analogServer: Device that expose an AnalogSensor (using the IAnalogSensor interface) on the YARP or ROS network. More...

#include <AnalogWrapper/AnalogWrapper.h>

Inheritance diagram for AnalogWrapper:

Public Member Functions
	AnalogWrapper ()

	AnalogWrapper (const AnalogWrapper &)=delete

	AnalogWrapper (AnalogWrapper &&)=delete

AnalogWrapper &	operator= (const AnalogWrapper &)=delete

AnalogWrapper &	operator= (AnalogWrapper &&)=delete

	~AnalogWrapper () override

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

bool	close () override
	Close the DeviceDriver. More...

yarp::os::Bottle	getOptions ()

void	setId (const std::string &id)

std::string	getId ()

bool	attachAll (const yarp::dev::PolyDriverList &p) override
	Specify which analog sensor this thread has to read from. More...

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

void	attach (yarp::dev::IAnalogSensor *s)

void	detach ()

bool	threadInit () override
	Initialization method. More...

void	threadRelease () override
	Release method. More...

void	run () override
	Loop function. More...

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor. More...

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts. More...

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(). More...

Detailed Description

analogServer: Device that expose an AnalogSensor (using the IAnalogSensor interface) on the YARP or ROS network.

Description of input parameters

It reads the data from an analog sensor and sends them on one or more ports. It creates one rpc port and its related handler for every output port..

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
name	-	string	-	-	Yes	full name of the port opened by the device, like /robotName/part/	MUST start with a '/' character
period	-	int	ms	20	No	refresh period of the broadcasted values in ms	optional, default 20ms
subdevice	-	string	-	-	alternative to netwok group	name of the subdevice to instantiate	when used, parameters for the subdevice must be provided as well
ports	-	group	-	-	alternative to subdevice	this is expected to be a group parameter in xml format, a list in .ini file format. SubParameter are mandatory if this is used	-
-	portName_1	4 * int	channel number	-	if ports is used	describe how to match subdevice_1 channels with the wrapper channels. First 2 numbers indicate first/last wrapper channel, last 2 numbers are subdevice first/last channel	The channels are intended to be consequent
-	...	4 * int	channel number	-	if ports is used	same as above	The channels are intended to be consequent
-	portName_n	4 * int	channel number	-	if ports is used	same as above	The channels are intended to be consequent
-	channels	int	-	-	if ports is used	total number of channels handled by the wrapper	MUST match the sum of channels from all the ports
ROS	-	group	-	-	No	Group containing parameter for ROS topic initialization	if missing, it is assumed to not use ROS topics
-	useROS	string	true/false/only	-	if ROS group is present	set 'true' to have both yarp ports and ROS topic, set 'only' to have only ROS topic and no yarp port	-
-	ROS_topicName	string	-	-	if ROS group is present	set the name for ROS topic	must start with a leading '/'
-		list	-	-		set the names for ROS topics as a List	all names must start with a leading '/'
-	ROS_nodeName	string	-	-	if ROS group is present	set the name for ROS node	must start with a leading '/'
-	channelNames	string	-	-	deprecated	channels names are now got from attached motionControl device	names order must match with the channel order, from 0 to N

ROS message type used for force/torque is geometry_msgs/WrenchedStamped.msg (http://docs.ros.org/indigo/api/geometry_msgs/html/msg/WrenchStamped.html) ROS Offset and padding are optional parameters to be used to ignore the data surrounding force/torque data present in the analog sensor output.

for example: 3forces + 3torques + temperature + 3forces + 3torques + temperature ... -> offset 0, padding 1 (the temperature entry is one sample to skip) 3forces + 3torques + temperature + gravity + 3forces + 3torques + temperature + gravity ... -> offset 0, padding is 4 (1 temperature + 3 for gravity) temperature + 3forces + 3torques + temperature + 3forces + 3torques ... -> offset 1, padding is 0 (the F/T are the last ones) temperature + 3forces + 3torques + gravity + temperature + 3forces + 3torques + gravity ... -> offset 1, padding is 3 (skip 1 sample, get F/T and skip remaining 3)

Some example of configuration files:

Configuration file using .ini format, using subdevice keyword.

 device analogServer
 subdevice fakeAnalogSensor
 name /myAnalogSensor
 
** parameter for 'fakeAnalogSensor' subdevice follows here **
...

Configuration file using .ini format, using ports keyword

device analogServer
name  /myAnalogServer
period 20
ports (FirstSetOfChannels SecondSetOfChannels ThirdSetOfChannels)
channels 1344
FirstSetOfChannels  0   191  0 191
SecondSetOfChannels 192 575  0 383
ThirdSetOfChannels  576 1343 0 767

Configuration file using .xml format.

<device name="/myAnalogServer" type="analogServer">
    <param name="period">   20   </param>
    <param name="channels"> 1344 </param>
 
    <paramlist name="ports">
        <elem name="FirstSetOfChannels">  0   191  0 191</elem>
        <elem name="SecondSetOfChannels"> 192 575  0 383</elem>
        <elem name="ThirdSetOfChannels">  576 1343 0 767</elem>
    </paramlist>
 
    <action phase="startup" level="5" type="attach">
        <paramlist name="networks">
            <!-- The param value must match the device name in the corresponding analogSensor config file. AnalogWrapper is able to attach to only one subdevice. -->
            <elem name="myAnalogSensor">  my_analog_sensor </elem>
        </paramlist>
    </action>
 
    <action phase="shutdown" level="5" type="detach" />
</device>

Configuration for ROS topic using .ini format.

[ROS]
useROS        true
ROS_topicName /left_arm/forceTorque
ROS_nodeName  /torquePublisher
ROS_msgType   geometry_msgs/WrenchedStamped
frame_id      l_shoulder

Configuration for ROS topic using .xml format.

<group name="ROS">
    <param name="useROS">         true                           </param>    // use 'only' if you want only ROS topic and NOT yarp ports
    <param name="ROS_topicName">  /left_arm/forceTorque          </param>
    <param name="ROS_nodeName">   /torquePublisher               </param>
    <param name="ROS_msgType">    geometry_msgs/WrenchedStamped  </param>
    <param name="frame_id">       l_shoulder                     </param>
</group>
 
In case of an analog sensor streaming multiple force/torque streams, Configuration for ROS topic using .ini format.
 
\code{.unparsed}
[ROS]
useROS        true
ROS_topicName (/left_arm/forceTorque /right_arm/forceTorque /left_leg/forceTorque /left_leg/forceTorque)
ROS_nodeName  /torquePublisher
ROS_msgType   geometry_msgs/WrenchedStamped
frame_id      (l_shoulder r_shoulder l_leg r_leg)

Configuration for ROS topic using .xml format.

<group name="ROS">
    <param name="useROS">         true                                                                                        </param>    // use 'only' if you want only ROS topic and NOT yarp ports
    <param name="ROS_topicName">  (/left_arm/forceTorque /right_arm/forceTorque /left_leg/forceTorque /left_leg/forceTorque)  </param>
    <param name="ROS_nodeName">   /torquePublisher                                                                            </param>
    <param name="ROS_msgType">    geometry_msgs/WrenchedStamped                                                               </param>
    <param name="frame_id">       (l_shoulder r_shoulder l_leg r_leg)                                                         </param>
</group>

Definition at line 187 of file AnalogWrapper.h.

Constructor & Destructor Documentation

◆ AnalogWrapper() [1/3]

AnalogWrapper::AnalogWrapper ( )

Definition at line 216 of file AnalogWrapper.cpp.

◆ AnalogWrapper() [2/3]

AnalogWrapper::AnalogWrapper ( const AnalogWrapper & )

delete

◆ AnalogWrapper() [3/3]

AnalogWrapper::AnalogWrapper ( AnalogWrapper && )

delete

◆ ~AnalogWrapper()

AnalogWrapper::~AnalogWrapper ( )

override

Definition at line 228 of file AnalogWrapper.cpp.

Member Function Documentation

◆ attach()

void AnalogWrapper::attach ( yarp::dev::IAnalogSensor * s )

Definition at line 359 of file AnalogWrapper.cpp.

◆ attachAll()

bool AnalogWrapper::attachAll ( const yarp::dev::PolyDriverList & p )

overridevirtual

Specify which analog sensor this thread has to read from.

Implements yarp::dev::IMultipleWrapper.

Definition at line 315 of file AnalogWrapper.cpp.

◆ close()

bool AnalogWrapper::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 991 of file AnalogWrapper.cpp.

◆ detach()

void AnalogWrapper::detach ( )

Definition at line 371 of file AnalogWrapper.cpp.

◆ detachAll()

bool AnalogWrapper::detachAll ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 344 of file AnalogWrapper.cpp.

◆ getId()

std::string AnalogWrapper::getId ( )

Definition at line 400 of file AnalogWrapper.cpp.

◆ getOptions()

yarp::os::Bottle AnalogWrapper::getOptions ( )

◆ open()

bool AnalogWrapper::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 695 of file AnalogWrapper.cpp.

◆ operator=() [1/2]

AnalogWrapper& AnalogWrapper::operator= ( AnalogWrapper && )

delete

◆ operator=() [2/2]

AnalogWrapper& AnalogWrapper::operator= ( const AnalogWrapper & )

delete

◆ run()

void AnalogWrapper::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 875 of file AnalogWrapper.cpp.

◆ setId()

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

Definition at line 395 of file AnalogWrapper.cpp.

◆ threadInit()

bool AnalogWrapper::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 381 of file AnalogWrapper.cpp.

◆ threadRelease()

void AnalogWrapper::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 866 of file AnalogWrapper.cpp.

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

src/devices/AnalogWrapper/AnalogWrapper.h
src/devices/AnalogWrapper/AnalogWrapper.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ AnalogWrapper() [1/3]

◆ AnalogWrapper() [2/3]

◆ AnalogWrapper() [3/3]

◆ ~AnalogWrapper()

Member Function Documentation

◆ attach()

◆ attachAll()

◆ close()

◆ detach()

◆ detachAll()

◆ getId()

◆ getOptions()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ run()

◆ setId()

◆ threadInit()

◆ threadRelease()