YARP
Yet Another Robot Platform
 
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Battery_nws_yarp: Device that expose a battery sensor (using the IBattery interface) on the YARP network. More...

#include <battery_nws_yarp/battery_nws_yarp.h>

+ Inheritance diagram for Battery_nws_yarp:

Public Member Functions

 Battery_nws_yarp ()
 
 ~Battery_nws_yarp ()
 
bool open (yarp::os::Searchable &params) override
 Initialize the object.
 
bool close () override
 Shut the object down.
 
bool threadInit () override
 Initialization method.
 
void threadRelease () override
 Release method.
 
void run () override
 Loop function.
 
- 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::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.
 
bool close () override
 Close the 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 DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others.
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor.
 
virtual bool configure (Searchable &config)
 Change online parameters.
 
- 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::PortReader
virtual ~PortReader ()
 Destructor.
 
virtual Type getReadType () const
 

Additional Inherited Members

- 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

Battery_nws_yarp: Device that expose a battery sensor (using the IBattery interface) on the YARP network.

Description of input parameters

It reads the data from a battery sensor and sends them on a port, acting as a streaming server for a batteryClient device. It creates one rpc port and its related handler for every output port.

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
name - string - - Yes prefix of the ports opened by the device, e.g. /robotName/battery1 MUST start with a '/' character. /data:o and /rpc:i is automatically appended by the wrapper at the end
period - double s 1.0 No refresh period of the broadcasted values in seconds optional, default 1.0s
enable_shutdown - bool - false No if enabled, batteryWrapper will start a system shutdown when charge is below 5% -
enable_log - bool - false No if enabled, stores a log of battery usage on disk data stored on file batteryLog.txt
quitPortName - string - - No name of port used to terminate the execution of yarpRobotInterface used only if enable_shutdown=true

Some example of configuration files:

Configuration file using .xml format.

<device name="battery1" type="Battery_nws_yarp">
<param name="period"> 20 </param>
<param name="name"> /myBatterySensor </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="my_battery"> my_battery </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>

Definition at line 75 of file battery_nws_yarp.h.

Constructor & Destructor Documentation

◆ Battery_nws_yarp()

Battery_nws_yarp::Battery_nws_yarp ( )

Definition at line 23 of file battery_nws_yarp.cpp.

◆ ~Battery_nws_yarp()

Battery_nws_yarp::~Battery_nws_yarp ( )

Definition at line 30 of file battery_nws_yarp.cpp.

Member Function Documentation

◆ close()

bool Battery_nws_yarp::close ( )
overridevirtual

Shut the object down.

You should override this.

Returns
true/false on success/failure.

Reimplemented from yarp::os::IConfig.

Definition at line 275 of file battery_nws_yarp.cpp.

◆ open()

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

Initialize the object.

You should override this.

Parameters
configis a list of parameters for the object. Which parameters are effective for your object can vary.
Returns
true/false upon success/failure

Reimplemented from yarp::os::IConfig.

Definition at line 122 of file battery_nws_yarp.cpp.

◆ run()

void Battery_nws_yarp::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 194 of file battery_nws_yarp.cpp.

◆ threadInit()

bool Battery_nws_yarp::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 117 of file battery_nws_yarp.cpp.

◆ threadRelease()

void Battery_nws_yarp::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 190 of file battery_nws_yarp.cpp.


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