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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
fakeMotorDeviceServer Class Reference

This class implements the server part of the fake motor device driver. More...

#include <fakeMotorDeviceComponents.h>

+ Inheritance diagram for fakeMotorDeviceServer:

Public Member Functions

 fakeMotorDeviceServer ()
 
bool open (yarp::os::Searchable &config)
 
bool close ()
 
bool getLimits (int axis, double *min, double *max)
 
bool setLimits (int, double, double)
 
bool setVelLimits (int, double, double)
 
bool getVelLimits (int, double *, double *)
 
bool getAxes (int *ax)
 
bool getEncoder (int, double *)
 
bool getEncoders (double *)
 
bool resetEncoder (int)
 
bool resetEncoders ()
 
bool setEncoder (int, double)
 
bool setEncoders (const double *)
 
bool getEncoderSpeed (int, double *)
 
bool getEncoderSpeeds (double *)
 
bool getEncoderAcceleration (int, double *)
 
bool getEncoderAccelerations (double *)
 
bool velocityMove (int j, double sp)
 
bool setRefAcceleration (int j, double acc)
 
bool stop (int j)
 
bool velocityMove (const int, const int *, const double *)
 
bool velocityMove (const double *)
 
bool setRefAccelerations (const int, const int *, const double *)
 
bool setRefAccelerations (const double *)
 
bool getRefAccelerations (const int, const int *, double *)
 
bool getRefAcceleration (int, double *)
 
bool getRefAccelerations (double *)
 
bool stop (const int, const int *)
 
bool stop ()
 

Protected Member Functions

void run ()
 
bool read (yarp::os::ConnectionReader &connection)
 This method decodes the requests forwarded by the client and responds with corresponding replies. More...
 

Protected Attributes

yarp::os::BufferedPort< yarp::sig::Vector > statePort
 
yarp::os::BufferedPort< yarp::os::Bottle > cmdPort
 
yarp::os::Port rpcPort
 
std::mutex mtx
 
iCub::ctrl::Integratormotors
 
yarp::sig::Vector vel
 
bool configured
 

Detailed Description

This class implements the server part of the fake motor device driver.

Only the used interface methods are actually implemented.

Definition at line 33 of file fakeMotorDeviceComponents.h.

Constructor & Destructor Documentation

◆ fakeMotorDeviceServer()

fakeMotorDeviceServer::fakeMotorDeviceServer ( )

Definition at line 30 of file fakeMotorDeviceServer.cpp.

Member Function Documentation

◆ close()

bool fakeMotorDeviceServer::close ( )

Definition at line 76 of file fakeMotorDeviceServer.cpp.

◆ getAxes()

bool fakeMotorDeviceServer::getAxes ( int *  ax)

Definition at line 211 of file fakeMotorDeviceServer.cpp.

◆ getEncoder()

bool fakeMotorDeviceServer::getEncoder ( int  ,
double *   
)
inline

Definition at line 85 of file fakeMotorDeviceComponents.h.

◆ getEncoderAcceleration()

bool fakeMotorDeviceServer::getEncoderAcceleration ( int  ,
double *   
)
inline

Definition at line 93 of file fakeMotorDeviceComponents.h.

◆ getEncoderAccelerations()

bool fakeMotorDeviceServer::getEncoderAccelerations ( double *  )
inline

Definition at line 94 of file fakeMotorDeviceComponents.h.

◆ getEncoders()

bool fakeMotorDeviceServer::getEncoders ( double *  )
inline

Definition at line 86 of file fakeMotorDeviceComponents.h.

◆ getEncoderSpeed()

bool fakeMotorDeviceServer::getEncoderSpeed ( int  ,
double *   
)
inline

Definition at line 91 of file fakeMotorDeviceComponents.h.

◆ getEncoderSpeeds()

bool fakeMotorDeviceServer::getEncoderSpeeds ( double *  )
inline

Definition at line 92 of file fakeMotorDeviceComponents.h.

◆ getLimits()

bool fakeMotorDeviceServer::getLimits ( int  axis,
double *  min,
double *  max 
)

Definition at line 195 of file fakeMotorDeviceServer.cpp.

◆ getRefAcceleration()

bool fakeMotorDeviceServer::getRefAcceleration ( int  ,
double *   
)
inline

Definition at line 112 of file fakeMotorDeviceComponents.h.

◆ getRefAccelerations() [1/2]

bool fakeMotorDeviceServer::getRefAccelerations ( const int  ,
const int *  ,
double *   
)
inline

Definition at line 111 of file fakeMotorDeviceComponents.h.

◆ getRefAccelerations() [2/2]

bool fakeMotorDeviceServer::getRefAccelerations ( double *  )
inline

Definition at line 113 of file fakeMotorDeviceComponents.h.

◆ getVelLimits()

bool fakeMotorDeviceServer::getVelLimits ( int  ,
double *  ,
double *   
)
inline

Definition at line 74 of file fakeMotorDeviceComponents.h.

◆ open()

bool fakeMotorDeviceServer::open ( yarp::os::Searchable &  config)

Definition at line 37 of file fakeMotorDeviceServer.cpp.

◆ read()

bool fakeMotorDeviceServer::read ( yarp::os::ConnectionReader &  connection)
protected

This method decodes the requests forwarded by the client and responds with corresponding replies.

Definition at line 123 of file fakeMotorDeviceServer.cpp.

◆ resetEncoder()

bool fakeMotorDeviceServer::resetEncoder ( int  )
inline

Definition at line 87 of file fakeMotorDeviceComponents.h.

◆ resetEncoders()

bool fakeMotorDeviceServer::resetEncoders ( )
inline

Definition at line 88 of file fakeMotorDeviceComponents.h.

◆ run()

void fakeMotorDeviceServer::run ( )
protected

Definition at line 108 of file fakeMotorDeviceServer.cpp.

◆ setEncoder()

bool fakeMotorDeviceServer::setEncoder ( int  ,
double   
)
inline

Definition at line 89 of file fakeMotorDeviceComponents.h.

◆ setEncoders()

bool fakeMotorDeviceServer::setEncoders ( const double *  )
inline

Definition at line 90 of file fakeMotorDeviceComponents.h.

◆ setLimits()

bool fakeMotorDeviceServer::setLimits ( int  ,
double  ,
double   
)
inline

Definition at line 72 of file fakeMotorDeviceComponents.h.

◆ setRefAcceleration()

bool fakeMotorDeviceServer::setRefAcceleration ( int  j,
double  acc 
)

Definition at line 241 of file fakeMotorDeviceServer.cpp.

◆ setRefAccelerations() [1/2]

bool fakeMotorDeviceServer::setRefAccelerations ( const double *  )
inline

Definition at line 110 of file fakeMotorDeviceComponents.h.

◆ setRefAccelerations() [2/2]

bool fakeMotorDeviceServer::setRefAccelerations ( const int  ,
const int *  ,
const double *   
)
inline

Definition at line 109 of file fakeMotorDeviceComponents.h.

◆ setVelLimits()

bool fakeMotorDeviceServer::setVelLimits ( int  ,
double  ,
double   
)
inline

Definition at line 73 of file fakeMotorDeviceComponents.h.

◆ stop() [1/3]

bool fakeMotorDeviceServer::stop ( )
inline

Definition at line 115 of file fakeMotorDeviceComponents.h.

◆ stop() [2/3]

bool fakeMotorDeviceServer::stop ( const int  ,
const int *   
)
inline

Definition at line 114 of file fakeMotorDeviceComponents.h.

◆ stop() [3/3]

bool fakeMotorDeviceServer::stop ( int  j)

Definition at line 250 of file fakeMotorDeviceServer.cpp.

◆ velocityMove() [1/3]

bool fakeMotorDeviceServer::velocityMove ( const double *  )
inline

Definition at line 108 of file fakeMotorDeviceComponents.h.

◆ velocityMove() [2/3]

bool fakeMotorDeviceServer::velocityMove ( const int  ,
const int *  ,
const double *   
)
inline

Definition at line 107 of file fakeMotorDeviceComponents.h.

◆ velocityMove() [3/3]

bool fakeMotorDeviceServer::velocityMove ( int  j,
double  sp 
)

Definition at line 226 of file fakeMotorDeviceServer.cpp.

Member Data Documentation

◆ cmdPort

yarp::os::BufferedPort<yarp::os::Bottle> fakeMotorDeviceServer::cmdPort
protected

Definition at line 42 of file fakeMotorDeviceComponents.h.

◆ configured

bool fakeMotorDeviceServer::configured
protected

Definition at line 49 of file fakeMotorDeviceComponents.h.

◆ motors

iCub::ctrl::Integrator* fakeMotorDeviceServer::motors
protected

Definition at line 47 of file fakeMotorDeviceComponents.h.

◆ mtx

std::mutex fakeMotorDeviceServer::mtx
protected

Definition at line 45 of file fakeMotorDeviceComponents.h.

◆ rpcPort

yarp::os::Port fakeMotorDeviceServer::rpcPort
protected

Definition at line 43 of file fakeMotorDeviceComponents.h.

◆ statePort

yarp::os::BufferedPort<yarp::sig::Vector> fakeMotorDeviceServer::statePort
protected

Definition at line 41 of file fakeMotorDeviceComponents.h.

◆ vel

yarp::sig::Vector fakeMotorDeviceServer::vel
protected

Definition at line 48 of file fakeMotorDeviceComponents.h.


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