Network Servers (Wrappers)

These devices take implementations of existing interfaces and wrap them up to work across the network. More...

Collaboration diagram for Network Servers (Wrappers):

Detailed Description

These devices take implementations of existing interfaces and wrap them up to work across the network.

Classes
class	ControlBoardWrapper
class	Map2DServer
class	GenericSensorRosPublisher< ROS_MSG >
	This abstract template needs to be specialized in a ROS Publisher, for a specific ROS mesagge/sensor type. More...
class	IMURosPublisher
	This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::Imu. More...
class	MagneticFieldRosPublisher
	This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::MagneticField. More...
class	PoseStampedRosPublisher
	This wrapper connects to a device and publishes a ROS topic of type geometry_msgs::PoseStamped. More...
class	TemperatureRosPublisher
	This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::Temperature. More...
class	WrenchStampedRosPublisher
	This wrapper connects to a device and publishes a ROS topic of type geometry_msgs::WrenchStamped. More...
class	MultipleAnalogSensorsServer
	The server side of the MultipleAnalogSensorsClient, useful to expose device implementing MultipleAnalogSensors interfaces over the YARP network. More...
class	RGBDSensorWrapper
class	RobotDescriptionServer
	This device is a storage which contains a list of the currently opened device drivers. More...
class	ServerFrameGrabber
	Export a frame grabber to the network. More...
class	ServerGrabber
class	ServerInertial
class	ServerSerial
	Export a serial sensor. More...
class	ServerSoundGrabber
	Export a microphone device. More...
class	VirtualAnalogWrapper
	An analog wrapper for virtual device A virtual device is a software emulated device, for example force-torque computed from a real sensor and then relocated to another part of the robot or some kind of estimated measurement needed by the robot. More...

Macros
#define	DEFAULT_THREAD_PERIOD   0.02
	Device that expose a battery sensor (using the IBattery interface) on the YARP network. More...

Macro Definition Documentation

DEFAULT_THREAD_PERIOD

#define DEFAULT_THREAD_PERIOD   0.02

Device that expose a battery sensor (using the IBattery interface) on the YARP network.

Description of input parameters

It reads the data from a battery sensor and sends them on a port, acting as a streaming server for a batteryClient device. It creates one rpc port and its related handler for every output port.

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
name	-	string	-	-	Yes	prefix of the ports opened by the device, e.g. /robotName/battery1	MUST start with a '/' character. /data:o and /rpc:i is automatically appended by the wrapper at the end
period	-	double	s	1.0	No	refresh period of the broadcasted values in seconds	optional, default 1.0s
subdevice	-	string	-	-	No	name of the subdevice to instantiate	when used, parameters for the subdevice must be provided as well
enable_shutdown	-	bool	-	false	No	if enabled, batteryWrapper will start a system shutdown when charge is below 5%	-
enable_log	-	bool	-	false	No	if enabled, stores a log of battery usage on disk	data stored on file batteryLog.txt
quitPortName	-	string	-	-	No	name of port used to terminate the execution of yarpRobotInterface	used only if enable_shutdown=true

Some example of configuration files:

Configuration file using .ini format, using subdevice keyword.

 device  batteryWrapper
 subdevice fakeBattery
 name /myBatterySensor
 
** parameter for 'fakeBattery' subdevice follows here **
...

Configuration file using .xml format.

<device name="battery1" type="batteryWrapper">
    <param name="period">   20                  </param>
    <param name="name">   /myBatterySensor       </param>
 
    <action phase="startup" level="5" type="attach">
        <paramlist name="networks">
            <elem name="my_battery">  my_battery </elem>
        </paramlist>
    </action>
 
    <action phase="shutdown" level="5" type="detach" />
</device>

Definition at line 101 of file BatteryWrapper.h.