This abstract template needs to be specialized in a ROS Publisher, for a specific ROS mesagge/sensor type. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nws_ros2/GenericSensor_nws_ros2.h>

Inheritance diagram for GenericSensor_nws_ros2< ROS_MSG >:

Public Member Functions
	GenericSensor_nws_ros2 ()

virtual	~GenericSensor_nws_ros2 ()

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

bool	close () override
	Close the DeviceDriver.

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).

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

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 yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

Protected Member Functions
virtual bool	viewInterfaces ()=0

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization 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().

Protected Attributes
double	m_periodInS {0.01}

std::string	m_publisherName

std::string	m_rosNodeName

rclcpp::Node::SharedPtr	m_node

rclcpp::Publisher< ROS_MSG >::SharedPtr	m_publisher

yarp::dev::PolyDriver *	m_poly

double	m_timestamp

std::string	m_framename

const size_t	m_sens_index = 0

yarp::dev::PolyDriver	m_subdevicedriver

Detailed Description

template<class ROS_MSG>
class GenericSensor_nws_ros2< ROS_MSG >

This abstract template needs to be specialized in a ROS Publisher, for a specific ROS mesagge/sensor type.

YARP device name
`GenericSensor_nws_ros2`

The parameters accepted by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
topic_name	-	string	-	-	Yes	The name of the ROS topic opened by this device.	MUST start with a '/' character
node_name	-	string	-	-	Yes	The name of the ROS node opened by this device	Autogenerated by default
period	-	double	s	-	Yes	Refresh period of the broadcasted values in seconds

Definition at line 43 of file GenericSensor_nws_ros2.h.

Constructor & Destructor Documentation

◆ GenericSensor_nws_ros2()

template<class ROS_MSG >

GenericSensor_nws_ros2< ROS_MSG >::GenericSensor_nws_ros2 ( )

Definition at line 81 of file GenericSensor_nws_ros2.h.

◆ ~GenericSensor_nws_ros2()

template<class ROS_MSG >

GenericSensor_nws_ros2< ROS_MSG >::~GenericSensor_nws_ros2 ( )

virtualdefault

Member Function Documentation

◆ attachAll()

template<class ROS_MSG >

bool GenericSensor_nws_ros2< ROS_MSG >::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 162 of file GenericSensor_nws_ros2.h.

◆ close()

template<class ROS_MSG >

bool GenericSensor_nws_ros2< ROS_MSG >::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 156 of file GenericSensor_nws_ros2.h.

◆ detachAll()

template<class ROS_MSG >

bool GenericSensor_nws_ros2< ROS_MSG >::detachAll ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 200 of file GenericSensor_nws_ros2.h.

◆ open()

template<class ROS_MSG >

bool GenericSensor_nws_ros2< ROS_MSG >::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 94 of file GenericSensor_nws_ros2.h.

◆ run()

template<class ROS_MSG >

void GenericSensor_nws_ros2< ROS_MSG >::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.

Reimplemented in Imu_nws_ros2, and WrenchStamped_nws_ros2.

Definition at line 210 of file GenericSensor_nws_ros2.h.

◆ threadRelease()

template<class ROS_MSG >

void GenericSensor_nws_ros2< ROS_MSG >::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 215 of file GenericSensor_nws_ros2.h.

◆ viewInterfaces()

template<class ROS_MSG >

template<class ROS_MSG >

double GenericSensor_nws_ros2< ROS_MSG >::m_timestamp

protected

Definition at line 55 of file GenericSensor_nws_ros2.h.

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

opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nws_ros2/GenericSensor_nws_ros2.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GenericSensor_nws_ros2()

◆ ~GenericSensor_nws_ros2()

Member Function Documentation

◆ attachAll()

◆ close()

◆ detachAll()

◆ open()

◆ run()

◆ threadRelease()

◆ viewInterfaces()

Member Data Documentation

◆ m_framename

◆ m_node

◆ m_periodInS

◆ m_poly

◆ m_publisher

◆ m_publisherName

◆ m_rosNodeName

◆ m_sens_index

◆ m_subdevicedriver

◆ m_timestamp