Inheritance diagram for scriptModule:

Public Member Functions
bool	start () override
	Start (or resumes, if stopped) the currently selected action.

bool	stop () override
	Stops the currently selected (running) action.

bool	reset () override
	Rewinds the currently selected action.

bool	forever () override
	Similar to play, but it will automatically restart the playback when the last frame is reached.

bool	print_frames () override
	Prints all the frames of the currently selected action.

bool	speed_factor (const double value) override
	Sets the playback speed factor for the currently selected action (default value: 1.0).

bool	resample (const double value) override
	Resamples the currently selected action (in seconds, recommended value 0.010s).

bool	choose_action (const std::string &action_name) override
	Choose the current action and wait for further commands.

bool	play_action (const std::string &action_name) override
	Play an action one single time.

bool	show_actions () override
	Prints all the loaded actions.

bool	set_thread_period (const double value) override
	Sets the period of the sampling thread (for advanced use only, default value: 0.010s).

	scriptModule ()

	~scriptModule ()

bool	chooseActionByName (std::string id)

std::string	string_list_actions ()

bool	loadConfiguration (std::string filename, double resample_period)

void	print_help ()

virtual bool	configure (yarp::os::ResourceFinder &rf)
	Configure the module, pass a ResourceFinder object to the module.

virtual bool	close ()
	Close function.

virtual double	getPeriod ()
	You can override this to control the approximate periodicity at which updateModule() is called by runModule().

virtual bool	updateModule ()
	Override this to do whatever your module needs to do.

Public Member Functions inherited from yarp::os::RFModule
	RFModule ()
	Constructor.

virtual	~RFModule ()
	Destructor.

virtual int	runModule ()
	Calls updateModule() until that returns false.

virtual int	runModule (yarp::os::ResourceFinder &rf)
	Simple helper method to call configure() and then runModule().

virtual int	runModuleThreaded ()
	Calls updateModule() on a separate thread until that returns false.

virtual int	runModuleThreaded (yarp::os::ResourceFinder &rf)
	Simple helper method to call configure() and then runModule() on a separate thread.

virtual int	getThreadKey ()
	return the Thread unique identifier

virtual bool	respond (const Bottle &command, Bottle &reply)
	Respond to a message.

virtual bool	attach (yarp::os::Port &source)
	Make any input from a Port object go to the respond() method.

virtual bool	attach (yarp::os::RpcServer &source)
	Make any input from an RpcServer object go to the respond() method.

bool	attachTerminal ()
	Make any input from standard input (usually the keyboard) go to the respond() method.

bool	detachTerminal ()
	Detach terminal.

virtual bool	interruptModule ()
	Try to halt any ongoing operations by threads managed by the module.

void	stopModule (bool wait=false)
	Ask the module to stop.

bool	isStopping ()
	Check if the module should stop.

bool	joinModule (double seconds=-1)
	The function returns when the thread execution has completed.

std::string	getName (const std::string &subName="")
	Return name of module, as set with setName().

void	setName (const char *name)
	Set the name of the module.

bool	safeRespond (const Bottle &command, Bottle &reply)
	Wrapper around respond() that is guaranteed to process system messages.

Public Member Functions inherited from yarpActionsPlayer_IDL
virtual yarp::os::ApplicationNetworkProtocolVersion	getLocalProtocolVersion ()

virtual yarp::os::ApplicationNetworkProtocolVersion	getRemoteProtocolVersion ()

virtual bool	checkProtocolVersion ()

	yarpActionsPlayer_IDL ()

virtual std::vector< std::string >	help (const std::string &functionName="--all")

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

Public Member Functions inherited from yarp::os::Wire
yarp::os::WireLink &	yarp ()
	Get YARP state associated with this object.

const yarp::os::WireLink &	yarp () const
	Get YARP state associated with this object (const version).

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Protected Attributes
yarp::os::Port	m_rpcPort

std::string	m_name

bool	m_verbose

std::map< std::string, robotDriver * >	m_robotControllers

std::map< std::string, action_class >	m_actions

ControlThread *	m_wthread =nullptr

BroadcastingThread *	m_bthread =nullptr

std::string	m_current_action_id

Detailed Description

Definition at line 31 of file main.cpp.

Constructor & Destructor Documentation

◆ scriptModule()

scriptModule::scriptModule ( )

inline

Definition at line 58 of file main.cpp.

◆ ~scriptModule()

scriptModule::~scriptModule ( )

inline

Definition at line 63 of file main.cpp.

Member Function Documentation

◆ choose_action()

bool scriptModule::choose_action ( const std::string & action_name )

overridevirtual

Choose the current action and wait for further commands.

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 439 of file main.cpp.

◆ chooseActionByName()

bool scriptModule::chooseActionByName ( std::string id )

inline

Definition at line 88 of file main.cpp.

◆ close()

virtual bool scriptModule::close ( )

inlinevirtual

Close function.

This is called automatically when the module closes, after the last call to updateModule. Override this to cleanup memory allocated in the configure() function or perform other activities that ensure graceful shutdown.

Returns: true/false on success failure.

Reimplemented from yarp::os::RFModule.

Definition at line 373 of file main.cpp.

◆ configure()

virtual bool scriptModule::configure ( yarp::os::ResourceFinder & rf )

inlinevirtual

Configure the module, pass a ResourceFinder object to the module.

This function can perform initialization including object creation and memory allocation; returns false to notify that initialization was not successful and that the module should not start. Cleanup should be performed by the function close(). In case of failure during the initialization and before returning false, the function configure() should cleanup memory and resources allocated.

Parameters

rf	a previously initialized ResourceFinder

Returns: true/false upon success/failure

Note: attachTerminal() is no longer called automatically. You can call it in the configure function.

Reimplemented from yarp::os::RFModule.

Definition at line 248 of file main.cpp.

◆ forever()

bool scriptModule::forever ( )

overridevirtual

Similar to play, but it will automatically restart the playback when the last frame is reached.

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 419 of file main.cpp.

◆ getPeriod()

virtual double scriptModule::getPeriod ( )

inlinevirtual

You can override this to control the approximate periodicity at which updateModule() is called by runModule().

By default, it returns 1.0. Time here is in seconds.

Returns: the desired period between successive calls to updateModule()

Reimplemented from yarp::os::RFModule.

Definition at line 380 of file main.cpp.

◆ loadConfiguration()

bool scriptModule::loadConfiguration	(	std::string	filename,
		double	resample_period
	)

inline

Definition at line 123 of file main.cpp.

◆ play_action()

bool scriptModule::play_action ( const std::string & action_name )

overridevirtual

Play an action one single time.

The call blocks untils the playback is complete.

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 444 of file main.cpp.

◆ print_frames()

bool scriptModule::print_frames ( )

overridevirtual

Prints all the frames of the currently selected action.

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 424 of file main.cpp.

◆ print_help()

void scriptModule::print_help ( )

inline

Definition at line 231 of file main.cpp.

◆ resample()

bool scriptModule::resample ( const double value )

overridevirtual

Resamples the currently selected action (in seconds, recommended value 0.010s).

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 434 of file main.cpp.

◆ reset()

bool scriptModule::reset ( )

overridevirtual

Rewinds the currently selected action.

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 414 of file main.cpp.

◆ set_thread_period()

bool scriptModule::set_thread_period ( const double value )

overridevirtual

Sets the period of the sampling thread (for advanced use only, default value: 0.010s).

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 466 of file main.cpp.

◆ show_actions()

bool scriptModule::show_actions ( )

overridevirtual

Prints all the loaded actions.

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 456 of file main.cpp.

◆ speed_factor()

bool scriptModule::speed_factor ( const double value )

overridevirtual

Sets the playback speed factor for the currently selected action (default value: 1.0).

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 429 of file main.cpp.

◆ start()

bool scriptModule::start ( )

overridevirtual

Start (or resumes, if stopped) the currently selected action.

It will stop when the last frame is reached.

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 404 of file main.cpp.

◆ stop()

bool scriptModule::stop ( )

overridevirtual

Stops the currently selected (running) action.

Can be resumed by start.

Returns: true/false on success/failure

Reimplemented from yarpActionsPlayer_IDL.

Definition at line 409 of file main.cpp.

◆ string_list_actions()

std::string scriptModule::string_list_actions ( )

inline

Definition at line 112 of file main.cpp.

◆ updateModule()

virtual bool scriptModule::updateModule ( )

inlinevirtual

Override this to do whatever your module needs to do.

When your module wants to stop, return false. The module's actual work could be done during this call, or it could just check the state of a thread running in the background.

The thread calls the updateModule() function every <period> seconds. 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 updateModule() 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.

Returns: true iff module should continue

Implements yarp::os::RFModule.

Definition at line 381 of file main.cpp.

Member Data Documentation

◆ m_actions

std::map<std::string,action_class> scriptModule::m_actions

protected

Definition at line 38 of file main.cpp.

◆ m_bthread

BroadcastingThread* scriptModule::m_bthread =nullptr

protected

Definition at line 40 of file main.cpp.

◆ m_current_action_id

std::string scriptModule::m_current_action_id

protected

Definition at line 42 of file main.cpp.

◆ m_name

std::string scriptModule::m_name

protected

Definition at line 35 of file main.cpp.

◆ m_robotControllers

std::map<std::string,robotDriver*> scriptModule::m_robotControllers

protected

Definition at line 37 of file main.cpp.

◆ m_rpcPort

yarp::os::Port scriptModule::m_rpcPort

protected

Definition at line 34 of file main.cpp.

◆ m_verbose

bool scriptModule::m_verbose

protected

Definition at line 36 of file main.cpp.

◆ m_wthread

ControlThread* scriptModule::m_wthread =nullptr

protected

Definition at line 39 of file main.cpp.

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

src/commands/yarpActionsPlayer/main.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ scriptModule()

◆ ~scriptModule()

Member Function Documentation

◆ choose_action()

◆ chooseActionByName()

◆ close()

◆ configure()

◆ forever()

◆ getPeriod()

◆ loadConfiguration()

◆ play_action()

◆ print_frames()

◆ print_help()

◆ resample()

◆ reset()

◆ set_thread_period()

◆ show_actions()

◆ speed_factor()

◆ start()

◆ stop()

◆ string_list_actions()

◆ updateModule()

Member Data Documentation

◆ m_actions

◆ m_bthread

◆ m_current_action_id

◆ m_name

◆ m_robotControllers

◆ m_rpcPort

◆ m_verbose

◆ m_wthread