iCub-main
Loading...
Searching...
No Matches
Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes | List of all members
yarp::dev::embObjMultipleFTsensors Class Reference

#include <embObjMultipleFTsensors.h>

Inheritance diagram for yarp::dev::embObjMultipleFTsensors:

Public Member Functions

 embObjMultipleFTsensors ()
 embObjMultipleFTsensors (std::shared_ptr< yarp::dev::embObjDevPrivData > device)
 ~embObjMultipleFTsensors ()
bool open (yarp::os::Searchable &config)
bool close ()
virtual bool initialised ()
virtual eth::iethresType_t type ()
virtual bool update (eOprotID32_t id32, double timestamp, void *rxdata)
virtual size_t getNrOfTemperatureSensors () const override
virtual yarp::dev::MAS_status getTemperatureSensorStatus (size_t sensorindex) const override
virtual bool getTemperatureSensorName (size_t sensorindex, std::string &name) const override
virtual bool getTemperatureSensorFrameName (size_t sensorindex, std::string &frameName) const override
virtual bool getTemperatureSensorMeasure (size_t sensorindex, double &out, double &timestamp) const override
virtual bool getTemperatureSensorMeasure (size_t sensorindex, yarp::sig::Vector &out, double &timestamp) const override
virtual size_t getNrOfSixAxisForceTorqueSensors () const override
virtual yarp::dev::MAS_status getSixAxisForceTorqueSensorStatus (size_t sensorindex) const override
virtual bool getSixAxisForceTorqueSensorName (size_t sensorindex, std::string &name) const override
virtual bool getSixAxisForceTorqueSensorFrameName (size_t sensorindex, std::string &frameName) const override
virtual bool getSixAxisForceTorqueSensorMeasure (size_t sensorindex, yarp::sig::Vector &out, double &timestamp) const override
Public Member Functions inherited from eth::IethResource
virtual ~IethResource ()
const char * stringOfType ()
virtual bool getEntityName (uint32_t entityId, std::string &entityName)
virtual bool getEncoderTypeName (uint32_t jomoId, eOmc_position_t pos, std::string &encoderTypeName)
virtual bool getEntityControlModeName (uint32_t jomoId, eOenum08_t control_mode, std::string &controlModeName, eObool_t compact_string=eobool_true)

Protected Member Functions

bool sendConfig2boards (ServiceParserMultipleFt &parser, eth::AbstractEthResource *deviceRes)
bool sendStart2boards (ServiceParserMultipleFt &parser, eth::AbstractEthResource *deviceRes)
bool initRegulars (ServiceParserMultipleFt &parser, eth::AbstractEthResource *deviceRes)
void cleanup (void)
double calculateBoardTime (eOabstime_t current)
bool checkUpdateTimeout (eOprotID32_t id32, eOabstime_t current)

Protected Attributes

std::shared_ptr< yarp::dev::embObjDevPrivData > device_
std::shared_mutex mutex_
std::map< eOprotID32_t, FtData > ftSensorsData_
std::map< eOprotID32_t, TemperatureData > temperaturesensordata_
std::map< eOprotID32_t, eOabstime_t > timeoutUpdate_
std::vector< yarp::dev::MAS_status > masStatus_ {MAS_WAITING_FOR_FIRST_READ, MAS_WAITING_FOR_FIRST_READ, MAS_WAITING_FOR_FIRST_READ, MAS_WAITING_FOR_FIRST_READ}
double firstYarpTimestamp_ {0}
eOabstime_t firstCanTimestamp_ {0}

Static Protected Attributes

static constexpr eOabstime_t updateTimeout_ {11000}
static constexpr bool checkUpdateTimeoutFlag_ {false}
static constexpr bool useBoardTimeFlag_ {true}

Detailed Description

Definition at line 47 of file embObjMultipleFTsensors.h.

Constructor & Destructor Documentation

◆ embObjMultipleFTsensors() [1/2]

embObjMultipleFTsensors::embObjMultipleFTsensors ( )

Definition at line 32 of file embObjMultipleFTsensors.cpp.

◆ embObjMultipleFTsensors() [2/2]

embObjMultipleFTsensors::embObjMultipleFTsensors ( std::shared_ptr< yarp::dev::embObjDevPrivData > device)

Definition at line 38 of file embObjMultipleFTsensors.cpp.

◆ ~embObjMultipleFTsensors()

embObjMultipleFTsensors::~embObjMultipleFTsensors ( )

Definition at line 42 of file embObjMultipleFTsensors.cpp.

Member Function Documentation

◆ calculateBoardTime()

double embObjMultipleFTsensors::calculateBoardTime ( eOabstime_t current)
protected

Definition at line 407 of file embObjMultipleFTsensors.cpp.

◆ checkUpdateTimeout()

bool embObjMultipleFTsensors::checkUpdateTimeout ( eOprotID32_t id32,
eOabstime_t current )
protected

Definition at line 388 of file embObjMultipleFTsensors.cpp.

◆ cleanup()

void embObjMultipleFTsensors::cleanup ( void )
protected

Definition at line 284 of file embObjMultipleFTsensors.cpp.

◆ close()

bool embObjMultipleFTsensors::close ( )

Definition at line 278 of file embObjMultipleFTsensors.cpp.

◆ getNrOfSixAxisForceTorqueSensors()

size_t embObjMultipleFTsensors::getNrOfSixAxisForceTorqueSensors ( ) const
overridevirtual

Definition at line 313 of file embObjMultipleFTsensors.cpp.

◆ getNrOfTemperatureSensors()

size_t embObjMultipleFTsensors::getNrOfTemperatureSensors ( ) const
overridevirtual

Definition at line 337 of file embObjMultipleFTsensors.cpp.

◆ getSixAxisForceTorqueSensorFrameName()

bool embObjMultipleFTsensors::getSixAxisForceTorqueSensorFrameName ( size_t sensorindex,
std::string & frameName ) const
overridevirtual

Definition at line 330 of file embObjMultipleFTsensors.cpp.

◆ getSixAxisForceTorqueSensorMeasure()

bool embObjMultipleFTsensors::getSixAxisForceTorqueSensorMeasure ( size_t sensorindex,
yarp::sig::Vector & out,
double & timestamp ) const
overridevirtual

Definition at line 289 of file embObjMultipleFTsensors.cpp.

◆ getSixAxisForceTorqueSensorName()

bool embObjMultipleFTsensors::getSixAxisForceTorqueSensorName ( size_t sensorindex,
std::string & name ) const
overridevirtual

Definition at line 323 of file embObjMultipleFTsensors.cpp.

◆ getSixAxisForceTorqueSensorStatus()

yarp::dev::MAS_status embObjMultipleFTsensors::getSixAxisForceTorqueSensorStatus ( size_t sensorindex) const
overridevirtual

Definition at line 318 of file embObjMultipleFTsensors.cpp.

◆ getTemperatureSensorFrameName()

bool embObjMultipleFTsensors::getTemperatureSensorFrameName ( size_t sensorindex,
std::string & frameName ) const
overridevirtual

Definition at line 354 of file embObjMultipleFTsensors.cpp.

◆ getTemperatureSensorMeasure() [1/2]

bool embObjMultipleFTsensors::getTemperatureSensorMeasure ( size_t sensorindex,
double & out,
double & timestamp ) const
overridevirtual

Definition at line 361 of file embObjMultipleFTsensors.cpp.

◆ getTemperatureSensorMeasure() [2/2]

bool embObjMultipleFTsensors::getTemperatureSensorMeasure ( size_t sensorindex,
yarp::sig::Vector & out,
double & timestamp ) const
overridevirtual

Definition at line 379 of file embObjMultipleFTsensors.cpp.

◆ getTemperatureSensorName()

bool embObjMultipleFTsensors::getTemperatureSensorName ( size_t sensorindex,
std::string & name ) const
overridevirtual

Definition at line 347 of file embObjMultipleFTsensors.cpp.

◆ getTemperatureSensorStatus()

yarp::dev::MAS_status embObjMultipleFTsensors::getTemperatureSensorStatus ( size_t sensorindex) const
overridevirtual

Definition at line 342 of file embObjMultipleFTsensors.cpp.

◆ initialised()

bool embObjMultipleFTsensors::initialised ( )
virtual

Implements eth::IethResource.

Definition at line 47 of file embObjMultipleFTsensors.cpp.

◆ initRegulars()

bool embObjMultipleFTsensors::initRegulars ( ServiceParserMultipleFt & parser,
eth::AbstractEthResource * deviceRes )
protected

Definition at line 190 of file embObjMultipleFTsensors.cpp.

◆ open()

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

Definition at line 52 of file embObjMultipleFTsensors.cpp.

◆ sendConfig2boards()

bool embObjMultipleFTsensors::sendConfig2boards ( ServiceParserMultipleFt & parser,
eth::AbstractEthResource * deviceRes )
protected

Definition at line 130 of file embObjMultipleFTsensors.cpp.

◆ sendStart2boards()

bool embObjMultipleFTsensors::sendStart2boards ( ServiceParserMultipleFt & parser,
eth::AbstractEthResource * deviceRes )
protected

Definition at line 163 of file embObjMultipleFTsensors.cpp.

◆ type()

eth::iethresType_t embObjMultipleFTsensors::type ( )
virtual

Implements eth::IethResource.

Definition at line 227 of file embObjMultipleFTsensors.cpp.

◆ update()

bool embObjMultipleFTsensors::update ( eOprotID32_t id32,
double timestamp,
void * rxdata )
virtual

Implements eth::IethResource.

Definition at line 232 of file embObjMultipleFTsensors.cpp.

Member Data Documentation

◆ checkUpdateTimeoutFlag_

bool yarp::dev::embObjMultipleFTsensors::checkUpdateTimeoutFlag_ {false}
staticconstexprprotected

Definition at line 93 of file embObjMultipleFTsensors.h.

◆ device_

std::shared_ptr<yarp::dev::embObjDevPrivData> yarp::dev::embObjMultipleFTsensors::device_
protected

Definition at line 78 of file embObjMultipleFTsensors.h.

◆ firstCanTimestamp_

eOabstime_t yarp::dev::embObjMultipleFTsensors::firstCanTimestamp_ {0}
protected

Definition at line 97 of file embObjMultipleFTsensors.h.

◆ firstYarpTimestamp_

double yarp::dev::embObjMultipleFTsensors::firstYarpTimestamp_ {0}
protected

Definition at line 96 of file embObjMultipleFTsensors.h.

◆ ftSensorsData_

std::map<eOprotID32_t, FtData> yarp::dev::embObjMultipleFTsensors::ftSensorsData_
protected

Definition at line 80 of file embObjMultipleFTsensors.h.

◆ masStatus_

std::vector<yarp::dev::MAS_status> yarp::dev::embObjMultipleFTsensors::masStatus_ {MAS_WAITING_FOR_FIRST_READ, MAS_WAITING_FOR_FIRST_READ, MAS_WAITING_FOR_FIRST_READ, MAS_WAITING_FOR_FIRST_READ}
protected

Definition at line 91 of file embObjMultipleFTsensors.h.

◆ mutex_

std::shared_mutex yarp::dev::embObjMultipleFTsensors::mutex_
mutableprotected

Definition at line 79 of file embObjMultipleFTsensors.h.

◆ temperaturesensordata_

std::map<eOprotID32_t, TemperatureData> yarp::dev::embObjMultipleFTsensors::temperaturesensordata_
protected

Definition at line 81 of file embObjMultipleFTsensors.h.

◆ timeoutUpdate_

std::map<eOprotID32_t, eOabstime_t> yarp::dev::embObjMultipleFTsensors::timeoutUpdate_
protected

Definition at line 82 of file embObjMultipleFTsensors.h.

◆ updateTimeout_

eOabstime_t yarp::dev::embObjMultipleFTsensors::updateTimeout_ {11000}
staticconstexprprotected

Definition at line 90 of file embObjMultipleFTsensors.h.

◆ useBoardTimeFlag_

bool yarp::dev::embObjMultipleFTsensors::useBoardTimeFlag_ {true}
staticconstexprprotected

Definition at line 94 of file embObjMultipleFTsensors.h.

The documentation for this class was generated from the following files:
Generated on for iCub-main by doxygen 1.15.0