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rangefinder2D_nws_yarp: A Network grabber for 2D Rangefinder devices. More...

#include <networkWrappers/Rangefinder2D_nws_yarp/Rangefinder2D_nws_yarp.h>

+ Inheritance diagram for Rangefinder2D_nws_yarp:

Public Member Functions

 Rangefinder2D_nws_yarp ()
 It reads the data from a rangefinder sensor and sends them on one port.
 
 ~Rangefinder2D_nws_yarp ()
 
bool open (yarp::os::Searchable &params) override
 Open the DeviceDriver.
 
bool close () override
 Close the DeviceDriver.
 
void attach (yarp::dev::IRangefinder2D *s)
 
bool attach (yarp::dev::PolyDriver *driver) override
 Specify which sensor this thread has to read from.
 
bool detach () override
 Detach the object (you must have first called attach).
 
bool threadInit () override
 Initialization method.
 
void threadRelease () override
 Release method.
 
void run () override
 Loop function.
 
bool read (yarp::os::ConnectionReader &connection) override
 Read this object from a network connection.
 
- 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::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 Rangefinder2D_nws_yarp_ParamsParser
 Rangefinder2D_nws_yarp_ParamsParser ()
 
 ~Rangefinder2D_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 ()
 

Additional Inherited Members

- Public Attributes inherited from Rangefinder2D_nws_yarp_ParamsParser
const std::string m_device_classname = {"Rangefinder2D_nws_yarp"}
 
const std::string m_device_name = {"rangefinder2D_nws_yarp"}
 
bool m_parser_is_strict = false
 
const parser_version_type m_parser_version = {}
 
const std::string m_period_defaultValue = {"0.02"}
 
const std::string m_name_defaultValue = {""}
 
const std::string m_frame_id_defaultValue = {""}
 
double m_period = {0.02}
 
std::string m_name = {}
 
std::string m_frame_id = {}
 
- Protected Member Functions inherited from yarp::os::PeriodicThread
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().
 

Detailed Description

rangefinder2D_nws_yarp: A Network grabber for 2D Rangefinder devices.

This device will stream data on the specified YARP ports.

This device is paired with its YARP client called rangefinder2D_nwc_yarp to receive the data streams and perform RPC operations.

Parameters required by this device are shown in class: Rangefinder2D_nws_yarp_ParamsParser

Definition at line 48 of file Rangefinder2D_nws_yarp.h.

Constructor & Destructor Documentation

◆ Rangefinder2D_nws_yarp()

Rangefinder2D_nws_yarp::Rangefinder2D_nws_yarp ( )

It reads the data from a rangefinder sensor and sends them on one port.

It also creates one rpc port.

Definition at line 29 of file Rangefinder2D_nws_yarp.cpp.

◆ ~Rangefinder2D_nws_yarp()

Rangefinder2D_nws_yarp::~Rangefinder2D_nws_yarp ( )

Definition at line 38 of file Rangefinder2D_nws_yarp.cpp.

Member Function Documentation

◆ attach() [1/2]

void Rangefinder2D_nws_yarp::attach ( yarp::dev::IRangefinder2D s)

Definition at line 83 of file Rangefinder2D_nws_yarp.cpp.

◆ attach() [2/2]

bool Rangefinder2D_nws_yarp::attach ( yarp::dev::PolyDriver driver)
overridevirtual

Specify which sensor this thread has to read from.

Implements yarp::dev::IWrapper.

Definition at line 47 of file Rangefinder2D_nws_yarp.cpp.

◆ close()

bool Rangefinder2D_nws_yarp::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 361 of file Rangefinder2D_nws_yarp.cpp.

◆ detach()

bool Rangefinder2D_nws_yarp::detach ( )
overridevirtual

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

Returns
true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 88 of file Rangefinder2D_nws_yarp.cpp.

◆ open()

bool Rangefinder2D_nws_yarp::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 290 of file Rangefinder2D_nws_yarp.cpp.

◆ read()

bool Rangefinder2D_nws_yarp::read ( yarp::os::ConnectionReader reader)
overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters
readeran interface to the network connection for reading
Returns
true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 98 of file Rangefinder2D_nws_yarp.cpp.

◆ run()

void Rangefinder2D_nws_yarp::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 317 of file Rangefinder2D_nws_yarp.cpp.

◆ threadInit()

bool Rangefinder2D_nws_yarp::threadInit ( )
overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 285 of file Rangefinder2D_nws_yarp.cpp.

◆ threadRelease()

void Rangefinder2D_nws_yarp::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 309 of file Rangefinder2D_nws_yarp.cpp.


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