virtualAnalogServer: An analog wrapper for virtual device A virtual device is a software emulated device, for example force-torque computed from a real sensor and then relocated to another part of the robot or some kind of estimated measurement needed by the robot. More...

#include <networkWrappers/VirtualAnalogWrapper/VirtualAnalogWrapper.h>

Inheritance diagram for VirtualAnalogWrapper:

Public Member Functions
	VirtualAnalogWrapper ()=default

	VirtualAnalogWrapper (const VirtualAnalogWrapper &)=delete

	VirtualAnalogWrapper (VirtualAnalogWrapper &&)=delete

VirtualAnalogWrapper &	operator= (const VirtualAnalogWrapper &)=delete

VirtualAnalogWrapper &	operator= (VirtualAnalogWrapper &&)=delete

	~VirtualAnalogWrapper ()

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

bool	close () override
	Close the DeviceDriver.

void	run () override
	Main body of the new thread.

bool	attachAll (const yarp::dev::PolyDriverList &p) override
	Attach to a list of objects.

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

bool	perform_first_check (int elems)

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::Thread
	Thread ()
	Constructor.

virtual	~Thread ()
	Destructor.

virtual void	onStop ()
	Call-back, called while halting the thread (before join).

bool	start ()
	Start the new thread running.

bool	stop ()
	Stop the thread.

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().

virtual bool	threadInit ()
	Initialization method.

virtual void	threadRelease ()
	Release method.

bool	isStopping ()
	Returns true if the thread is stopping (Thread::stop has been called).

bool	isRunning ()
	Returns true if the thread is running (Thread::start has been called successfully and the thread has not stopped).

long int	getKey ()
	Get a unique identifier for the thread.

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

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

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

bool	join (double seconds=-1)
	The function returns when the thread execution has completed.

void	setOptions (int stackSize=0)
	Set the stack size for the new thread.

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

Protected Attributes
std::mutex	mMutex

bool	mIsVerbose {false}

int	mNSubdevs {0}

std::vector< int >	mChan2Board

std::vector< int >	mChan2BAddr

double	lastRecv {0.0}

bool	first_check {false}

std::vector< AnalogSubDevice >	mSubdevices

yarp::os::BufferedPort< yarp::os::Bottle >	mPortInputTorques

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::Thread
static int	getCount ()
	Check how many threads are running.

static long int	getKeyOfCaller ()
	Get a unique identifier for the calling thread.

static void	yield ()
	Reschedule the execution of current thread, allowing other threads to run.

static void	setDefaultStackSize (int stackSize)
	Set the default stack size for all threads created after this point.

Detailed Description

virtualAnalogServer: An analog wrapper for virtual device A virtual device is a software emulated device, for example force-torque computed from a real sensor and then relocated to another part of the robot or some kind of estimated measurement needed by the robot.

This virtual wrapper will open a port and accept the incoming estimated measurement and send them to the real robot using the attached device.

Definition at line 107 of file VirtualAnalogWrapper.h.

Constructor & Destructor Documentation

◆ VirtualAnalogWrapper() [1/3]

VirtualAnalogWrapper::VirtualAnalogWrapper ( )

default

◆ VirtualAnalogWrapper() [2/3]

VirtualAnalogWrapper::VirtualAnalogWrapper ( const VirtualAnalogWrapper & )

delete

◆ VirtualAnalogWrapper() [3/3]

VirtualAnalogWrapper::VirtualAnalogWrapper ( VirtualAnalogWrapper && )

delete

◆ ~VirtualAnalogWrapper()

VirtualAnalogWrapper::~VirtualAnalogWrapper ( )

inline

Definition at line 119 of file VirtualAnalogWrapper.h.

Member Function Documentation

◆ attachAll()

bool VirtualAnalogWrapper::attachAll ( const yarp::dev::PolyDriverList & drivers )

overridevirtual

Attach to a list of objects.

Parameters

drivers the polydriver list that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 243 of file VirtualAnalogWrapper.cpp.

◆ close()

bool VirtualAnalogWrapper::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 235 of file VirtualAnalogWrapper.cpp.

◆ detachAll()

bool VirtualAnalogWrapper::detachAll ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 282 of file VirtualAnalogWrapper.cpp.

◆ open()

bool VirtualAnalogWrapper::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 106 of file VirtualAnalogWrapper.cpp.

◆ operator=() [1/2]

VirtualAnalogWrapper & VirtualAnalogWrapper::operator= ( const VirtualAnalogWrapper & )

delete

◆ operator=() [2/2]

VirtualAnalogWrapper & VirtualAnalogWrapper::operator= ( VirtualAnalogWrapper && )

delete

◆ perform_first_check()

bool VirtualAnalogWrapper::perform_first_check ( int elems )

Definition at line 298 of file VirtualAnalogWrapper.cpp.

◆ run()

void VirtualAnalogWrapper::run ( )

overridevirtual

Main body of the new thread.

Override this method to do what you want. After Thread::start is called, this method will start running in a separate thread. It is important that this method either keeps checking Thread::isStopping to see if it should stop, or you override the Thread::onStop method to interact with it in some way to shut the new thread down. There is no really reliable, portable way to stop a thread cleanly unless that thread cooperates.

Implements yarp::os::Thread.

Definition at line 319 of file VirtualAnalogWrapper.cpp.

Member Data Documentation

◆ first_check

bool VirtualAnalogWrapper::first_check {false}

protected

Definition at line 151 of file VirtualAnalogWrapper.h.

◆ lastRecv

double VirtualAnalogWrapper::lastRecv {0.0}

protected

Definition at line 150 of file VirtualAnalogWrapper.h.

◆ mChan2BAddr

std::vector<int> VirtualAnalogWrapper::mChan2BAddr

protected

Definition at line 149 of file VirtualAnalogWrapper.h.

◆ mChan2Board

std::vector<int> VirtualAnalogWrapper::mChan2Board

protected

Definition at line 148 of file VirtualAnalogWrapper.h.

◆ mIsVerbose

bool VirtualAnalogWrapper::mIsVerbose {false}

protected

Definition at line 144 of file VirtualAnalogWrapper.h.

◆ mMutex

std::mutex VirtualAnalogWrapper::mMutex

protected

Definition at line 142 of file VirtualAnalogWrapper.h.

◆ mNSubdevs

int VirtualAnalogWrapper::mNSubdevs {0}

protected

Definition at line 146 of file VirtualAnalogWrapper.h.

◆ mPortInputTorques

yarp::os::BufferedPort<yarp::os::Bottle> VirtualAnalogWrapper::mPortInputTorques

protected

Definition at line 154 of file VirtualAnalogWrapper.h.

◆ mSubdevices

std::vector<AnalogSubDevice> VirtualAnalogWrapper::mSubdevices

protected

Definition at line 153 of file VirtualAnalogWrapper.h.

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

src/devices/networkWrappers/VirtualAnalogWrapper/VirtualAnalogWrapper.h
src/devices/networkWrappers/VirtualAnalogWrapper/VirtualAnalogWrapper.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VirtualAnalogWrapper() [1/3]

◆ VirtualAnalogWrapper() [2/3]

◆ VirtualAnalogWrapper() [3/3]

◆ ~VirtualAnalogWrapper()

Member Function Documentation

◆ attachAll()

◆ close()

◆ detachAll()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ perform_first_check()

◆ run()

Member Data Documentation

◆ first_check

◆ lastRecv

◆ mChan2BAddr

◆ mChan2Board

◆ mIsVerbose

◆ mMutex

◆ mNSubdevs

◆ mPortInputTorques

◆ mSubdevices