
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Definition at line 54 of file Navigation2D_nws_yarp.h.
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Definition at line 47 of file Navigation2D_nws_yarp.h.
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Definition at line 49 of file Navigation2D_nws_yarp.h.
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Definition at line 51 of file Navigation2D_nws_yarp.h.
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Definition at line 62 of file Navigation2D_nws_yarp.h.
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Definition at line 50 of file Navigation2D_nws_yarp.h.
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Definition at line 52 of file Navigation2D_nws_yarp.h.
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Definition at line 57 of file Navigation2D_nws_yarp.h.