fakeAnalogSensor: Fake analog sensor device for testing purpose and reference for new analog devices More...

#include <fake/fakeAnalogSensor/FakeAnalogSensor.h>

Inheritance diagram for FakeAnalogSensor:

Public Member Functions
	FakeAnalogSensor (double period=0.02)

	~FakeAnalogSensor ()

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

bool	close () override
	Close the DeviceDriver.

int	getChannels () override
	Get the number of channels of the sensor.

int	getState (int ch) override
	Check the state value of a given channel.

int	read (yarp::sig::Vector &out) override
	Read a vector from the sensor.

int	calibrateSensor () override
	Calibrates the whole sensor.

int	calibrateSensor (const yarp::sig::Vector &v) override
	Calibrates the whole sensor, using an vector of calibration values.

int	calibrateChannel (int ch) override
	Calibrates one single channel.

int	calibrateChannel (int ch, double v) override
	Calibrates one single channel, using a calibration value.

void	run () override
	Loop function.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

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::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::IAnalogSensor
virtual	~IAnalogSensor ()

Public Member Functions inherited from FakeAnalogSensor_ParamsParser
	FakeAnalogSensor_ParamsParser ()

	~FakeAnalogSensor_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Additional Inherited Members
Public Types inherited from yarp::dev::IAnalogSensor
enum	{ AS_OK =0 , AS_ERROR =1 , AS_OVF =2 , AS_TIMEOUT =3 }

Public Attributes inherited from FakeAnalogSensor_ParamsParser
const std::string	m_device_classname = {"FakeAnalogSensor"}

const std::string	m_device_name = {"fakeAnalogSensor"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_period_defaultValue = {"1.0"}

const std::string	m_channelsNum_defaultValue = {"1"}

double	m_period = {1.0}

int	m_channelsNum = {1}

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

fakeAnalogSensor: Fake analog sensor device for testing purpose and reference for new analog devices

Parameters required by this device are shown in class: FakeAnalogSensor_ParamsParser

Definition at line 26 of file FakeAnalogSensor.h.

Constructor & Destructor Documentation

◆ FakeAnalogSensor()

FakeAnalogSensor::FakeAnalogSensor ( double period = 0.02 )

Definition at line 18 of file FakeAnalogSensor.cpp.

◆ ~FakeAnalogSensor()

FakeAnalogSensor::~FakeAnalogSensor ( )

Definition at line 26 of file FakeAnalogSensor.cpp.

Member Function Documentation

◆ calibrateChannel() [1/2]

int FakeAnalogSensor::calibrateChannel ( int ch )

overridevirtual

Calibrates one single channel.

Parameters

ch	channel number.

Returns: status.

Implements yarp::dev::IAnalogSensor.

Definition at line 100 of file FakeAnalogSensor.cpp.

◆ calibrateChannel() [2/2]

int FakeAnalogSensor::calibrateChannel	(	int	ch,
		double	value
	)

overridevirtual

Calibrates one single channel, using a calibration value.

Parameters

ch	channel number.
value	calibration value.

Returns: status.

Implements yarp::dev::IAnalogSensor.

Definition at line 86 of file FakeAnalogSensor.cpp.

◆ calibrateSensor() [1/2]

int FakeAnalogSensor::calibrateSensor ( )

overridevirtual

Calibrates the whole sensor.

Returns: status.

Implements yarp::dev::IAnalogSensor.

Definition at line 79 of file FakeAnalogSensor.cpp.

◆ calibrateSensor() [2/2]

int FakeAnalogSensor::calibrateSensor ( const yarp::sig::Vector & value )

overridevirtual

Calibrates the whole sensor, using an vector of calibration values.

Parameters

value a vector of calibration values.

Returns: status.

Implements yarp::dev::IAnalogSensor.

Definition at line 93 of file FakeAnalogSensor.cpp.

◆ close()

bool FakeAnalogSensor::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 48 of file FakeAnalogSensor.cpp.

◆ getChannels()

int FakeAnalogSensor::getChannels ( )

overridevirtual

Get the number of channels of the sensor.

Returns: number of channels (0 in case of errors).

Implements yarp::dev::IAnalogSensor.

Definition at line 73 of file FakeAnalogSensor.cpp.

◆ getState()

int FakeAnalogSensor::getState ( int ch )

overridevirtual

Check the state value of a given channel.

Parameters

ch	channel number.

Returns: status.

Implements yarp::dev::IAnalogSensor.

Definition at line 66 of file FakeAnalogSensor.cpp.

◆ open()

bool FakeAnalogSensor::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 32 of file FakeAnalogSensor.cpp.

◆ read()

int FakeAnalogSensor::read ( yarp::sig::Vector & out )

overridevirtual

Read a vector from the sensor.

Parameters

out	a vector containing the sensor's last readings.

Returns: AS_OK or return code. AS_TIMEOUT if the sensor timed-out.

Implements yarp::dev::IAnalogSensor.

Definition at line 57 of file FakeAnalogSensor.cpp.

◆ run()

void FakeAnalogSensor::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 113 of file FakeAnalogSensor.cpp.

◆ threadInit()

bool FakeAnalogSensor::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 107 of file FakeAnalogSensor.cpp.

◆ threadRelease()

void FakeAnalogSensor::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 131 of file FakeAnalogSensor.cpp.

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

src/devices/fake/fakeAnalogSensor/FakeAnalogSensor.h
src/devices/fake/fakeAnalogSensor/FakeAnalogSensor.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeAnalogSensor()

◆ ~FakeAnalogSensor()

Member Function Documentation

◆ calibrateChannel() [1/2]

◆ calibrateChannel() [2/2]

◆ calibrateSensor() [1/2]

◆ calibrateSensor() [2/2]

◆ close()

◆ getChannels()

◆ getState()

◆ open()

◆ read()

◆ run()

◆ threadInit()

◆ threadRelease()