guiUpdater

Module responsible for polling the OPC for various content (objects, skeletons, etc.) and updating icubGui based on this. More...

Collaboration diagram for guiUpdater:

Classes
class	GuiUpdater

Detailed Description

Module responsible for polling the OPC for various content (objects, skeletons, etc.) and updating icubGui based on this.

Version:1.0

Author

Stephane Lallee steph.nosp@m.ane..nosp@m.lalle.nosp@m.e@gm.nosp@m.ail.c.nosp@m.om

Copyright

Released under the terms of the GNU GPL v2.0

Description

The purpose of this module is to retrieve information from the online database implemented by the objectsPropertiesCollector module (OPC) and format/transmit this information to the gui implemented by iCubGui (icub repo).

Parameters

• –name: To specify the module's name; all the open ports will be tagged with the prefix /name
• –OPCname: Name of the OPC to connect to
• –displaySkeletons: Agents skeletons will be displayed if available.

Input Ports

• /guiUpdater/rpc [Bottle] [default carrier:tcp]: Response port. Supported commands:
  • help
  • quit
  • reset (Resets the iCubGUI)

Output Ports

• /guiUpdater/gui:o [yarp::os::Port] [default carrier:tcp]: To be connected to /iCubGui/objects
• /guiUpdater/guiBase:o [yarp::os::Port] [default carrier:tcp]: To be connected to /iCubGui/base:i

Services

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Class Documentation

GuiUpdater

class GuiUpdater

Definition at line 34 of file guiUpdater.h.

Inheritance diagram for GuiUpdater:

Public Member Functions
bool	configure (yarp::os::ResourceFinder &rf)
bool	interruptModule ()
bool	close ()
bool	respond (const yarp::os::Bottle &command, yarp::os::Bottle &reply)
double	getPeriod ()
bool	updateModule ()
void	resetGUI ()
	Send a request to the iCubGUI to remove all items. More...
void	deleteObject (const string &opcTag, Object *o=nullptr)
	Deletes an object with name opcTag from the OPC. More...
void	addObject (Object *o)
	Adds an object to the iCubGUI. More...
void	addAgent (Agent *a)
	Adds an agent to the iCubGUI. More...
void	addiCub (Agent *a)
	Adds the iCub the the iCubGUI. More...
bool	isDisplayable (Entity *entity)
	Checks whether an Entity can be displayed in the GUI. More...
Protected Attributes
OPCClient *	opc
Agent *	iCub
RpcServer	handlerPort
RpcClient	toGui
RpcClient	toGuiBase
list< shared_ptr< Entity > >	oldEntities
bool	displaySkeleton

Member Function Documentation

addAgent()

void GuiUpdater::addAgent

(

Agent *

a

)

Adds an agent to the iCubGUI.

Takes care of adding the body parts if displaySkeleton is true

Parameters

a	- the agent to be added

Definition at line 226 of file guiUpdater.cpp.

addiCub()

void GuiUpdater::addiCub

(

Agent *

a

)

Adds the iCub the the iCubGUI.

Parameters

a	- reference to the iCub agent

Definition at line 315 of file guiUpdater.cpp.

addObject()

void GuiUpdater::addObject

(

Object *

o

)

Adds an object to the iCubGUI.

Takes care of reading the position, dimensions, color etc.

Parameters

o	- the object to be added

Definition at line 287 of file guiUpdater.cpp.

close()

bool GuiUpdater::close

(

)

Definition at line 81 of file guiUpdater.cpp.

configure()

bool GuiUpdater::configure

(

yarp::os::ResourceFinder &

rf

)

Definition at line 35 of file guiUpdater.cpp.

deleteObject()

void GuiUpdater::deleteObject	(	const string &	opcTag,
		Object *	o = nullptr
	)

Deletes an object with name opcTag from the OPC.

Parameters

opcTag	- name of the object to be deleted
o	- if this is an Agent instance, take care of removing all associated body parts

Definition at line 197 of file guiUpdater.cpp.

getPeriod()

double GuiUpdater::getPeriod

(

)

Definition at line 129 of file guiUpdater.cpp.

interruptModule()

bool GuiUpdater::interruptModule

(

)

Definition at line 72 of file guiUpdater.cpp.

isDisplayable()

bool GuiUpdater::isDisplayable

(

Entity *

entity

)

Checks whether an Entity can be displayed in the GUI.

Parameters

entity

- Entity to be checked

Returns

true if it is an Object or a subtype of Object, false otherwise

Definition at line 192 of file guiUpdater.cpp.

resetGUI()

void GuiUpdater::resetGUI

(

)

Send a request to the iCubGUI to remove all items.

Definition at line 327 of file guiUpdater.cpp.

respond()

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

Definition at line 102 of file guiUpdater.cpp.

updateModule()

bool GuiUpdater::updateModule

(

)

Definition at line 134 of file guiUpdater.cpp.

Member Data Documentation

displaySkeleton

bool GuiUpdater::displaySkeleton

protected

Definition at line 43 of file guiUpdater.h.

handlerPort

RpcServer GuiUpdater::handlerPort

protected

Definition at line 39 of file guiUpdater.h.

iCub

Agent* GuiUpdater::iCub

protected

Definition at line 38 of file guiUpdater.h.

oldEntities

list<shared_ptr<Entity> > GuiUpdater::oldEntities

protected

Definition at line 42 of file guiUpdater.h.

opc

OPCClient* GuiUpdater::opc

protected

Definition at line 37 of file guiUpdater.h.

toGui

RpcClient GuiUpdater::toGui

protected

Definition at line 40 of file guiUpdater.h.

toGuiBase

RpcClient GuiUpdater::toGuiBase

protected

Definition at line 41 of file guiUpdater.h.