YARP
Yet Another Robot Platform
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  yarp::dev::AnalogWrapper
 Device that expose an AnalogSensor (using the IAnalogSensor interface) on the YARP or ROS network. More...
 
class  yarp::dev::ControlBoardWrapper
 
class  yarp::dev::RGBDSensorWrapper
 
class  yarp::dev::RobotDescriptionServer
 This device is a storage which contains a list of the currently opened device drivers. More...
 
class  yarp::dev::ServerFrameGrabber
 Export a frame grabber to the network. More...
 
class  yarp::dev::ServerGrabber
 
class  yarp::dev::ServerInertial
 
class  yarp::dev::ServerSerial
 Export a serial sensor. More...
 
class  yarp::dev::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...
 
class  Map2DServer
 
class  MultipleAnalogSensorsServer
 The server side of the MultipleAnalogSensorsClient, useful to expose device implementing MultipleAnalogSensors interfaces over the YARP network. More...
 
class  ServerSoundGrabber
 Export a microphone device. 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 100 of file BatteryWrapper.h.