YARP
Yet Another Robot Platform

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

#include <batteryWrapper/BatteryWrapper.h>

+ Inheritance diagram for BatteryWrapper:

Public Member Functions

 BatteryWrapper ()
 
 ~BatteryWrapper ()
 
bool open (yarp::os::Searchable &params) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool attachAll (const yarp::dev::PolyDriverList &p) override
 Attach to a list of objects. More...
 
bool detachAll () override
 Detach the object (you must have first called attach). More...
 
bool threadInit () override
 Initialization method. More...
 
void threadRelease () override
 Release method. More...
 
void run () override
 Loop function. More...
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor. More...
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor. More...
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread. More...
 
void step ()
 Call this to "step" the thread rather than starting it. More...
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...
 
void askToStop ()
 Stop the thread. More...
 
bool isRunning () const
 Returns true when the thread is started, false otherwise. More...
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise. More...
 
bool setPeriod (double period)
 Set the (new) period of the thread. More...
 
double getPeriod () const
 Return the current period of the thread. More...
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed. More...
 
void resume ()
 Resume the thread if previously suspended. More...
 
void resetStat ()
 Reset thread statistics. More...
 
double getEstimatedPeriod () const
 Return estimated period since last reset. More...
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset. More...
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset. More...
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset. More...
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset. More...
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that. More...
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that. More...
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 ~DeviceDriver () override=default
 Destructor. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 
- Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual ~IMultipleWrapper ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::os::PortReader
virtual ~PortReader ()
 Destructor. More...
 
virtual Type getReadType () const
 

Additional Inherited Members

- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void beforeStart ()
 Called just before a new thread starts. More...
 
virtual void afterStart (bool success)
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...
 

Detailed Description

batteryWrapper: 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 88 of file BatteryWrapper.h.

Constructor & Destructor Documentation

◆ BatteryWrapper()

BatteryWrapper::BatteryWrapper ( )

Definition at line 24 of file BatteryWrapper.cpp.

◆ ~BatteryWrapper()

BatteryWrapper::~BatteryWrapper ( )

Definition at line 32 of file BatteryWrapper.cpp.

Member Function Documentation

◆ attachAll()

bool BatteryWrapper::attachAll ( const yarp::dev::PolyDriverList drivers)
overridevirtual

Attach to a list of objects.

Parameters
driversthe polydriver list that you want to attach to.
Returns
true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 38 of file BatteryWrapper.cpp.

◆ close()

bool BatteryWrapper::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 322 of file BatteryWrapper.cpp.

◆ detachAll()

bool BatteryWrapper::detachAll ( )
overridevirtual

Detach the object (you must have first called attach).

Returns
true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 68 of file BatteryWrapper.cpp.

◆ open()

bool BatteryWrapper::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).
Returns
true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 144 of file BatteryWrapper.cpp.

◆ run()

void BatteryWrapper::run ( )
overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. 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 run() 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.

Implements yarp::os::PeriodicThread.

Definition at line 241 of file BatteryWrapper.cpp.

◆ threadInit()

bool BatteryWrapper::threadInit ( )
overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 139 of file BatteryWrapper.cpp.

◆ threadRelease()

void BatteryWrapper::threadRelease ( )
overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 237 of file BatteryWrapper.cpp.


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