#include <navigation2D_nws_yarp/navigation2D_nws_yarp.h>

Inheritance diagram for navigation2D_nws_yarp:

Public Member Functions
	navigation2D_nws_yarp ()
	Default module constructor.

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

virtual bool	close () override
	Close the DeviceDriver.

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

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

virtual void	run () override
	Loop function.

bool	initialize_YARP (yarp::os::Searchable &config)

virtual bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

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::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::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

Protected Attributes
INavigation2DRPCd	m_RPC

std::string	m_local_name = "/navigation2D_nws_yarp"

yarp::os::Port	m_rpcPort

yarp::os::Port	m_statusPort

std::string	m_rpcPortName

std::string	m_statusPortName

yarp::dev::Nav2D::NavigationStatusEnum	m_navigation_status

std::string	m_prev_navigation_status

yarp::dev::PolyDriver	pNav

yarp::dev::Nav2D::INavigation2DControlActions *	iNav_ctrl = nullptr

yarp::dev::Nav2D::INavigation2DTargetActions *	iNav_target = nullptr

yarp::dev::Nav2D::INavigation2DVelocityActions *	iNav_vel = nullptr

double	m_period

double	m_stats_time_last

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

Definition at line 41 of file navigation2D_nws_yarp.h.

Constructor & Destructor Documentation

◆ navigation2D_nws_yarp()

navigation2D_nws_yarp::navigation2D_nws_yarp ( )

Default module constructor.

Definition at line 27 of file navigation2D_nws_yarp.cpp.

Member Function Documentation

◆ attach()

bool navigation2D_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 34 of file navigation2D_nws_yarp.cpp.

◆ close()

bool navigation2D_nws_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 138 of file navigation2D_nws_yarp.cpp.

◆ detach()

bool navigation2D_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 61 of file navigation2D_nws_yarp.cpp.

◆ initialize_YARP()

bool navigation2D_nws_yarp::initialize_YARP ( yarp::os::Searchable & config )

Definition at line 120 of file navigation2D_nws_yarp.cpp.

◆ open()

bool navigation2D_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 74 of file navigation2D_nws_yarp.cpp.

◆ read()

bool navigation2D_nws_yarp::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 150 of file navigation2D_nws_yarp.cpp.

◆ run()

void navigation2D_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 164 of file navigation2D_nws_yarp.cpp.

Member Data Documentation

◆ iNav_ctrl

yarp::dev::Nav2D::INavigation2DControlActions* navigation2D_nws_yarp::iNav_ctrl = nullptr

protected

Definition at line 60 of file navigation2D_nws_yarp.h.

◆ iNav_target

yarp::dev::Nav2D::INavigation2DTargetActions* navigation2D_nws_yarp::iNav_target = nullptr

protected

Definition at line 61 of file navigation2D_nws_yarp.h.

◆ iNav_vel

yarp::dev::Nav2D::INavigation2DVelocityActions* navigation2D_nws_yarp::iNav_vel = nullptr

protected

Definition at line 62 of file navigation2D_nws_yarp.h.

◆ m_local_name

std::string navigation2D_nws_yarp::m_local_name = "/navigation2D_nws_yarp"

protected

Definition at line 50 of file navigation2D_nws_yarp.h.

◆ m_navigation_status

yarp::dev::Nav2D::NavigationStatusEnum navigation2D_nws_yarp::m_navigation_status

protected

Definition at line 55 of file navigation2D_nws_yarp.h.

◆ m_period

double navigation2D_nws_yarp::m_period

protected

Definition at line 64 of file navigation2D_nws_yarp.h.

◆ m_prev_navigation_status

std::string navigation2D_nws_yarp::m_prev_navigation_status

protected

Definition at line 56 of file navigation2D_nws_yarp.h.

◆ m_RPC

INavigation2DRPCd navigation2D_nws_yarp::m_RPC

protected

Definition at line 48 of file navigation2D_nws_yarp.h.

◆ m_rpcPort

yarp::os::Port navigation2D_nws_yarp::m_rpcPort

protected

Definition at line 51 of file navigation2D_nws_yarp.h.

◆ m_rpcPortName

std::string navigation2D_nws_yarp::m_rpcPortName

protected

Definition at line 53 of file navigation2D_nws_yarp.h.

◆ m_stats_time_last

double navigation2D_nws_yarp::m_stats_time_last

protected

Definition at line 65 of file navigation2D_nws_yarp.h.

◆ m_statusPort

yarp::os::Port navigation2D_nws_yarp::m_statusPort

protected

Definition at line 52 of file navigation2D_nws_yarp.h.

◆ m_statusPortName

std::string navigation2D_nws_yarp::m_statusPortName

protected

Definition at line 54 of file navigation2D_nws_yarp.h.

◆ pNav

yarp::dev::PolyDriver navigation2D_nws_yarp::pNav

protected

Definition at line 59 of file navigation2D_nws_yarp.h.

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

src/devices/navigation2D_nws_yarp/navigation2D_nws_yarp.h
src/devices/navigation2D_nws_yarp/navigation2D_nws_yarp.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ navigation2D_nws_yarp()

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ initialize_YARP()

◆ open()

◆ read()

◆ run()

Member Data Documentation

◆ iNav_ctrl

◆ iNav_target

◆ iNav_vel

◆ m_local_name

◆ m_navigation_status

◆ m_period

◆ m_prev_navigation_status

◆ m_RPC

◆ m_rpcPort

◆ m_rpcPortName

◆ m_stats_time_last

◆ m_statusPort

◆ m_statusPortName

◆ pNav