batteryWrapper: Device that expose a battery sensor (using the IBattery interface) on the YARP network. More...

#include <batteryWrapper/BatteryWrapper.h>

Inheritance diagram for BatteryWrapper:

Public Member Functions
	BatteryWrapper ()

	~BatteryWrapper ()

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

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

bool	attachAll (const yarp::dev::PolyDriverList &p) override
	Attach to a list of objects. More...

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

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...

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

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. 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

batteryWrapper: Device that expose a battery sensor (using the IBattery interface) on the YARP network.

Description of input parameters

It reads the data from a battery sensor and sends them on a port, acting as a streaming server for a batteryClient device. 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	prefix of the ports opened by the device, e.g. /robotName/battery1	MUST start with a '/' character. /data:o and /rpc:i is automatically appended by the wrapper at the end
period	-	double	s	1.0	No	refresh period of the broadcasted values in seconds	optional, default 1.0s
subdevice	-	string	-	-	No	name of the subdevice to instantiate	when used, parameters for the subdevice must be provided as well
enable_shutdown	-	bool	-	false	No	if enabled, batteryWrapper will start a system shutdown when charge is below 5%	-
enable_log	-	bool	-	false	No	if enabled, stores a log of battery usage on disk	data stored on file batteryLog.txt
quitPortName	-	string	-	-	No	name of port used to terminate the execution of yarpRobotInterface	used only if enable_shutdown=true

Some example of configuration files:

Configuration file using .ini format, using subdevice keyword.

 device  batteryWrapper
 subdevice fakeBattery
 name /myBatterySensor
 
** parameter for 'fakeBattery' subdevice follows here **
...

Configuration file using .xml format.

<device name="battery1" type="batteryWrapper">
    <param name="period">   20                  </param>
    <param name="name">   /myBatterySensor       </param>
 
    <action phase="startup" level="5" type="attach">
        <paramlist name="networks">
            <elem name="my_battery">  my_battery </elem>
        </paramlist>
    </action>
 
    <action phase="shutdown" level="5" type="detach" />
</device>

Definition at line 100 of file BatteryWrapper.h.

Constructor & Destructor Documentation

◆ BatteryWrapper()

BatteryWrapper::BatteryWrapper ( )

Definition at line 37 of file BatteryWrapper.cpp.

◆ ~BatteryWrapper()

BatteryWrapper::~BatteryWrapper ( )

Definition at line 45 of file BatteryWrapper.cpp.

Member Function Documentation

◆ attachAll()

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

overridevirtual

Attach to a list of objects.

Parameters

p	the polydriver list that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 51 of file BatteryWrapper.cpp.

◆ close()

bool BatteryWrapper::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 305 of file BatteryWrapper.cpp.

◆ detachAll()

bool BatteryWrapper::detachAll ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 81 of file BatteryWrapper.cpp.

◆ open()

bool BatteryWrapper::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 155 of file BatteryWrapper.cpp.

◆ run()

void BatteryWrapper::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 252 of file BatteryWrapper.cpp.

◆ threadInit()

bool BatteryWrapper::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 150 of file BatteryWrapper.cpp.

◆ threadRelease()

void BatteryWrapper::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 248 of file BatteryWrapper.cpp.

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

src/devices/batteryWrapper/BatteryWrapper.h
src/devices/batteryWrapper/BatteryWrapper.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ BatteryWrapper()

◆ ~BatteryWrapper()

Member Function Documentation

◆ attachAll()

◆ close()

◆ detachAll()

◆ open()

◆ run()

◆ threadInit()

◆ threadRelease()