multipleanalogsensorsserver: The server side of the MultipleAnalogSensorsClient, useful to expose device implementing MultipleAnalogSensors interfaces over the YARP network. More...

#include <multipleanalogsensorsserver/MultipleAnalogSensorsServer.h>

Inheritance diagram for MultipleAnalogSensorsServer:

Public Member Functions
	MultipleAnalogSensorsServer ()

	~MultipleAnalogSensorsServer ()

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...

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

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

SensorRPCData	getMetadata () override
	Read the sensor metadata necessary to configure the MultipleAnalogSensorsClient device. 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 MultipleAnalogSensorsMetadata
	MultipleAnalogSensorsMetadata ()

virtual std::vector< std::string >	help (const std::string &functionName="--all")

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

Public Member Functions inherited from yarp::os::Wire
yarp::os::WireLink &	yarp ()
	Get YARP state associated with this object. 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 bool	threadInit ()
	Initialization method. More...

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

multipleanalogsensorsserver: The server side of the MultipleAnalogSensorsClient, useful to expose device implementing MultipleAnalogSensors interfaces over the YARP network.

This device opens two ports: /${name}/measures:o that streams the data of the sensors, and /${name}/rpc:o that is a YARP RPC port that exposes the metadata. The data on the /${name}/measures:o is streamed every ${period} milliseconds, and an envelope to each data is added with a timestamp obtained by calling the yarp::os::Time::now() method when the message is written on the port.

YARP device name
`multipleanalogsensorsserver`

The parameters accepted by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
name	-	string	-	-	Yes	Prefix of the port opened by this device	MUST start with a '/' character
period	-	int	ms	-	Yes	Refresh period of the broadcasted values in ms

Definition at line 43 of file MultipleAnalogSensorsServer.h.

Constructor & Destructor Documentation

◆ MultipleAnalogSensorsServer()

MultipleAnalogSensorsServer::MultipleAnalogSensorsServer ( )

Definition at line 24 of file MultipleAnalogSensorsServer.cpp.

◆ ~MultipleAnalogSensorsServer()

MultipleAnalogSensorsServer::~MultipleAnalogSensorsServer ( )

default

Member Function Documentation

◆ attachAll()

bool MultipleAnalogSensorsServer::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 251 of file MultipleAnalogSensorsServer.cpp.

◆ close()

bool MultipleAnalogSensorsServer::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 106 of file MultipleAnalogSensorsServer.cpp.

◆ detachAll()

bool MultipleAnalogSensorsServer::detachAll ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 342 of file MultipleAnalogSensorsServer.cpp.

◆ getMetadata()

SensorRPCData MultipleAnalogSensorsServer::getMetadata ( )

overridevirtual

Read the sensor metadata necessary to configure the MultipleAnalogSensorsClient device.

Reimplemented from MultipleAnalogSensorsMetadata.

Definition at line 356 of file MultipleAnalogSensorsServer.cpp.

◆ open()

bool MultipleAnalogSensorsServer::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 31 of file MultipleAnalogSensorsServer.cpp.

◆ run()

void MultipleAnalogSensorsServer::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 393 of file MultipleAnalogSensorsServer.cpp.

◆ threadRelease()

void MultipleAnalogSensorsServer::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 461 of file MultipleAnalogSensorsServer.cpp.

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

src/devices/multipleanalogsensorsserver/MultipleAnalogSensorsServer.h
src/devices/multipleanalogsensorsserver/MultipleAnalogSensorsServer.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MultipleAnalogSensorsServer()

◆ ~MultipleAnalogSensorsServer()

Member Function Documentation

◆ attachAll()

◆ close()

◆ detachAll()

◆ getMetadata()

◆ open()

◆ run()

◆ threadRelease()