MobileBaseVelocityControl_nws_yarp: A device which allows a client to control the velocity of a mobile base from YARP. The device opens two ports: a streaming port /exampleName:i for receiving streaming commands, and a rpc port /exampleName:rpc for rpc connection with a MobileBaseVelocityControl_nwc_yarp client device. More...

#include <mobileBaseVelocityControl_nws_yarp/MobileBaseVelocityControl_nws_yarp.h>

Inheritance diagram for VelocityInputPortProcessor:

Public Member Functions
void	onRead (yarp::dev::MobileBaseVelocity &v) override

Public Member Functions inherited from yarp::os::BufferedPort< yarp::dev::MobileBaseVelocity >
	BufferedPort ()
	Constructor. More...

	BufferedPort (Port &port)
	Wrap an existing unbuffered port. More...

virtual	~BufferedPort ()
	Destructor. More...

bool	open (const std::string &name) override
	Start port operation, with a specific name, with automatically-chosen network parameters. More...

bool	open (const Contact &contact, bool registerName=true) override
	Start port operation with user-chosen network parameters. More...

bool	addOutput (const std::string &name) override
	Add an output connection to the specified port. More...

bool	addOutput (const std::string &name, const std::string &carrier) override
	Add an output connection to the specified port, using a specified carrier. More...

bool	addOutput (const Contact &contact) override
	Add an output connection to the specified port, using specified network parameters. More...

void	close () override
	Stop port activity. More...

void	interrupt () override
	Interrupt any current reads or writes attached to the port. More...

void	resume () override
	Put the port back in an operative state after interrupt() has been called. More...

int	getPendingReads () override
	Get the number of objects ready to be read. More...

Contact	where () const override
	Returns information about how this port can be reached. More...

std::string	getName () const override
	Get name of port. More...

yarp::dev::MobileBaseVelocity &	prepare ()
	Access the object which will be transmitted by the next call to yarp::os::BufferedPort::write. More...

bool	unprepare ()
	Give the last prepared object back to YARP without writing it. More...

void	write (bool forceStrict=false)
	Write the current object being returned by BufferedPort::prepare. More...

void	writeStrict ()
	Write the current object being returned by BufferedPort::prepare, waiting until any previous sends are complete. More...

void	waitForWrite ()
	Wait for any pending writes to complete. More...

void	setStrict (bool strict=true) override
	Call this to strictly keep all messages, or allow old ones to be quietly dropped. More...

yarp::dev::MobileBaseVelocity *	read (bool shouldWait=true) override
	Read an available object from the port. More...

yarp::dev::MobileBaseVelocity *	lastRead () override
	Get the last data returned by read() More...

bool	isClosed () override
	Returns whether the port associated with this reader has been closed. More...

void	setReplier (PortReader &reader) override
	If a message is received that requires a reply, use this handler. More...

void	setReader (PortReader &reader) override
	Set an external reader for port data. More...

void	setAdminReader (PortReader &reader) override
	Set an external reader for unrecognized administrative port messages. More...

void	onRead (yarp::dev::MobileBaseVelocity &datum) override
	Callback method. More...

void	useCallback (TypedReaderCallback< yarp::dev::MobileBaseVelocity > &callback) override
	Set an object whose onRead method will be called when data is available. More...

void	useCallback ()
	Use own onRead() method as callback. More...

void	disableCallback () override
	Remove a callback set up with useCallback() More...

bool	setEnvelope (PortWriter &envelope) override
	Set an envelope (e.g., a timestamp) to the next message which will be sent. More...

bool	getEnvelope (PortReader &envelope) override
	Get the envelope information (e.g., a timestamp) from the last message received on the port. More...

int	getInputCount () override
	Determine how many connections are arriving into this port. More...

int	getOutputCount () override
	Determine how many output connections this port has. More...

bool	isWriting () override
	Report whether the port is currently writing data. More...

void	getReport (PortReport &reporter) override
	Get information on the state of the port - connections etc. More...

void	setReporter (PortReport &reporter) override
	Set a callback to be called upon any future connections and disconnections to/from the port. More...

void	resetReporter () override
	Remove the callback which is called upon any future connections and disconnections to/from the port. More...

void *	acquire () override
	Take control of the last object read. More...

void	release (void *handle) override
	Return control to YARP of an object previously taken control of with the acquire() method. More...

void	setTargetPeriod (double period) override
	Try to provide data periodically. More...

Type	getType () override
	Get the type of data the port has committed to send/receive. More...

void	promiseType (const Type &typ) override
	Commit the port to a particular type of data. More...

void	setInputMode (bool expectInput) override
	Configure the port to allow or forbid inputs. More...

void	setOutputMode (bool expectOutput) override
	Configure the port to allow or forbid outputs. More...

void	setRpcMode (bool expectRpc) override
	Configure the port to be RPC only. More...

Property *	acquireProperties (bool readOnly) override
	Access unstructured port properties. More...

void	releaseProperties (Property *prop) override
	End access unstructured port properties. More...

void	includeNodeInName (bool flag) override
	Choose whether to prepend a node name (if one is available) to the port's name. More...

bool	setCallbackLock (yarp::os::Mutex *mutex) override
	Add a lock to use when invoking callbacks. More...

bool	setCallbackLock (std::mutex *mutex) override
	Add a lock to use when invoking callbacks. More...

bool	removeCallbackLock () override
	Remove a lock on callbacks added with setCallbackLock() More...

bool	lockCallback () override
	Lock callbacks until unlockCallback() is called. More...

bool	tryLockCallback () override
	Try to lock callbacks until unlockCallback() is called. More...

void	unlockCallback () override
	Unlock callbacks. More...

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

virtual bool	open (const std::string &name)=0
	Start port operation, with a specific name, with automatically-chosen network parameters. More...

virtual bool	open (const Contact &contact, bool registerName=true)=0
	Start port operation with user-chosen network parameters. More...

virtual bool	addOutput (const std::string &name)=0
	Add an output connection to the specified port. More...

virtual bool	addOutput (const std::string &name, const std::string &carrier)=0
	Add an output connection to the specified port, using a specified carrier. More...

virtual bool	addOutput (const Contact &contact)=0
	Add an output connection to the specified port, using specified network parameters. More...

virtual void	close ()=0
	Stop port activity. More...

virtual void	interrupt ()=0
	Interrupt any current reads or writes attached to the port. More...

virtual void	resume ()=0
	Put the port back in an operative state after interrupt() has been called. More...

virtual Contact	where () const =0
	Returns information about how this port can be reached. More...

virtual std::string	getName () const
	Get name of port. More...

virtual bool	setEnvelope (PortWriter &envelope)=0
	Set an envelope (e.g., a timestamp) to the next message which will be sent. More...

virtual bool	getEnvelope (PortReader &envelope)=0
	Get the envelope information (e.g., a timestamp) from the last message received on the port. More...

virtual int	getInputCount ()=0
	Determine how many connections are arriving into this port. More...

virtual int	getOutputCount ()=0
	Determine how many output connections this port has. More...

virtual void	getReport (PortReport &reporter)=0
	Get information on the state of the port - connections etc. More...

virtual void	setReporter (PortReport &reporter)=0
	Set a callback to be called upon any future connections and disconnections to/from the port. More...

virtual void	resetReporter ()=0
	Remove the callback which is called upon any future connections and disconnections to/from the port. More...

virtual bool	isWriting ()=0
	Report whether the port is currently writing data. More...

virtual void	setReader (PortReader &reader)=0
	Set an external reader for port data. More...

virtual void	setAdminReader (PortReader &reader)=0
	Set an external reader for unrecognized administrative port messages. More...

virtual void	setInputMode (bool expectInput)=0
	Configure the port to allow or forbid inputs. More...

virtual void	setOutputMode (bool expectOutput)=0
	Configure the port to allow or forbid outputs. More...

virtual void	setRpcMode (bool expectRpc)=0
	Configure the port to be RPC only. More...

virtual Type	getType ()=0
	Get the type of data the port has committed to send/receive. More...

virtual void	promiseType (const Type &typ)=0
	Commit the port to a particular type of data. More...

virtual Property *	acquireProperties (bool readOnly)=0
	Access unstructured port properties. More...

virtual void	releaseProperties (Property *prop)=0
	End access unstructured port properties. More...

virtual void	includeNodeInName (bool flag)=0
	Choose whether to prepend a node name (if one is available) to the port's name. More...

void	setReadOnly ()
	Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(false) More...

void	setWriteOnly ()
	Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(false) More...

void	setRpcServer ()
	Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(true) More...

void	setRpcClient ()
	Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(true) More...

virtual bool	setCallbackLock (yarp::os::Mutex *mutex)=0
	Add a lock to use when invoking callbacks. More...

virtual bool	setCallbackLock (std::mutex *mutex=nullptr)=0
	Add a lock to use when invoking callbacks. More...

virtual bool	removeCallbackLock ()=0
	Remove a lock on callbacks added with setCallbackLock() More...

virtual bool	lockCallback ()=0
	Lock callbacks until unlockCallback() is called. More...

virtual bool	tryLockCallback ()=0
	Try to lock callbacks until unlockCallback() is called. More...

virtual void	unlockCallback ()=0
	Unlock callbacks. More...

Public Member Functions inherited from yarp::os::TypedReader< yarp::dev::MobileBaseVelocity >
virtual void	setStrict (bool strict=true)=0
	Call this to strictly keep all messages, or allow old ones to be quietly dropped. More...

virtual yarp::dev::MobileBaseVelocity *	read (bool shouldWait=true)=0
	Read an available object from the port. More...

virtual void	interrupt ()=0
	Abort any read operation currently in progress. More...

virtual yarp::dev::MobileBaseVelocity *	lastRead ()=0
	Get the last data returned by read() More...

virtual bool	isClosed ()=0
	Returns whether the port associated with this reader has been closed. More...

virtual void	useCallback (TypedReaderCallback< yarp::dev::MobileBaseVelocity > &callback)=0
	Set an object whose onRead method will be called when data is available. More...

virtual void	disableCallback ()=0
	Remove a callback set up with useCallback() More...

virtual int	getPendingReads ()=0
	Check how many messages are waiting to be read. More...

virtual	~TypedReader ()=default
	Destructor. More...

virtual std::string	getName () const=0
	Get name of port being read from. More...

virtual void	setReplier (PortReader &reader)=0
	If a message is received that requires a reply, use this handler. More...

virtual void *	acquire ()=0
	Take control of the last object read. More...

virtual void	release (void *handle)=0
	Return control to YARP of an object previously taken control of with the acquire() method. More...

virtual void	setTargetPeriod (double period)=0
	Try to provide data periodically. More...

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

virtual void	onRead (yarp::dev::MobileBaseVelocity &datum)
	Callback method. More...

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

Public Attributes
double	m_timeout = 0.1

yarp::dev::Nav2D::INavigation2DVelocityActions *	m_iVel = nullptr

Additional Inherited Members
Public Types inherited from yarp::os::BufferedPort< yarp::dev::MobileBaseVelocity >
typedef yarp::dev::MobileBaseVelocity	ContentType
	The type of content stored by this BufferedPort. More...

Detailed Description

MobileBaseVelocityControl_nws_yarp: A device which allows a client to control the velocity of a mobile base from YARP. The device opens two ports: a streaming port /exampleName:i for receiving streaming commands, and a rpc port /exampleName:rpc for rpc connection with a MobileBaseVelocityControl_nwc_yarp client device.

MobileBaseVelocityControl_nws_yarp

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
local	-	string	-	-	Yes	Full name of the port opened by the device. For both ports (i.e. :rpc, :i) the corresponding suffix is automatically added
subdevice	-	string	-	-	No	name of the subdevice to instantiate	when used, parameters for the subdevice must be provided as well