4#ifndef __embObjMais_h__
5#define __embObjMais_h__
7#include <yarp/dev/DeviceDriver.h>
8#include <yarp/os/PeriodicThread.h>
9#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
23#include <yarp/os/LogStream.h>
34#define EMBOBJMAIS_USESERVICEPARSER
41 public yarp::dev::IEncoderArrays
54 bool open(yarp::os::Searchable &config);
67 virtual bool update(eOprotID32_t id32,
double timestamp,
void* rxdata);
73 eOipv4addr_t ipv4addr;
82 unsigned int counterSat;
83 unsigned int counterError;
84 unsigned int counterTimeout;
92 yarp::sig::Vector analogdata;
100 bool extractGroup(Bottle &input, Bottle &
out,
const std::string &key1,
const std::string &txt,
int size);
101 bool fromConfig(yarp::os::Searchable &config);
104 void printServiceConfig(
void);
107 bool sendConfig2Mais(
void);
111 void resetCounters();
112 void getCounters(
unsigned int &saturations,
unsigned int &errors,
unsigned int &timeouts);
Interface for a factory device; a device that can create objects.
virtual bool initialised()
virtual bool getEncoderArrayMeasure(size_t sens_index, yarp::sig::Vector &out, double ×tamp) const override
virtual bool getEncoderArrayName(size_t sens_index, std::string &name) const override
virtual bool update(eOprotID32_t id32, double timestamp, void *rxdata)
virtual size_t getNrOfEncoderArrays() const override
bool open(yarp::os::Searchable &config)
virtual yarp::dev::MAS_status getEncoderArrayStatus(size_t sens_index) const override
virtual eth::iethresType_t type()
virtual size_t getEncoderArraySize(size_t sens_index) const override
Copyright (C) 2008 RobotCub Consortium.