Odometry2D_nws_yarp: A yarp nws to get the odometry and publish it on 3 yarp ports: More...

#include <odometry2D_nws_yarp/Odometry2D_nws_yarp.h>

Inheritance diagram for Odometry2D_nws_yarp:

Public Member Functions
	Odometry2D_nws_yarp ()

	~Odometry2D_nws_yarp ()

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

bool	close () override
	Close the DeviceDriver.

bool	attach (yarp::dev::PolyDriver *driver) override
	Attach to another object.

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

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

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::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

Odometry2D_nws_yarp: A yarp nws to get the odometry and publish it on 3 yarp ports:

Device description

a port for odometry;
a port for odometer;
a port for velocity. The attached device must implement a yarp::dev::Nav2D::IOdometry2D interface.

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
period	-	double	s	0.02	No	refresh period of the broadcasted values in s	default 0.02s
name	-	string	-	/odometry2D_nws_yarp	No	The name of the server, used as a prefix for the opened ports

Example of configuration file using .ini format.

device odometry2D_nws_yarp
period 0.02
name /odometry2D_nws_yarp
 
subdevice fakeOdometry

example of xml file with a fake odometer

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<robot name="fakeOdometry" build="2" portprefix="test" xmlns:xi="http://www.w3.org/2001/XInclude">
  <devices>
    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="fakeOdometry_device" type="fakeOdometry">
    </device>
    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="odometry_nws_yarp" type="odometry2D_nws_yarp">
      <param name="name"> /odometry2D_nws_yarp </param>
      <action phase="startup" level="5" type="attach">
          <paramlist name="networks">
              <elem name="subdevice_odometry"> fakeOdometry_device </elem>
          </paramlist>
      </action>
      <action phase="shutdown" level="5" type="detach" />
    </device>
  </devices>
</robot>

example of command via terminal.

yarpdev --device odometry2D_nws_yarp --period 0.01 --subdevice fakeOdometry

Definition at line 75 of file Odometry2D_nws_yarp.h.

Constructor & Destructor Documentation

◆ Odometry2D_nws_yarp()

Odometry2D_nws_yarp::Odometry2D_nws_yarp ( )

Definition at line 17 of file Odometry2D_nws_yarp.cpp.

◆ ~Odometry2D_nws_yarp()

Odometry2D_nws_yarp::~Odometry2D_nws_yarp ( )

Definition at line 21 of file Odometry2D_nws_yarp.cpp.

Member Function Documentation

◆ attach()

bool Odometry2D_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 27 of file Odometry2D_nws_yarp.cpp.

◆ close()

bool Odometry2D_nws_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 198 of file Odometry2D_nws_yarp.cpp.

◆ detach()

bool Odometry2D_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 49 of file Odometry2D_nws_yarp.cpp.

◆ open()

bool Odometry2D_nws_yarp::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 64 of file Odometry2D_nws_yarp.cpp.

◆ run()

void Odometry2D_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 134 of file Odometry2D_nws_yarp.cpp.

◆ threadInit()

bool Odometry2D_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 59 of file Odometry2D_nws_yarp.cpp.

◆ threadRelease()

void Odometry2D_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 124 of file Odometry2D_nws_yarp.cpp.

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

src/devices/odometry2D_nws_yarp/Odometry2D_nws_yarp.h
src/devices/odometry2D_nws_yarp/Odometry2D_nws_yarp.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Device description

Constructor & Destructor Documentation

◆ Odometry2D_nws_yarp()

◆ ~Odometry2D_nws_yarp()

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ open()

◆ run()

◆ threadInit()

◆ threadRelease()