Interface implemented by all device drivers. More...

#include <yarp/dev/DeviceDriver.h>

Inherited by GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::Imu >, GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::MagneticField >, GenericSensorRosPublisher< yarp::rosmsg::geometry_msgs::PoseStamped >, GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::Temperature >, GenericSensorRosPublisher< yarp::rosmsg::geometry_msgs::WrenchStamped >, GenericSensor_nwc_ros2< sensor_msgs::msg::Imu >, GenericSensor_nws_ros2< sensor_msgs::msg::Imu >, GenericSensor_nws_ros2< geometry_msgs::msg::WrenchStamped >, AnalogSensorClient, AnalogWrapper, AudioPlayerWrapper, AudioRecorderWrapper, AudioRecorder_nwc_yarp, AudioRecorder_nws_yarp, Battery_nwc_yarp, Battery_nws_ros2, Battery_nws_yarp, BoschIMU, ChatBot_nwc_yarp, ChatBot_nws_yarp, ControlBoardRemapper, ControlBoard_nws_ros, ControlBoard_nws_ros2, ControlBoard_nws_yarp, DeviceTemplate, DynamixelAX12FtdiDriver, FakeAnalogSensor, FakeBattery, FakeChatBotDevice, FakeFrameGrabber [virtual], FakeJointCoupling, FakeJoypad, FakeLaser, FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, FakeOdometry2D, FakePositionSensor, FakeSerialPort, FakeSpeechSynthesizer, FakeSpeechTranscription, FfmpegGrabber, FfmpegWriter, FrameGrabberCropper, FrameGrabber_nwc_yarp, FrameGrabber_nws_ros, FrameGrabber_nws_ros2, FrameGrabber_nws_yarp, FrameTransformClient, FrameTransformGetMultiplexer, FrameTransformGet_nwc_ros, FrameTransformGet_nwc_ros2, FrameTransformGet_nwc_yarp, FrameTransformGet_nws_yarp, FrameTransformServer, FrameTransformSetMultiplexer, FrameTransformSet_nwc_ros, FrameTransformSet_nwc_ros2, FrameTransformSet_nwc_yarp, FrameTransformSet_nws_yarp, FrameTransformStorage, GPTDevice, GenericSensorRosPublisher< ROS_MSG >, GenericSensor_nwc_ros2< ROS_MSG >, GenericSensor_nws_ros2< ROS_MSG >, JoypadControlClient, JoypadControlServer, LLM_nwc_yarp, LLM_nws_yarp, LaserFromDepth, LaserFromExternalPort, LaserFromPointCloud, LaserFromRosTopic, Localization2D_nwc_yarp, Localization2D_nws_ros, Localization2D_nws_ros2, Localization2D_nws_yarp, Map2DStorage, Map2D_nwc_yarp, Map2D_nws_ros, Map2D_nws_ros2, Map2D_nws_yarp, MobileBaseVelocityControl_nwc_yarp, MobileBaseVelocityControl_nws_ros, MobileBaseVelocityControl_nws_ros2, MobileBaseVelocityControl_nws_yarp, MultipleAnalogSensorsClient, MultipleAnalogSensorsRemapper, MultipleAnalogSensorsServer, Navigation2D_nwc_yarp, Nop, Odometry2D_nws_ros, Odometry2D_nws_ros2, Odometry2D_nws_yarp, OpenCVGrabber, PortAudioPlayerDeviceDriver, PortAudioRecorderDeviceDriver, RGBDSensorClient, RGBDSensorFromRosTopic, RGBDToPointCloudSensor_nws_ros, Rangefinder2DClient, Rangefinder2D_controlBoard_nws_ros2, Rangefinder2D_nwc_ros2, Rangefinder2D_nwc_yarp, Rangefinder2D_nws_ros, Rangefinder2D_nws_ros2, Rangefinder2D_nws_yarp, RemoteControlBoard, RgbdSensor_nwc_ros2, RgbdSensor_nws_ros, RgbdSensor_nws_ros2, RgbdSensor_nws_yarp, RgbdToPointCloudSensor_nws_ros2, RobotDescriptionClient, RobotDescriptionServer, Ros2Test, RpLidar, RpLidar2, RpLidar3, RpLidar4, SDLJoypad, SegFault, SerialDeviceDriver, SerialPort_nwc_yarp, SerialPort_nws_yarp, SerialServoBoard, SpeechSynthesizer_nwc_yarp, SpeechSynthesizer_nws_yarp, SpeechTranscription_nwc_yarp, SpeechTranscription_nws_yarp, StubDriver, USBCameraDriver, UltraPythonDriver, UpowerBattery, V4L_camera, VirtualAnalogWrapper, WhisperSpeechTranscription, audioFromFileDevice, audioToFileDevice, depthCameraDriver, fakeDepthCameraDriver, fakeIMU, fakeLLMDevice, fakeLocalizer, fakeMicrophone, fakeNavigation, fakeSpeaker, laserHokuyo, navigation2D_nws_yarp, pylonCameraDriver, realsense2Driver, realsense2Tracking, yarp::dev::DeprecatedDeviceDriver [virtual], yarp::dev::OVRHeadset, and yarp::dev::PolyDriver.

Classes
class	Private

Public Member Functions
	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

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 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.

Detailed Description

Interface implemented by all device drivers.

Examples: dev/fake_motor/fake_motor.cpp.

Definition at line 29 of file DeviceDriver.h.

Constructor & Destructor Documentation

◆ DeviceDriver() [1/3]

DeviceDriver::DeviceDriver ( )

Definition at line 28 of file DeviceDriver.cpp.

◆ DeviceDriver() [2/3]

yarp::dev::DeviceDriver::DeviceDriver ( const DeviceDriver & other )

delete

◆ DeviceDriver() [3/3]

yarp::dev::DeviceDriver::DeviceDriver ( DeviceDriver && other )

deletenoexcept

◆ ~DeviceDriver()

DeviceDriver::~DeviceDriver ( )

override

Definition at line 33 of file DeviceDriver.cpp.

Member Function Documentation

◆ close()

bool yarp::dev::DeviceDriver::close ( )

inlineoverridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::os::IConfig.

Reimplemented in yarp::dev::OVRHeadset, pylonCameraDriver, realsense2Driver, realsense2Tracking, realsense2withIMUDriver, RpLidar, RpLidar2, RpLidar3, RpLidar4, WhisperSpeechTranscription, DeviceTemplate, UltraPythonDriver, GPTDevice, FrameGrabber_nws_ros, FrameTransformGet_nwc_ros, FrameTransformSet_nwc_ros, LaserFromRosTopic, Localization2D_nws_ros, Map2D_nws_ros, MobileBaseVelocityControl_nws_ros, GenericSensorRosPublisher< ROS_MSG >, GenericSensorRosPublisher< yarp::rosmsg::geometry_msgs::PoseStamped >, GenericSensorRosPublisher< yarp::rosmsg::geometry_msgs::WrenchStamped >, GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::Imu >, GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::MagneticField >, GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::Temperature >, Odometry2D_nws_ros, Rangefinder2D_nws_ros, RgbdSensor_nws_ros, RGBDSensorFromRosTopic, RGBDToPointCloudSensor_nws_ros, FrameGrabber_nws_ros2, FrameTransformGet_nwc_ros2, FrameTransformSet_nwc_ros2, Localization2D_nws_ros2, Map2D_nws_ros2, MobileBaseVelocityControl_nws_ros2, GenericSensor_nwc_ros2< ROS_MSG >, GenericSensor_nwc_ros2< sensor_msgs::msg::Imu >, GenericSensor_nws_ros2< ROS_MSG >, GenericSensor_nws_ros2< geometry_msgs::msg::WrenchStamped >, GenericSensor_nws_ros2< sensor_msgs::msg::Imu >, Odometry2D_nws_ros2, Rangefinder2D_controlBoard_nws_ros2, Rangefinder2D_nwc_ros2, Rangefinder2D_nws_ros2, RgbdSensor_nwc_ros2, RgbdSensor_nws_ros2, RgbdToPointCloudSensor_nws_ros2, Ros2Test, RemoteControlBoardRemapper, DynamixelAX12FtdiDriver, FakeAnalogSensor, FakeBattery, FakeBot, fakeDepthCameraDriver, FakeFrameGrabber, fakeIMU, FakeJointCoupling, FakeJoypad, FakeLaser, FakeLaserWithMotor, fakeLocalizer, fakeMicrophone, FakeMotionControl, FakeMotionControlMicro, fakeNavigation, FakeOdometry2D, FakePositionSensor, FakeSerialPort, fakeSpeaker, FakeSpeechSynthesizer, FakeSpeechTranscription, FfmpegGrabber, FfmpegWriter, FrameGrabber_nwc_yarp, FrameGrabber_nws_yarp, FrameGrabberCropper, FrameTransformClient, FrameTransformGet_nwc_yarp, FrameTransformGet_nws_yarp, FrameTransformGetMultiplexer, FrameTransformServer, FrameTransformSet_nwc_yarp, FrameTransformSet_nws_yarp, FrameTransformSetMultiplexer, FrameTransformStorage, JoypadControlClient, JoypadControlServer, LaserFromDepth, LaserFromExternalPort, LaserFromPointCloud, laserHokuyo, LLM_nwc_yarp, LLM_nws_yarp, Localization2D_nwc_yarp, Localization2D_nws_yarp, Map2D_nwc_yarp, Map2D_nws_yarp, Map2DStorage, MobileBaseVelocityControl_nwc_yarp, MobileBaseVelocityControl_nws_yarp, MultipleAnalogSensorsClient, MultipleAnalogSensorsRemapper, MultipleAnalogSensorsServer, Navigation2D_nwc_yarp, navigation2D_nws_yarp, Odometry2D_nws_yarp, OpenCVGrabber, PortAudioDeviceDriver, PortAudioPlayerDeviceDriver, PortAudioRecorderDeviceDriver, Rangefinder2D_nwc_yarp, Rangefinder2D_nws_yarp, Rangefinder2DClient, RemoteControlBoard, RgbdSensor_nws_yarp, RGBDSensorClient, RobotDescriptionClient, RobotDescriptionServer, SDLJoypad, SerialDeviceDriver, SerialPort_nwc_yarp, SerialPort_nws_yarp, SerialServoBoard, SpeechSynthesizer_nwc_yarp, SpeechSynthesizer_nws_yarp, SpeechTranscription_nwc_yarp, SpeechTranscription_nws_yarp, Nop, SegFault, UpowerBattery, USBCameraDriver, V4L_camera, VirtualAnalogWrapper, StubDriver, and yarp::dev::PolyDriver.

Definition at line 59 of file DeviceDriver.h.

◆ getImplementation()

virtual DeviceDriver * yarp::dev::DeviceDriver::getImplementation ( )

inlinevirtual

Some drivers are bureaucrats, pointing at others.

Such drivers override this method.

Returns: "real" device driver

Reimplemented in StubDriver, and yarp::dev::PolyDriver.

Definition at line 112 of file DeviceDriver.h.

◆ id()

std::string DeviceDriver::id ( ) const

virtual

Return the id assigned to the PolyDriver.

If no name was assigned, returns the name of the device (if set) or an empty string. The value can be set by passing the id option when opening the device or with the setId() method.

Returns: the id for this device.

Reimplemented in StubDriver.

Definition at line 43 of file DeviceDriver.cpp.

◆ open()

bool yarp::dev::DeviceDriver::open ( yarp::os::Searchable & config )

inlineoverridevirtual

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::os::IConfig.

Reimplemented in RemoteControlBoard, SerialServoBoard, SerialPort_nwc_yarp, yarp::dev::OVRHeadset, pylonCameraDriver, realsense2Driver, realsense2Tracking, realsense2withIMUDriver, RpLidar, RpLidar2, RpLidar3, RpLidar4, WhisperSpeechTranscription, DeviceTemplate, UltraPythonDriver, GPTDevice, FrameGrabber_nws_ros, FrameTransformGet_nwc_ros, FrameTransformSet_nwc_ros, LaserFromRosTopic, MobileBaseVelocityControl_nws_ros, RGBDSensorFromRosTopic, FrameGrabber_nws_ros2, FrameTransformGet_nwc_ros2, FrameTransformSet_nwc_ros2, Localization2D_nws_ros2, Map2D_nws_ros2, MobileBaseVelocityControl_nws_ros2, Rangefinder2D_controlBoard_nws_ros2, Rangefinder2D_nwc_ros2, Rangefinder2D_nws_ros2, RgbdSensor_nwc_ros2, RgbdSensor_nws_ros2, RgbdToPointCloudSensor_nws_ros2, Ros2Test, DynamixelAX12FtdiDriver, FakeAnalogSensor, FakeBattery, FakeBot, fakeDepthCameraDriver, FakeFrameGrabber, fakeIMU, FakeJoypad, FakeLaser, FakeLaserWithMotor, fakeLocalizer, fakeMicrophone, fakeNavigation, FakeOdometry2D, FakePositionSensor, FakeSerialPort, fakeSpeaker, FakeSpeechSynthesizer, FakeSpeechTranscription, FfmpegGrabber, FfmpegWriter, FrameGrabber_nwc_yarp, FrameGrabber_nws_yarp, FrameGrabberCropper, FrameTransformClient, FrameTransformGetMultiplexer, FrameTransformServer, FrameTransformSet_nwc_yarp, FrameTransformSet_nws_yarp, FrameTransformSetMultiplexer, FrameTransformStorage, JoypadControlClient, LaserFromDepth, LaserFromExternalPort, LaserFromPointCloud, laserHokuyo, LLM_nwc_yarp, Localization2D_nwc_yarp, Map2D_nwc_yarp, MobileBaseVelocityControl_nwc_yarp, MobileBaseVelocityControl_nws_yarp, MultipleAnalogSensorsClient, MultipleAnalogSensorsRemapper, Navigation2D_nwc_yarp, OpenCVGrabber, PortAudioDeviceDriver, PortAudioPlayerDeviceDriver, PortAudioRecorderDeviceDriver, Rangefinder2D_nwc_yarp, Rangefinder2DClient, RGBDSensorClient, RobotDescriptionClient, RobotDescriptionServer, SDLJoypad, SerialDeviceDriver, SerialPort_nws_yarp, SpeechSynthesizer_nwc_yarp, SpeechSynthesizer_nws_yarp, SpeechTranscription_nwc_yarp, SpeechTranscription_nws_yarp, Nop, SegFault, UpowerBattery, USBCameraDriver, V4L_camera, VirtualAnalogWrapper, StubDriver, yarp::dev::PolyDriver, yarp::dev::PolyDriver, FakeJointCoupling, FakeMotionControl, FakeMotionControlMicro, Map2D_nws_ros, GenericSensorRosPublisher< ROS_MSG >, GenericSensorRosPublisher< yarp::rosmsg::geometry_msgs::PoseStamped >, GenericSensorRosPublisher< yarp::rosmsg::geometry_msgs::WrenchStamped >, GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::Imu >, GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::MagneticField >, GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::Temperature >, Odometry2D_nws_ros, Rangefinder2D_nws_ros, RgbdSensor_nws_ros, RGBDToPointCloudSensor_nws_ros, GenericSensor_nwc_ros2< ROS_MSG >, GenericSensor_nwc_ros2< sensor_msgs::msg::Imu >, GenericSensor_nws_ros2< ROS_MSG >, GenericSensor_nws_ros2< geometry_msgs::msg::WrenchStamped >, GenericSensor_nws_ros2< sensor_msgs::msg::Imu >, Odometry2D_nws_ros2, FrameTransformGet_nwc_yarp, FrameTransformGet_nws_yarp, JoypadControlServer, Map2D_nws_yarp, Map2DStorage, MultipleAnalogSensorsServer, Odometry2D_nws_yarp, Rangefinder2D_nws_yarp, RgbdSensor_nws_yarp, Localization2D_nws_ros, RemoteControlBoardRemapper, LLM_nws_yarp, Localization2D_nws_yarp, and navigation2D_nws_yarp.

Definition at line 53 of file DeviceDriver.h.

◆ operator=() [1/2]

DeviceDriver & yarp::dev::DeviceDriver::operator= ( const DeviceDriver & other )

delete

◆ operator=() [2/2]

DeviceDriver & yarp::dev::DeviceDriver::operator= ( DeviceDriver && other )

deletenoexcept

◆ setId()

void DeviceDriver::setId ( const std::string & id )

virtual

Set the id for this device.

Reimplemented in StubDriver.

Definition at line 38 of file DeviceDriver.cpp.

◆ view()

template<class T >

bool yarp::dev::DeviceDriver::view ( T *& x )

inline

Get an interface to the device driver.