Helper object for parsing RPC port messages. More...

#include <ControlBoardWrapper/RPCMessagesParser.h>

Inheritance diagram for RPCMessagesParser:

Public Member Functions
	RPCMessagesParser ()=default
	Constructor. More...

void	init (yarp::dev::DeviceDriver *x)
	Initialization. More...

bool	respond (const yarp::os::Bottle &cmd, yarp::os::Bottle &response) override
	Respond to a message. More...

void	handleTorqueMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleControlModeMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleImpedanceMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleInteractionModeMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleProtocolVersionRequest (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleRemoteCalibratorMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleRemoteVariablesMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handleCurrentMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handlePWMMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

void	handlePidMsg (const yarp::os::Bottle &cmd, yarp::os::Bottle &response, bool rec, bool ok)

virtual bool	initialize ()
	Initialize the internal data. More...

Public Member Functions inherited from yarp::dev::DeviceResponder
	DeviceResponder ()
	Constructor. More...

void	addUsage (const char txt, const char explain=nullptr)
	Add information about a message that the respond() method understands. More...

void	addUsage (const yarp::os::Bottle &bot, const char *explain=nullptr)
	Add information about a message that the respond() method understands. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Handler for reading messages from the network, and passing them on to the respond() method. More...

void	onRead (yarp::os::Bottle &v) override
	Alternative handler for reading messages from the network, and passing them on to the respond() method. More...

void	makeUsage ()
	Regenerate usage information. More...

void	attach (yarp::os::TypedReader< yarp::os::Bottle > &source)
	Attach this object to a source of messages. More...

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

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::TypedReaderCallback< yarp::os::Bottle >
virtual	~TypedReaderCallback ()
	Destructor. More...

virtual void	onRead (yarp::os::Bottle &datum)
	Callback method. More...

virtual void	onRead (yarp::os::Bottle &datum, const yarp::os::TypedReader< yarp::os::Bottle > &reader)
	Callback method. More...

Protected Attributes
ControlBoardWrapperCommon *	ControlBoardWrapper_p {nullptr}

yarp::dev::IPidControl *	rpc_IPid {nullptr}

yarp::dev::IPositionControl *	rpc_IPosCtrl {nullptr}

yarp::dev::IPositionDirect *	rpc_IPosDirect {nullptr}

yarp::dev::IVelocityControl *	rpc_IVelCtrl {nullptr}

yarp::dev::IEncodersTimed *	rpc_IEncTimed {nullptr}

yarp::dev::IMotorEncoders *	rpc_IMotEnc {nullptr}

yarp::dev::IAmplifierControl *	rcp_IAmp {nullptr}

yarp::dev::IControlLimits *	rcp_Ilim {nullptr}

yarp::dev::ITorqueControl *	rpc_ITorque {nullptr}

yarp::dev::IControlMode *	rpc_iCtrlMode {nullptr}

yarp::dev::IAxisInfo *	rpc_AxisInfo {nullptr}

yarp::dev::IRemoteCalibrator *	rpc_IRemoteCalibrator {nullptr}

yarp::dev::IControlCalibration *	rpc_Icalib {nullptr}

yarp::dev::IImpedanceControl *	rpc_IImpedance {nullptr}

yarp::dev::IInteractionMode *	rpc_IInteract {nullptr}

yarp::dev::IMotor *	rpc_IMotor {nullptr}

yarp::dev::IRemoteVariables *	rpc_IVar {nullptr}

yarp::dev::ICurrentControl *	rpc_ICurrent {nullptr}

yarp::dev::IPWMControl *	rpc_IPWM {nullptr}

yarp::sig::Vector	tmpVect

yarp::os::Stamp	lastRpcStamp

std::mutex	mutex

size_t	controlledJoints {0}

Detailed Description

Helper object for parsing RPC port messages.

Definition at line 56 of file RPCMessagesParser.h.

Constructor & Destructor Documentation

◆ RPCMessagesParser()

RPCMessagesParser::RPCMessagesParser ( )

default

Constructor.

Member Function Documentation

◆ handleControlModeMsg()

void RPCMessagesParser::handleControlModeMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 138 of file RPCMessagesParser.cpp.

◆ handleCurrentMsg()

void RPCMessagesParser::handleCurrentMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 719 of file RPCMessagesParser.cpp.

◆ handleImpedanceMsg()

void RPCMessagesParser::handleImpedanceMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 54 of file RPCMessagesParser.cpp.

◆ handleInteractionModeMsg()

void RPCMessagesParser::handleInteractionModeMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 576 of file RPCMessagesParser.cpp.

◆ handlePidMsg()

void RPCMessagesParser::handlePidMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 826 of file RPCMessagesParser.cpp.

◆ handleProtocolVersionRequest()

void RPCMessagesParser::handleProtocolVersionRequest	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 34 of file RPCMessagesParser.cpp.

◆ handlePWMMsg()

void RPCMessagesParser::handlePWMMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 1096 of file RPCMessagesParser.cpp.

◆ handleRemoteCalibratorMsg()

void RPCMessagesParser::handleRemoteCalibratorMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 1243 of file RPCMessagesParser.cpp.

◆ handleRemoteVariablesMsg()

void RPCMessagesParser::handleRemoteVariablesMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 1186 of file RPCMessagesParser.cpp.

◆ handleTorqueMsg()

void RPCMessagesParser::handleTorqueMsg	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	response,
		bool *	rec,
		bool *	ok
	)

Definition at line 409 of file RPCMessagesParser.cpp.

◆ init()

void RPCMessagesParser::init ( yarp::dev::DeviceDriver * x )

Initialization.

Parameters

x	is the pointer to the instance of the object that uses the RPCMessagesParser. This is required to recover the pointers to the interfaces that implement the responses to the commands.

Definition at line 2365 of file RPCMessagesParser.cpp.

◆ initialize()

bool RPCMessagesParser::initialize ( )

virtual

Initialize the internal data.

Returns: true/false on success/failure

Definition at line 2325 of file RPCMessagesParser.cpp.

◆ respond()

bool RPCMessagesParser::respond	(	const yarp::os::Bottle &	command,
		yarp::os::Bottle &	reply
	)

overridevirtual

Respond to a message.

Parameters

command	the message
reply	the response

Returns: true if there was no critical failure

Reimplemented from yarp::dev::DeviceResponder.

Definition at line 1330 of file RPCMessagesParser.cpp.

Member Data Documentation

◆ ControlBoardWrapper_p

ControlBoardWrapperCommon* RPCMessagesParser::ControlBoardWrapper_p {nullptr}

protected

Definition at line 60 of file RPCMessagesParser.h.

◆ controlledJoints

size_t RPCMessagesParser::controlledJoints {0}

protected

Definition at line 83 of file RPCMessagesParser.h.

◆ lastRpcStamp

yarp::os::Stamp RPCMessagesParser::lastRpcStamp

protected

Definition at line 81 of file RPCMessagesParser.h.

◆ mutex

std::mutex RPCMessagesParser::mutex

protected

Definition at line 82 of file RPCMessagesParser.h.

◆ rcp_IAmp

yarp::dev::IAmplifierControl* RPCMessagesParser::rcp_IAmp {nullptr}

protected

Definition at line 67 of file RPCMessagesParser.h.

◆ rcp_Ilim

yarp::dev::IControlLimits* RPCMessagesParser::rcp_Ilim {nullptr}

protected

Definition at line 68 of file RPCMessagesParser.h.

◆ rpc_AxisInfo

yarp::dev::IAxisInfo* RPCMessagesParser::rpc_AxisInfo {nullptr}

protected

Definition at line 71 of file RPCMessagesParser.h.

◆ rpc_Icalib

yarp::dev::IControlCalibration* RPCMessagesParser::rpc_Icalib {nullptr}

protected

Definition at line 73 of file RPCMessagesParser.h.

◆ rpc_iCtrlMode

yarp::dev::IControlMode* RPCMessagesParser::rpc_iCtrlMode {nullptr}

protected

Definition at line 70 of file RPCMessagesParser.h.

◆ rpc_ICurrent

yarp::dev::ICurrentControl* RPCMessagesParser::rpc_ICurrent {nullptr}

protected

Definition at line 78 of file RPCMessagesParser.h.

◆ rpc_IEncTimed

yarp::dev::IEncodersTimed* RPCMessagesParser::rpc_IEncTimed {nullptr}

protected

Definition at line 65 of file RPCMessagesParser.h.

◆ rpc_IImpedance

yarp::dev::IImpedanceControl* RPCMessagesParser::rpc_IImpedance {nullptr}

protected

Definition at line 74 of file RPCMessagesParser.h.

◆ rpc_IInteract

yarp::dev::IInteractionMode* RPCMessagesParser::rpc_IInteract {nullptr}

protected

Definition at line 75 of file RPCMessagesParser.h.

◆ rpc_IMotEnc

yarp::dev::IMotorEncoders* RPCMessagesParser::rpc_IMotEnc {nullptr}

protected

Definition at line 66 of file RPCMessagesParser.h.

◆ rpc_IMotor

yarp::dev::IMotor* RPCMessagesParser::rpc_IMotor {nullptr}

protected

Definition at line 76 of file RPCMessagesParser.h.

◆ rpc_IPid

yarp::dev::IPidControl* RPCMessagesParser::rpc_IPid {nullptr}

protected

Definition at line 61 of file RPCMessagesParser.h.

◆ rpc_IPosCtrl

yarp::dev::IPositionControl* RPCMessagesParser::rpc_IPosCtrl {nullptr}

protected

Definition at line 62 of file RPCMessagesParser.h.

◆ rpc_IPosDirect

yarp::dev::IPositionDirect* RPCMessagesParser::rpc_IPosDirect {nullptr}

protected

Definition at line 63 of file RPCMessagesParser.h.

◆ rpc_IPWM

yarp::dev::IPWMControl* RPCMessagesParser::rpc_IPWM {nullptr}

protected

Definition at line 79 of file RPCMessagesParser.h.

◆ rpc_IRemoteCalibrator

yarp::dev::IRemoteCalibrator* RPCMessagesParser::rpc_IRemoteCalibrator {nullptr}

protected

Definition at line 72 of file RPCMessagesParser.h.

◆ rpc_ITorque

yarp::dev::ITorqueControl* RPCMessagesParser::rpc_ITorque {nullptr}

protected

Definition at line 69 of file RPCMessagesParser.h.

◆ rpc_IVar

yarp::dev::IRemoteVariables* RPCMessagesParser::rpc_IVar {nullptr}

protected

Definition at line 77 of file RPCMessagesParser.h.

◆ rpc_IVelCtrl

yarp::dev::IVelocityControl* RPCMessagesParser::rpc_IVelCtrl {nullptr}

protected

Definition at line 64 of file RPCMessagesParser.h.

◆ tmpVect

yarp::sig::Vector RPCMessagesParser::tmpVect

protected

Definition at line 80 of file RPCMessagesParser.h.

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

src/devices/ControlBoardWrapper/RPCMessagesParser.h
src/devices/ControlBoardWrapper/RPCMessagesParser.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RPCMessagesParser()

Member Function Documentation

◆ handleControlModeMsg()

◆ handleCurrentMsg()

◆ handleImpedanceMsg()

◆ handleInteractionModeMsg()

◆ handlePidMsg()

◆ handleProtocolVersionRequest()

◆ handlePWMMsg()

◆ handleRemoteCalibratorMsg()

◆ handleRemoteVariablesMsg()

◆ handleTorqueMsg()

◆ init()

◆ initialize()

◆ respond()

Member Data Documentation

◆ ControlBoardWrapper_p

◆ controlledJoints

◆ lastRpcStamp

◆ mutex

◆ rcp_IAmp

◆ rcp_Ilim

◆ rpc_AxisInfo

◆ rpc_Icalib

◆ rpc_iCtrlMode

◆ rpc_ICurrent

◆ rpc_IEncTimed

◆ rpc_IImpedance

◆ rpc_IInteract

◆ rpc_IMotEnc

◆ rpc_IMotor

◆ rpc_IPid

◆ rpc_IPosCtrl

◆ rpc_IPosDirect

◆ rpc_IPWM

◆ rpc_IRemoteCalibrator

◆ rpc_ITorque

◆ rpc_IVar

◆ rpc_IVelCtrl

◆ tmpVect