#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/src/commands/yarprobotinterface/Module.h>

Inheritance diagram for yarprobotinterface::Module:

Classes
class	Private

Public Member Functions
	Module ()

virtual	~Module ()

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

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

bool	close () override
	Close function.

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

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

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

std::string	get_phase () override
	Returns current phase.

int32_t	get_level () override
	Returns current level.

bool	is_ready () override
	Returns true if yarprobotinterface is ready (all startup actions performed and no interrupt called).

std::string	get_robot () override
	Returns robot name.

std::string	quit () override
	Closes yarprobotinterface.

std::string	bye () override
	Closes yarprobotinterface.

std::string	exit () override
	Closes yarprobotinterface.

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.

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

bool	detachTerminal ()
	Detach terminal.

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 yarprobotinterfaceRpc
virtual yarp::os::ApplicationNetworkProtocolVersion	getLocalProtocolVersion ()

virtual yarp::os::ApplicationNetworkProtocolVersion	getRemoteProtocolVersion ()

virtual bool	checkProtocolVersion ()

	yarprobotinterfaceRpc ()

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

Detailed Description

Definition at line 15 of file Module.h.

Constructor & Destructor Documentation

◆ Module()

yarprobotinterface::Module::Module ( )

explicit

Definition at line 92 of file Module.cpp.

◆ ~Module()

yarprobotinterface::Module::~Module ( )

virtual

Definition at line 105 of file Module.cpp.

Member Function Documentation

◆ attach()

bool yarprobotinterface::Module::attach ( yarp::os::RpcServer & source )

overridevirtual

Make any input from an RpcServer object go to the respond() method.

Parameters

source the RpcServer port to attach

Returns: true if source was attached correctly.

Reimplemented from yarp::os::RFModule.

Definition at line 276 of file Module.cpp.

◆ bye()

std::string yarprobotinterface::Module::bye ( )

inlineoverridevirtual

Closes yarprobotinterface.

Reimplemented from yarprobotinterfaceRpc.

Definition at line 39 of file Module.h.

◆ close()

bool yarprobotinterface::Module::close ( )

overridevirtual

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 242 of file Module.cpp.

◆ configure()

bool yarprobotinterface::Module::configure ( yarp::os::ResourceFinder & rf )

overridevirtual

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 110 of file Module.cpp.

◆ exit()

std::string yarprobotinterface::Module::exit ( )

inlineoverridevirtual

Closes yarprobotinterface.

Reimplemented from yarprobotinterfaceRpc.

Definition at line 40 of file Module.h.

◆ get_level()

int32_t yarprobotinterface::Module::get_level ( )

overridevirtual

Returns current level.

Reimplemented from yarprobotinterfaceRpc.

Definition at line 287 of file Module.cpp.

◆ get_phase()

std::string yarprobotinterface::Module::get_phase ( )

overridevirtual

Returns current phase.

Reimplemented from yarprobotinterfaceRpc.

Definition at line 282 of file Module.cpp.

◆ get_robot()

std::string yarprobotinterface::Module::get_robot ( )

overridevirtual

Returns robot name.

Reimplemented from yarprobotinterfaceRpc.

Definition at line 297 of file Module.cpp.

◆ getPeriod()

double yarprobotinterface::Module::getPeriod ( )

overridevirtual

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 186 of file Module.cpp.

◆ interruptModule()

bool yarprobotinterface::Module::interruptModule ( )

overridevirtual

Try to halt any ongoing operations by threads managed by the module.

This is called asynchronously just after a quit command is received. By default it does nothing - you may want to override this. If you have created any ports, and have any threads that are might be blocked on reading data from those ports, this is a good place to add calls to BufferedPort::interrupt() or Port::interrupt().

Returns: true if there was no catastrophic failure

Reimplemented from yarp::os::RFModule.

Definition at line 204 of file Module.cpp.

◆ is_ready()

bool yarprobotinterface::Module::is_ready ( )

overridevirtual

Returns true if yarprobotinterface is ready (all startup actions performed and no interrupt called).

Reimplemented from yarprobotinterfaceRpc.

Definition at line 292 of file Module.cpp.

◆ quit()

std::string yarprobotinterface::Module::quit ( )

overridevirtual

Closes yarprobotinterface.

Reimplemented from yarprobotinterfaceRpc.

Definition at line 302 of file Module.cpp.

◆ updateModule()

bool yarprobotinterface::Module::updateModule ( )

overridevirtual

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 191 of file Module.cpp.

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

src/commands/yarprobotinterface/Module.h
src/commands/yarprobotinterface/Module.cpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Module()

◆ ~Module()

Member Function Documentation

◆ attach()

◆ bye()

◆ close()

◆ configure()

◆ exit()

◆ get_level()

◆ get_phase()

◆ get_robot()

◆ getPeriod()

◆ interruptModule()

◆ is_ready()

◆ quit()

◆ updateModule()