analogServer deprecated: Device that expose an AnalogSensor (using the IAnalogSensor interface) on the YARP network. More...

#include <networkWrappers/AnalogWrapper/AnalogWrapper.h>

Inheritance diagram for AnalogWrapper:

Public Member Functions
	AnalogWrapper ()

	AnalogWrapper (const AnalogWrapper &)=delete

	AnalogWrapper (AnalogWrapper &&)=delete

AnalogWrapper &	operator= (const AnalogWrapper &)=delete

AnalogWrapper &	operator= (AnalogWrapper &&)=delete

	~AnalogWrapper () override

bool	open (yarp::os::Searchable &params) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

yarp::os::Bottle	getOptions ()

bool	attachAll (const yarp::dev::PolyDriverList &p) override
	Specify which analog sensor this thread has to read from.

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

void	attach (yarp::dev::IAnalogSensor *s)

void	detach ()

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

void	run () override
	Loop function.

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts.

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().

Detailed Description

analogServer deprecated: Device that expose an AnalogSensor (using the IAnalogSensor interface) on the YARP network.

Description of input parameters

It reads the data from an analog sensor and sends them on one or more ports. 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	full name of the port opened by the device, like /robotName/part/	MUST start with a '/' character
period	-	int	ms	20	No	refresh period of the broadcasted values in ms	optional, default 20ms
ports	-	group	-	-	alternative to subdevice	this is expected to be a group parameter in xml format, a list in .ini file format. SubParameter are mandatory if this is used	-
-	portName_1	4 * int	channel number	-	if ports is used	describe how to match subdevice_1 channels with the wrapper channels. First 2 numbers indicate first/last wrapper channel, last 2 numbers are subdevice first/last channel	The channels are intended to be consequent
-	...	4 * int	channel number	-	if ports is used	same as above	The channels are intended to be consequent
-	portName_n	4 * int	channel number	-	if ports is used	same as above	The channels are intended to be consequent
-	channels	int	-	-	if ports is used	total number of channels handled by the wrapper	MUST match the sum of channels from all the ports

for example: 3forces + 3torques + temperature + 3forces + 3torques + temperature ... -> offset 0, padding 1 (the temperature entry is one sample to skip) 3forces + 3torques + temperature + gravity + 3forces + 3torques + temperature + gravity ... -> offset 0, padding is 4 (1 temperature + 3 for gravity) temperature + 3forces + 3torques + temperature + 3forces + 3torques ... -> offset 1, padding is 0 (the F/T are the last ones) temperature + 3forces + 3torques + gravity + temperature + 3forces + 3torques + gravity ... -> offset 1, padding is 3 (skip 1 sample, get F/T and skip remaining 3)

Some example of configuration files:

Configuration file using .ini format, using subdevice keyword.

 device analogServer
 subdevice fakeAnalogSensor
 name /myAnalogSensor
 
** parameter for 'fakeAnalogSensor' subdevice follows here **
...

Configuration file using .ini format, using ports keyword

device analogServer
name  /myAnalogServer
period 20
ports (FirstSetOfChannels SecondSetOfChannels ThirdSetOfChannels)
channels 1344
FirstSetOfChannels  0   191  0 191
SecondSetOfChannels 192 575  0 383
ThirdSetOfChannels  576 1343 0 767

Configuration file using .xml format.

<device name="/myAnalogServer" type="analogServer">
    <param name="period">   20   </param>
    <param name="channels"> 1344 </param>
 
    <paramlist name="ports">
        <elem name="FirstSetOfChannels">  0   191  0 191</elem>
        <elem name="SecondSetOfChannels"> 192 575  0 383</elem>
        <elem name="ThirdSetOfChannels">  576 1343 0 767</elem>
    </paramlist>
 
    <action phase="startup" level="5" type="attach">
        <paramlist name="networks">
            <!-- The param value must match the device name in the corresponding analogSensor config file. AnalogWrapper is able to attach to only one subdevice. -->
            <elem name="myAnalogSensor">  my_analog_sensor </elem>
        </paramlist>
    </action>
 
    <action phase="shutdown" level="5" type="detach" />
</device>

Definition at line 121 of file AnalogWrapper.h.

Constructor & Destructor Documentation

◆ AnalogWrapper() [1/3]

AnalogWrapper::AnalogWrapper ( )

Definition at line 213 of file AnalogWrapper.cpp.

◆ AnalogWrapper() [2/3]

AnalogWrapper::AnalogWrapper ( const AnalogWrapper & )

delete

◆ AnalogWrapper() [3/3]

AnalogWrapper::AnalogWrapper ( AnalogWrapper && )

delete

◆ ~AnalogWrapper()

AnalogWrapper::~AnalogWrapper ( )

override

Definition at line 218 of file AnalogWrapper.cpp.

Member Function Documentation

◆ attach()

void AnalogWrapper::attach ( yarp::dev::IAnalogSensor * s )

Definition at line 291 of file AnalogWrapper.cpp.

◆ attachAll()

bool AnalogWrapper::attachAll ( const yarp::dev::PolyDriverList & p )

overridevirtual

Specify which analog sensor this thread has to read from.

Implements yarp::dev::IMultipleWrapper.

Definition at line 254 of file AnalogWrapper.cpp.

◆ close()

bool AnalogWrapper::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 534 of file AnalogWrapper.cpp.

◆ detach()

void AnalogWrapper::detach ( )

Definition at line 303 of file AnalogWrapper.cpp.

◆ detachAll()

bool AnalogWrapper::detachAll ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 279 of file AnalogWrapper.cpp.

◆ getOptions()

yarp::os::Bottle AnalogWrapper::getOptions ( )

◆ open()

bool AnalogWrapper::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is 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 327 of file AnalogWrapper.cpp.

◆ operator=() [1/2]

AnalogWrapper & AnalogWrapper::operator= ( AnalogWrapper && )

delete

◆ operator=() [2/2]

AnalogWrapper & AnalogWrapper::operator= ( const AnalogWrapper & )

delete

◆ run()

void AnalogWrapper::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 471 of file AnalogWrapper.cpp.

◆ threadInit()

bool AnalogWrapper::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 313 of file AnalogWrapper.cpp.

◆ threadRelease()

void AnalogWrapper::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 462 of file AnalogWrapper.cpp.

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

src/devices/networkWrappers/AnalogWrapper/AnalogWrapper.h
src/devices/networkWrappers/AnalogWrapper/AnalogWrapper.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ AnalogWrapper() [1/3]

◆ AnalogWrapper() [2/3]

◆ AnalogWrapper() [3/3]

◆ ~AnalogWrapper()

Member Function Documentation

◆ attach()

◆ attachAll()

◆ close()

◆ detach()

◆ detachAll()

◆ getOptions()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ run()

◆ threadInit()

◆ threadRelease()