frameTransformGet_nws_yarp
: A network wrapper client which converts the input retrieved from an IFrameTransformStorageGet interface to a FrameTransformStorageGetRPC thrift interface.
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#include <frameTransformGet/FrameTransformGet_nws_yarp.h>
Public Member Functions | |
FrameTransformGet_nws_yarp () | |
FrameTransformGet_nws_yarp (const FrameTransformGet_nws_yarp &)=delete | |
FrameTransformGet_nws_yarp (FrameTransformGet_nws_yarp &&)=delete | |
FrameTransformGet_nws_yarp & | operator= (const FrameTransformGet_nws_yarp &)=delete |
FrameTransformGet_nws_yarp & | operator= (FrameTransformGet_nws_yarp &&)=delete |
~FrameTransformGet_nws_yarp () | |
void | run () override |
Loop function. | |
bool | open (yarp::os::Searchable ¶ms) override |
Device driver interface. | |
bool | close () override |
Close the DeviceDriver. | |
bool | attach (yarp::dev::PolyDriver *deviceToAttach) override |
Attach to another object. | |
bool | detach () override |
Detach the object (you must have first called attach). | |
return_getAllTransforms | getTransformsRPC () override |
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 FrameTransformStorageGetRPC | |
FrameTransformStorageGetRPC () | |
virtual std::vector< std::string > | help (const std::string &functionName="--all") |
bool | read (yarp::os::ConnectionReader &connection) override |
Read this object from a network connection. | |
Public Member Functions inherited from yarp::os::Wire | |
yarp::os::WireLink & | yarp () |
Get YARP state associated with this object. | |
const yarp::os::WireLink & | yarp () const |
Get YARP state associated with this object (const version). | |
Public Member Functions inherited from yarp::os::PortReader | |
virtual | ~PortReader () |
Destructor. | |
virtual Type | getReadType () const |
Public Member Functions inherited from yarp::dev::WrapperSingle | |
~WrapperSingle () override | |
Destructor. | |
bool | attachAll (const yarp::dev::PolyDriverList &drivers) final |
Attach to a list of objects. | |
bool | detachAll () final |
Detach the object (you must have first called attach). | |
Public Member Functions inherited from yarp::dev::IWrapper | |
virtual | ~IWrapper () |
Destructor. | |
Public Member Functions inherited from yarp::dev::IMultipleWrapper | |
virtual | ~IMultipleWrapper () |
Destructor. | |
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. | |
Additional Inherited Members | |
Protected Member Functions inherited from yarp::os::PeriodicThread | |
virtual bool | threadInit () |
Initialization method. | |
virtual void | threadRelease () |
Release method. | |
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(). | |
frameTransformGet_nws_yarp
: A network wrapper client which converts the input retrieved from an IFrameTransformStorageGet interface to a FrameTransformStorageGetRPC thrift interface.
this device listens on a FrameTransformStorageGetRPC interface for an RPC and then forwards the request to an IFrameTransformStorageGet interface (device attached) This device is paired with its client called FrameTransformGet_nwc_yarp. It receives a rpc from a port (the port is declared in thrift and is FrameTransformStorageGetRPC). After that it sends on the port all the transforms taken from the attached device. The attached device must implement an IFrameTransformStorageGet interface. For further information see FrameTransform: start all the required devices needed for transforming frames.
Parameters required by this device are:
Parameter name | SubParameter | Type | Units | Default Value | Required | Description |
---|---|---|---|---|---|---|
default-config | - | bool | - | true | No | tells whether or not the nws is instanciated by the frameTransformServer device. If true, "/frameTransformServer" will appended to the port name prefix |
nws_thrift_port_prefix | - | string | - | "" | No | a prefix for the nws thrift rpc port name |
output_streaming_port_prefix | - | string | - | "" | No | a prefix for the output streaming port name |
streaming_enabled | - | bool | - | true | No | enable/disable the tf publishing on the streaming port |
period | float | s | 0.010 | No | It affects the period of thread publishing transforms on the streaming port |
Here follow some examples of port names obtained with different parameters configurations
/frameTransformServer/frameTransformGet_nws_yarp/thrift
/cer/frameTransformServer/frameTransformGet_nws_yarp/thrift
/cer/frameTransformGet_nws_yarp/thrift
/frameTransformServer/frameTransformGet_nws_yarp/tf:o
/cer/frameTransformServer/frameTransformGet_nws_yarp/tf:o
/cer/frameTransformGet_nws_yarp/tf:o
Definition at line 75 of file FrameTransformGet_nws_yarp.h.
FrameTransformGet_nws_yarp::FrameTransformGet_nws_yarp | ( | ) |
Definition at line 14 of file FrameTransformGet_nws_yarp.cpp.
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delete |
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delete |
FrameTransformGet_nws_yarp::~FrameTransformGet_nws_yarp | ( | ) |
Definition at line 97 of file FrameTransformGet_nws_yarp.cpp.
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overridevirtual |
Attach to another object.
driver | the polydriver that you want to attach to. |
Implements yarp::dev::IWrapper.
Definition at line 130 of file FrameTransformGet_nws_yarp.cpp.
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overridevirtual |
Close the DeviceDriver.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 102 of file FrameTransformGet_nws_yarp.cpp.
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overridevirtual |
Detach the object (you must have first called attach).
Implements yarp::dev::IWrapper.
Definition at line 122 of file FrameTransformGet_nws_yarp.cpp.
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overridevirtual |
Reimplemented from FrameTransformStorageGetRPC.
Definition at line 143 of file FrameTransformGet_nws_yarp.cpp.
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overridevirtual |
Device driver interface.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 22 of file FrameTransformGet_nws_yarp.cpp.
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delete |
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delete |
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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 157 of file FrameTransformGet_nws_yarp.cpp.