#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)

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_

constexpr 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_

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

staticconstexprprotected

Definition at line 90 of file embObjMultipleFTsensors.h.

◆ useBoardTimeFlag_

constexpr 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:

icub-main/src/libraries/icubmod/embObjMultipleFTsensors/embObjMultipleFTsensors.h
icub-main/src/libraries/icubmod/embObjMultipleFTsensors/embObjMultipleFTsensors.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ embObjMultipleFTsensors() [1/2]

◆ embObjMultipleFTsensors() [2/2]

◆ ~embObjMultipleFTsensors()

Member Function Documentation

◆ calculateBoardTime()

◆ checkUpdateTimeout()

◆ cleanup()

◆ close()

◆ getNrOfSixAxisForceTorqueSensors()

◆ getNrOfTemperatureSensors()

◆ getSixAxisForceTorqueSensorFrameName()

◆ getSixAxisForceTorqueSensorMeasure()

◆ getSixAxisForceTorqueSensorName()

◆ getSixAxisForceTorqueSensorStatus()

◆ getTemperatureSensorFrameName()

◆ getTemperatureSensorMeasure() [1/2]

◆ getTemperatureSensorMeasure() [2/2]

◆ getTemperatureSensorName()

◆ getTemperatureSensorStatus()

◆ initialised()

◆ initRegulars()

◆ open()

◆ sendConfig2boards()

◆ sendStart2boards()

◆ type()

◆ update()

Member Data Documentation

◆ checkUpdateTimeoutFlag_

◆ device_

◆ firstCanTimestamp_

◆ firstYarpTimestamp_

◆ ftSensorsData_

◆ masStatus_

◆ mutex_

◆ temperaturesensordata_

◆ timeoutUpdate_

◆ updateTimeout_

◆ useBoardTimeFlag_