FrameTransformGet_nws_yarp Class Reference

frameTransformGet_nws_yarp: A network wrapper client which converts the input retrieved from an IFrameTransformStorageGet interface to a FrameTransformStorageGetRPC thrift interface. More...

#include <frameTransformGet/FrameTransformGet_nws_yarp.h>

Inheritance diagram for FrameTransformGet_nws_yarp:

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 &params) 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
	~DeviceDriver () override
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::IConfig
virtual	~IConfig ()
	Destructor.
virtual bool	configure (Searchable &config)
	Change online parameters.
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().

Detailed Description

frameTransformGet_nws_yarp: A network wrapper client which converts the input retrieved from an IFrameTransformStorageGet interface to a FrameTransformStorageGetRPC thrift interface.

Parameters

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

Port names examples

Here follow some examples of port names obtained with different parameters configurations

1. With
   • default-config = true
   • nws_thrift_port_prefix = ""
     The frameTransformGet_nws_yarp thrift port name will be: /frameTransformServer/frameTransformGet_nws_yarp/thrift
2. With
   • default-config = true
   • nws_thrift_port_prefix = "/cer"
     The frameTransformGet_nws_yarp thrift port name will be: /cer/frameTransformServer/frameTransformGet_nws_yarp/thrift
3. With
   • default-config = false
   • nws_thrift_port_prefix = "/cer"
     The frameTransformGet_nws_yarp thrift port name will be: /cer/frameTransformGet_nws_yarp/thrift
4. With
   • default-config = true
   • output_streaming_port_prefix = ""
     The name of the frameTransformGet_nws_yarp output port for the tf stream will be: /frameTransformServer/frameTransformGet_nws_yarp/tf:o
5. With
   • default-config = true
   • output_streaming_port_prefix = "/cer"
     The name of the frameTransformGet_nws_yarp output port for the tf stream will be: /cer/frameTransformServer/frameTransformGet_nws_yarp/tf:o
6. With
   • default-config = false
   • output_streaming_port_prefix = "/cer"
     The name of the frameTransformGet_nws_yarp output port for the tf stream will be: /cer/frameTransformGet_nws_yarp/tf:o

Example of configuration file using .ini format.

device frameTransformGet_nws_yarp
default-config true
thrift_port_prefix /cer

Definition at line 75 of file FrameTransformGet_nws_yarp.h.

Constructor & Destructor Documentation

FrameTransformGet_nws_yarp() [1/3]

FrameTransformGet_nws_yarp::FrameTransformGet_nws_yarp

(

)

Definition at line 14 of file FrameTransformGet_nws_yarp.cpp.

FrameTransformGet_nws_yarp() [2/3]

FrameTransformGet_nws_yarp::FrameTransformGet_nws_yarp ( const FrameTransformGet_nws_yarp &  )

delete

FrameTransformGet_nws_yarp() [3/3]

FrameTransformGet_nws_yarp::FrameTransformGet_nws_yarp ( FrameTransformGet_nws_yarp &&  )

delete

~FrameTransformGet_nws_yarp()

FrameTransformGet_nws_yarp::~FrameTransformGet_nws_yarp

(

)

Definition at line 97 of file FrameTransformGet_nws_yarp.cpp.

Member Function Documentation

attach()

bool FrameTransformGet_nws_yarp::attach ( yarp::dev::PolyDriver *  driver )

overridevirtual

Attach to another object.

Parameters

driver

the polydriver that you want to attach to.

Returns

true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 130 of file FrameTransformGet_nws_yarp.cpp.

close()

bool FrameTransformGet_nws_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns

true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 102 of file FrameTransformGet_nws_yarp.cpp.

detach()

bool FrameTransformGet_nws_yarp::detach ( )

overridevirtual

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

Returns

true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 122 of file FrameTransformGet_nws_yarp.cpp.

getTransformsRPC()

return_getAllTransforms FrameTransformGet_nws_yarp::getTransformsRPC ( )

overridevirtual

Reimplemented from FrameTransformStorageGetRPC.

Definition at line 143 of file FrameTransformGet_nws_yarp.cpp.

open()

bool FrameTransformGet_nws_yarp::open ( yarp::os::Searchable &  params )

overridevirtual

Device driver interface.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 22 of file FrameTransformGet_nws_yarp.cpp.

operator=() [1/2]

FrameTransformGet_nws_yarp & FrameTransformGet_nws_yarp::operator= ( const FrameTransformGet_nws_yarp &  )

delete

operator=() [2/2]

FrameTransformGet_nws_yarp & FrameTransformGet_nws_yarp::operator= ( FrameTransformGet_nws_yarp &&  )

delete

run()

void FrameTransformGet_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 157 of file FrameTransformGet_nws_yarp.cpp.

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

• src/devices/frameTransformGet/FrameTransformGet_nws_yarp.h
• src/devices/frameTransformGet/FrameTransformGet_nws_yarp.cpp