Helper object for parsing RPC port messages. More...

#include <ControlBoardWrapper/RPCMessagesParser.h>

Inheritance diagram for RPCMessagesParser:

Detailed Description

Helper object for parsing RPC port messages.

Definition at line 55 of file RPCMessagesParser.h.

Public Member Functions
	RPCMessagesParser ()
	Constructor. More...

void	init (ControlBoardWrapper *x)
	Initialization. More...

bool	respond (const yarp::os::Bottle &cmd, yarp::os::Bottle &response) override
	Respond to a message. More...

void	handleTorqueMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleControlModeMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleImpedanceMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleInteractionModeMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleProtocolVersionRequest (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleRemoteCalibratorMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleRemoteVariablesMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleCurrentMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handlePWMMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handlePidMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

virtual bool	initialize ()
	Initialize the internal data. More...

Public Member Functions inherited from yarp::dev::DeviceResponder
	DeviceResponder ()
	Constructor. More...

void	addUsage (const char txt, const char explain=nullptr)
	Add information about a message that the respond() method understands. More...

void	addUsage (const yarp::os::Bottle &bot, const char *explain=nullptr)
	Add information about a message that the respond() method understands. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Handler for reading messages from the network, and passing them on to the respond() method. More...

void	onRead (yarp::os::Bottle &v) override
	Alternative handler for reading messages from the network, and passing them on to the respond() method. More...

void	makeUsage ()
	Regenerate usage information. More...

void	attach (yarp::os::TypedReader< yarp::os::Bottle > &source)
	Attach this object to a source of messages. More...

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

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::TypedReaderCallback< yarp::os::Bottle >
virtual	~TypedReaderCallback ()
	Destructor. More...

virtual void	onRead (yarp::os::Bottle &datum)
	Callback method. More...

virtual void	onRead (yarp::os::Bottle &datum, const yarp::os::TypedReader< yarp::os::Bottle > &reader)
	Callback method. More...

Protected Attributes
ControlBoardWrapper *	ControlBoardWrapper_p

yarp::dev::IPidControl *	rpc_IPid

yarp::dev::IPositionControl *	rpc_IPosCtrl

yarp::dev::IPositionDirect *	rpc_IPosDirect

yarp::dev::IVelocityControl *	rpc_IVelCtrl

yarp::dev::IEncodersTimed *	rpc_IEncTimed

yarp::dev::IMotorEncoders *	rpc_IMotEnc

yarp::dev::IAmplifierControl *	rcp_IAmp

yarp::dev::IControlLimits *	rcp_Ilim

yarp::dev::ITorqueControl *	rpc_ITorque

yarp::dev::IControlMode *	rpc_iCtrlMode

yarp::dev::IAxisInfo *	rpc_AxisInfo

yarp::dev::IRemoteCalibrator *	rpc_IRemoteCalibrator

yarp::dev::IControlCalibration *	rpc_Icalib

yarp::dev::IImpedanceControl *	rpc_IImpedance

yarp::dev::IInteractionMode *	rpc_IInteract

yarp::dev::IMotor *	rpc_IMotor

yarp::dev::IRemoteVariables *	rpc_IVar

yarp::dev::ICurrentControl *	rpc_ICurrent

yarp::dev::IPWMControl *	rpc_IPWM

yarp::sig::Vector	tmpVect

yarp::os::Stamp	lastRpcStamp

std::mutex	mutex

int	controlledJoints

Constructor & Destructor Documentation

◆ RPCMessagesParser()

RPCMessagesParser::RPCMessagesParser ( )

Constructor.

Definition at line 2823 of file RPCMessagesParser.cpp.

Member Function Documentation

◆ handleControlModeMsg()

void RPCMessagesParser::handleControlModeMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 157 of file RPCMessagesParser.cpp.

◆ handleCurrentMsg()

void RPCMessagesParser::handleCurrentMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 850 of file RPCMessagesParser.cpp.

◆ handleImpedanceMsg()

void RPCMessagesParser::handleImpedanceMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 52 of file RPCMessagesParser.cpp.

◆ handleInteractionModeMsg()

void RPCMessagesParser::handleInteractionModeMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 666 of file RPCMessagesParser.cpp.

◆ handlePidMsg()

void RPCMessagesParser::handlePidMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 987 of file RPCMessagesParser.cpp.

◆ handleProtocolVersionRequest()

void RPCMessagesParser::handleProtocolVersionRequest	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 33 of file RPCMessagesParser.cpp.

◆ handlePWMMsg()

void RPCMessagesParser::handlePWMMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 1316 of file RPCMessagesParser.cpp.

◆ handleRemoteCalibratorMsg()

void RPCMessagesParser::handleRemoteCalibratorMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 1502 of file RPCMessagesParser.cpp.

◆ handleRemoteVariablesMsg()

void RPCMessagesParser::handleRemoteVariablesMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 1430 of file RPCMessagesParser.cpp.

◆ handleTorqueMsg()

void RPCMessagesParser::handleTorqueMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 465 of file RPCMessagesParser.cpp.

◆ init()

void RPCMessagesParser::init ( ControlBoardWrapper * x )

Initialization.

Parameters

x	is the pointer to the instance of the object that uses the RPCMessagesParser. This is required to recover the pointers to the interfaces that implement the responses to the commands.

Definition at line 2848 of file RPCMessagesParser.cpp.

◆ initialize()

bool RPCMessagesParser::initialize ( )

virtual

Initialize the internal data.

Returns: true/false on success/failure

Definition at line 2784 of file RPCMessagesParser.cpp.

◆ respond()

bool RPCMessagesParser::respond	(	const yarp::os::Bottle &	command,
		yarp::os::Bottle &	reply
	)

overridevirtual

Respond to a message.

Parameters

command	the message
reply	the response

Returns: true if there was no critical failure

Reimplemented from yarp::dev::DeviceResponder.

Definition at line 1614 of file RPCMessagesParser.cpp.

Member Data Documentation

◆ ControlBoardWrapper_p

ControlBoardWrapper* RPCMessagesParser::ControlBoardWrapper_p

protected

Definition at line 59 of file RPCMessagesParser.h.

◆ controlledJoints

int RPCMessagesParser::controlledJoints

protected

Definition at line 82 of file RPCMessagesParser.h.

◆ lastRpcStamp

yarp::os::Stamp RPCMessagesParser::lastRpcStamp

protected

Definition at line 80 of file RPCMessagesParser.h.

◆ mutex

std::mutex RPCMessagesParser::mutex

protected

Definition at line 81 of file RPCMessagesParser.h.

◆ rcp_IAmp

yarp::dev::IAmplifierControl* RPCMessagesParser::rcp_IAmp

protected

Definition at line 66 of file RPCMessagesParser.h.

◆ rcp_Ilim

yarp::dev::IControlLimits* RPCMessagesParser::rcp_Ilim

protected

Definition at line 67 of file RPCMessagesParser.h.

◆ rpc_AxisInfo

yarp::dev::IAxisInfo* RPCMessagesParser::rpc_AxisInfo

protected

Definition at line 70 of file RPCMessagesParser.h.

◆ rpc_Icalib

yarp::dev::IControlCalibration* RPCMessagesParser::rpc_Icalib

protected

Definition at line 72 of file RPCMessagesParser.h.

◆ rpc_iCtrlMode

yarp::dev::IControlMode* RPCMessagesParser::rpc_iCtrlMode

protected

Definition at line 69 of file RPCMessagesParser.h.

◆ rpc_ICurrent

yarp::dev::ICurrentControl* RPCMessagesParser::rpc_ICurrent

protected

Definition at line 77 of file RPCMessagesParser.h.

◆ rpc_IEncTimed

yarp::dev::IEncodersTimed* RPCMessagesParser::rpc_IEncTimed

protected

Definition at line 64 of file RPCMessagesParser.h.

◆ rpc_IImpedance

yarp::dev::IImpedanceControl* RPCMessagesParser::rpc_IImpedance

protected

Definition at line 73 of file RPCMessagesParser.h.

◆ rpc_IInteract

yarp::dev::IInteractionMode* RPCMessagesParser::rpc_IInteract

protected

Definition at line 74 of file RPCMessagesParser.h.

◆ rpc_IMotEnc

yarp::dev::IMotorEncoders* RPCMessagesParser::rpc_IMotEnc

protected

Definition at line 65 of file RPCMessagesParser.h.

◆ rpc_IMotor

yarp::dev::IMotor* RPCMessagesParser::rpc_IMotor

protected

Definition at line 75 of file RPCMessagesParser.h.

◆ rpc_IPid

yarp::dev::IPidControl* RPCMessagesParser::rpc_IPid

protected

Definition at line 60 of file RPCMessagesParser.h.

◆ rpc_IPosCtrl

yarp::dev::IPositionControl* RPCMessagesParser::rpc_IPosCtrl

protected

Definition at line 61 of file RPCMessagesParser.h.

◆ rpc_IPosDirect

yarp::dev::IPositionDirect* RPCMessagesParser::rpc_IPosDirect

protected

Definition at line 62 of file RPCMessagesParser.h.

◆ rpc_IPWM

yarp::dev::IPWMControl* RPCMessagesParser::rpc_IPWM

protected

Definition at line 78 of file RPCMessagesParser.h.

◆ rpc_IRemoteCalibrator

yarp::dev::IRemoteCalibrator* RPCMessagesParser::rpc_IRemoteCalibrator

protected

Definition at line 71 of file RPCMessagesParser.h.

◆ rpc_ITorque

yarp::dev::ITorqueControl* RPCMessagesParser::rpc_ITorque

protected

Definition at line 68 of file RPCMessagesParser.h.

◆ rpc_IVar

yarp::dev::IRemoteVariables* RPCMessagesParser::rpc_IVar

protected

Definition at line 76 of file RPCMessagesParser.h.

◆ rpc_IVelCtrl

yarp::dev::IVelocityControl* RPCMessagesParser::rpc_IVelCtrl

protected

Definition at line 63 of file RPCMessagesParser.h.

◆ tmpVect

yarp::sig::Vector RPCMessagesParser::tmpVect

protected

Definition at line 79 of file RPCMessagesParser.h.

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

src/devices/ControlBoardWrapper/RPCMessagesParser.h
src/devices/ControlBoardWrapper/RPCMessagesParser.cpp

Detailed Description

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ RPCMessagesParser()

Member Function Documentation

◆ handleControlModeMsg()

◆ handleCurrentMsg()

◆ handleImpedanceMsg()

◆ handleInteractionModeMsg()

◆ handlePidMsg()

◆ handleProtocolVersionRequest()

◆ handlePWMMsg()

◆ handleRemoteCalibratorMsg()

◆ handleRemoteVariablesMsg()

◆ handleTorqueMsg()

◆ init()

◆ initialize()

◆ respond()

Member Data Documentation

◆ ControlBoardWrapper_p

◆ controlledJoints

◆ lastRpcStamp

◆ mutex

◆ rcp_IAmp

◆ rcp_Ilim

◆ rpc_AxisInfo

◆ rpc_Icalib

◆ rpc_iCtrlMode

◆ rpc_ICurrent

◆ rpc_IEncTimed

◆ rpc_IImpedance

◆ rpc_IInteract

◆ rpc_IMotEnc

◆ rpc_IMotor

◆ rpc_IPid

◆ rpc_IPosCtrl

◆ rpc_IPosDirect

◆ rpc_IPWM

◆ rpc_IRemoteCalibrator

◆ rpc_ITorque

◆ rpc_IVar

◆ rpc_IVelCtrl

◆ tmpVect