4 #ifndef __embObjMais_h__
5 #define __embObjMais_h__
7 #include <yarp/dev/DeviceDriver.h>
8 #include <yarp/dev/IAnalogSensor.h>
9 #include <yarp/os/PeriodicThread.h>
23 #include <yarp/os/LogStream.h>
34 #define EMBOBJMAIS_USESERVICEPARSER
40 public yarp::dev::DeviceDriver,
54 bool open(yarp::os::Searchable &config);
58 virtual int read(yarp::sig::Vector &
out);
69 virtual bool update(eOprotID32_t id32,
double timestamp,
void* rxdata);
75 eOipv4addr_t ipv4addr;
84 unsigned int counterSat;
85 unsigned int counterError;
86 unsigned int counterTimeout;
94 vector<double> analogdata;
102 bool extractGroup(Bottle &input, Bottle &
out,
const std::string &key1,
const std::string &txt,
int size);
103 bool fromConfig(yarp::os::Searchable &config);
106 void printServiceConfig(
void);
109 bool sendConfig2Mais(
void);
113 void resetCounters();
114 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 int read(yarp::sig::Vector &out)
Read a vector from the sensor.
virtual int getChannels()
virtual int getState(int ch)
virtual bool update(eOprotID32_t id32, double timestamp, void *rxdata)
virtual int calibrateSensor()
bool open(yarp::os::Searchable &config)
virtual int calibrateChannel(int ch, double v)
virtual eth::iethresType_t type()
Copyright (C) 2008 RobotCub Consortium.