YARP
Yet Another Robot Platform

robotDescriptionServer: This device is a storage which contains a list of the currently opened device drivers. More...

#include <RobotDescriptionServer/RobotDescriptionServer.h>

+ Inheritance diagram for RobotDescriptionServer:

Public Member Functions

bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool detachAll () override
 Detach the object (you must have first called attach). More...
 
bool attachAll (const yarp::dev::PolyDriverList &l) override
 Attach to a list of objects. More...
 
bool read (yarp::os::ConnectionReader &connection) override
 Read this object from a network connection. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (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 DeviceDrivergetImplementation ()
 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::dev::IMultipleWrapper
virtual ~IMultipleWrapper ()
 Destructor. More...
 
virtual bool attachAll (const PolyDriverList &drivers)=0
 Attach to a list of objects. More...
 
virtual bool detachAll ()=0
 Detach the object (you must have first called attach). More...
 

Protected Attributes

std::mutex m_external_mutex
 
std::mutex m_internal_mutex
 
yarp::os::Port m_rpc_port
 
std::string m_local_name
 
std::vector< yarp::dev::DeviceDescriptionm_robot_devices
 

Detailed Description

robotDescriptionServer: This device is a storage which contains a list of the currently opened device drivers.

yarprobotinterfaces adds/removes devices to the storage using attachAll()/detachAll() methods. A robotDescriptionClient devices can bused by the user to retrieve information about the currently opened devices.

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
local - string - - Yes prefix of the port opened by the device, like /descriptionServer MUST start with a '/' character. /rpc is automatically appended.

Definition at line 35 of file RobotDescriptionServer.h.

Member Function Documentation

◆ attachAll()

bool RobotDescriptionServer::attachAll ( const yarp::dev::PolyDriverList drivers)
overridevirtual

Attach to a list of objects.

Parameters
driversthe polydriver list that you want to attach to.
Returns
true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 49 of file RobotDescriptionServer.cpp.

◆ close()

bool RobotDescriptionServer::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 76 of file RobotDescriptionServer.cpp.

◆ detachAll()

bool RobotDescriptionServer::detachAll ( )
overridevirtual

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

Returns
true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 69 of file RobotDescriptionServer.cpp.

◆ open()

bool RobotDescriptionServer::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis 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 25 of file RobotDescriptionServer.cpp.

◆ read()

bool RobotDescriptionServer::read ( yarp::os::ConnectionReader reader)
overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters
readeran interface to the network connection for reading
Returns
true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 111 of file RobotDescriptionServer.cpp.

Member Data Documentation

◆ m_external_mutex

std::mutex RobotDescriptionServer::m_external_mutex
protected

Definition at line 41 of file RobotDescriptionServer.h.

◆ m_internal_mutex

std::mutex RobotDescriptionServer::m_internal_mutex
protected

Definition at line 42 of file RobotDescriptionServer.h.

◆ m_local_name

std::string RobotDescriptionServer::m_local_name
protected

Definition at line 44 of file RobotDescriptionServer.h.

◆ m_robot_devices

std::vector<yarp::dev::DeviceDescription> RobotDescriptionServer::m_robot_devices
protected

Definition at line 45 of file RobotDescriptionServer.h.

◆ m_rpc_port

yarp::os::Port RobotDescriptionServer::m_rpc_port
protected

Definition at line 43 of file RobotDescriptionServer.h.


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