A server to manage FrameTransforms for a robot (see FrameTransform: start all the required devices needed for transforming frames) More...

#include <frameTransformServer/FrameTransformServer.h>

Inheritance diagram for FrameTransformServer:

Public Member Functions
	FrameTransformServer ()

	~FrameTransformServer ()

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

bool	close () override
	Close the DeviceDriver. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection. 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::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

	~DeviceDriver () override

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

bool	close () override
	Close the DeviceDriver. More...

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

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

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

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

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	open (Searchable &config)
	Initialize the object. More...

virtual bool	close ()
	Shut the object down. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual bool	read (ConnectionReader &reader)=0
	Read this object from a network connection. More...

virtual Type	getReadType () const

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...

Protected Attributes
yarp::os::Port	m_rpc_InterfaceToUser

std::string	m_local_name

double	m_period

std::mutex	m_rpc_mutex

yarp::robotinterface::Robot	m_robot

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

virtual void	run ()=0
	Loop function. More...

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

A server to manage FrameTransforms for a robot (see FrameTransform: start all the required devices needed for transforming frames)

Description of input parameters

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
filexml_option	-	string	-	fts_yarp_only.xml	no	The name of the xml file containing the needed server configuration
testxml_option	-	string	-	-	no	NB: FOR TEST ONLY. The absolute path of the xml file containing the configuration to test
ft_server_prefix	-	string	-	""	no	A prefix to add to the names of all the ports opened by the NWSs instantiated by the frameTransformServer

Example of command line:

yarpdev --device frameTransformServer --filexml_option fts_yarp_only.xml

Example of configuration files using .ini format.

device frameTransformServer

filexml_option fts_yarp_only.xml

Definition at line 62 of file FrameTransformServer.h.

Constructor & Destructor Documentation

◆ FrameTransformServer()

FrameTransformServer::FrameTransformServer ( )

Definition at line 142 of file FrameTransformServer.cpp.

◆ ~FrameTransformServer()

FrameTransformServer::~FrameTransformServer ( )

default

Member Function Documentation

◆ close()

bool FrameTransformServer::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 130 of file FrameTransformServer.cpp.

◆ open()

bool FrameTransformServer::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 66 of file FrameTransformServer.cpp.

◆ read()

bool FrameTransformServer::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 30 of file FrameTransformServer.cpp.

◆ run()

void FrameTransformServer::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 160 of file FrameTransformServer.cpp.

◆ threadInit()

bool FrameTransformServer::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 149 of file FrameTransformServer.cpp.

◆ threadRelease()

void FrameTransformServer::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 155 of file FrameTransformServer.cpp.

Member Data Documentation

◆ m_local_name

std::string FrameTransformServer::m_local_name

protected

Definition at line 70 of file FrameTransformServer.h.

◆ m_period

double FrameTransformServer::m_period

protected

Definition at line 71 of file FrameTransformServer.h.

◆ m_robot

yarp::robotinterface::Robot FrameTransformServer::m_robot

protected

Definition at line 75 of file FrameTransformServer.h.

◆ m_rpc_InterfaceToUser

yarp::os::Port FrameTransformServer::m_rpc_InterfaceToUser

protected

Definition at line 69 of file FrameTransformServer.h.

◆ m_rpc_mutex

std::mutex FrameTransformServer::m_rpc_mutex

protected

Definition at line 72 of file FrameTransformServer.h.

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

src/devices/frameTransformServer/FrameTransformServer.h
src/devices/frameTransformServer/FrameTransformServer.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ FrameTransformServer()

◆ ~FrameTransformServer()

Member Function Documentation

◆ close()

◆ open()

◆ read()

◆ run()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ m_local_name

◆ m_period

◆ m_robot

◆ m_rpc_InterfaceToUser

◆ m_rpc_mutex