#include <AbstractRFModule.h>

Inheritance diagram for vislab::yarp::util::AbstractRFModule:

Data Structures
class	AbstractWorkerThread
Public Member Functions
	AbstractRFModule (::yarp::os::ConstString name)
	The constructor.
virtual	~AbstractRFModule ()
	The destructor.
virtual bool	interruptModule ()
virtual bool	configure (::yarp::os::ResourceFinder &rf)
void	setName (const char *name)
bool	isHandlerAvailable ()
	Returns an indicator of if the handler port is available/ opened.
virtual bool	close ()
virtual bool	respond (const ::yarp::os::Bottle &command,::yarp::os::Bottle &reply)
virtual double	getPeriod ()
virtual bool	updateModule ()
Protected Member Functions
virtual bool	startThread ()
virtual ::yarp::os::Thread *	createWorkerThread ()=0
void	addRemoteCommand (Command *cmd)
	Adds a new Command for the module's RPC communication.
void	addModuleOption (Option *o)
	Adds a new Option with can be altered by the module's RPC communication port.
void	init (const char *name, bool handlerPortAutomation, double period)
Protected Attributes
::yarp::os::Thread *	workerThread
double	period
	The interval in which the module's updateModule() functions gets called.
::yarp::os::ConstString	prefix
	The "standard" prefix for YARP ports "/".
::yarp::os::ConstString	moduleName
	The module's name.
::yarp::os::ConstString	robotName
	The name of the robot to be used.
Contactables	dataPorts
	The ports to be used by the module.
::yarp::os::Port	handlerPort
	The RPC communication port of the module.
CommandManager	remoteCommands
	The RPC commands of the module.
OptionManager	moduleOptions
	A std::map of module options stored as key value pairs.

Detailed Description

Deprecated:

Author:: Christian Wressnegger

Date:: 2009

Definition at line 47 of file AbstractRFModule.h.

Constructor & Destructor Documentation

vislab::yarp::util::AbstractRFModule::AbstractRFModule ( ::yarp::os::ConstString name )

The constructor.

Parameters:

name

The modules name.

Member Function Documentation

void vislab::yarp::util::RFModule2::addModuleOption ( Option * o ) [protected, inherited]

Adds a new Option with can be altered by the module's RPC communication port.

Parameters:

o

The Option to be added.

Definition at line 91 of file RFModule2.cpp.

References vislab::yarp::util::RFModule2::moduleOptions.

                                         {
        moduleOptions.add(o);
}

void vislab::yarp::util::RFModule2::addRemoteCommand ( Command * cmd ) [protected, inherited]

Adds a new Command for the module's RPC communication.

Parameters:

cmd

The Command to be added.

Definition at line 87 of file RFModule2.cpp.

References vislab::yarp::util::SynchronizedNameMap< T >::add(), and vislab::yarp::util::RFModule2::remoteCommands.

                                             {
        remoteCommands.add(cmd);
}

bool vislab::yarp::util::RFModule2::close ( void ) [virtual, inherited]

See also:: yarp::os::RFModule::close()

Reimplemented in vislab::control::HandModule, and vislab::control::HandCtrl.

Definition at line 149 of file RFModule2.cpp.

References vislab::yarp::util::Contactables::close(), vislab::yarp::util::RFModule2::dataPorts, and vislab::yarp::util::RFModule2::handlerPort.

                      {
        dataPorts.close();
        handlerPort.close();
        return true;
}

virtual bool vislab::yarp::util::RFModule2::configure ( ::yarp::os::ResourceFinder & rf ) [virtual, inherited]

See also:: yarp::os::RFModule::configure(yarp::os::ResourceFinder)

Reimplemented in vislab::control::HandModule, vislab::control::HandCtrl, vislab::math::Eye2world, vislab::control::GloveCtrl, and vislab::demo::My2ndModule.

double vislab::yarp::util::RFModule2::getPeriod ( void ) [virtual, inherited]

See also:: yarp::os::RFModule::getPeriod()

Definition at line 164 of file RFModule2.cpp.

References vislab::yarp::util::RFModule2::period.

                            {
        return period;
}

bool vislab::yarp::util::ThreadedRFModule::interruptModule ( void ) [virtual, inherited]

See also:: RFModule2::interruptModule()

Reimplemented from vislab::yarp::util::RFModule2.

Definition at line 52 of file ThreadedRFModule.cpp.

                                       {
        // Since derived classes are supposed to create the Thread object,
        // we cannot rely on its existence.
        bool b = (workerThread != NULL ? workerThread->stop() : true);
        return RFModule2::interruptModule() && b;
}

bool vislab::yarp::util::RFModule2::isHandlerAvailable ( ) [inherited]

Returns an indicator of if the handler port is available/ opened.

Returns:: An indicator of if the handler port is available/ opened.

Definition at line 139 of file RFModule2.cpp.

References vislab::yarp::util::RFModule2::handlerPort.

Referenced by vislab::yarp::util::RFModule2::setName().

                                   {
        return createHandlerPort ? handlerPort.where().isValid() : false;
}

virtual bool vislab::yarp::util::RFModule2::respond	(	const ::yarp::os::Bottle &	command,
		::yarp::os::Bottle &	reply
	)			`[virtual, inherited]`

See also:: yarp::os::RFModule::respond(yarp::os::Bottle, yarp::os::Bottle)

void vislab::yarp::util::RFModule2::setName ( const char * name ) [inherited]

See also:: yarp::os::RFModule::configure(const char*)

Definition at line 114 of file RFModule2.cpp.

References vislab::yarp::util::RFModule2::handlerPort, vislab::yarp::util::RFModule2::isHandlerAvailable(), and vislab::yarp::util::RFModule2::prefix.

                                        {
        RFModule::setName(name);

        if (createHandlerPort) {
                // Ensure that the RPC port is named after the latest module name.
                if (isHandlerAvailable()) {
                        handlerPort.interrupt();
                        handlerPort.close();
                        //detachTerminal();
                }

                // attach a port of the same name as the module (prefixed with a /) to the module
                // so that messages received from the port are redirected to the respond method
                if (handlerPort.open(prefix + getName())) {
                        attach(handlerPort);
#ifndef __unix__
                        // TODO: Hmmm, the warning actually appears on windows and unix systems
                        attachTerminal();
#endif
                } else {
                        cout << getName() << ": unable to open port " << handlerPort.getName() << endl;
                }
        }
}

bool vislab::yarp::util::RFModule2::updateModule ( void ) [virtual, inherited]

See also:: yarp::os::RFModule::updateModule()

Reimplemented in vislab::control::HandCtrl, and vislab::demo::My2ndModule.

Definition at line 160 of file RFModule2.cpp.

                             {
        return true;
}

Field Documentation

Contactables vislab::yarp::util::RFModule2::dataPorts [protected, inherited]

The ports to be used by the module.

Definition at line 121 of file RFModule2.h.

Referenced by vislab::yarp::util::RFModule2::close(), vislab::yarp::util::RFModule2::interruptModule(), and vislab::demo::My2ndModule::updateModule().

::yarp::os::Port vislab::yarp::util::RFModule2::handlerPort [protected, inherited]

The RPC communication port of the module.

Definition at line 123 of file RFModule2.h.

Referenced by vislab::yarp::util::RFModule2::close(), vislab::yarp::util::RFModule2::interruptModule(), vislab::yarp::util::RFModule2::isHandlerAvailable(), and vislab::yarp::util::RFModule2::setName().

::yarp::os::ConstString vislab::yarp::util::RFModule2::moduleName [protected, inherited]

The module's name.

Definition at line 116 of file RFModule2.h.

OptionManager vislab::yarp::util::RFModule2::moduleOptions [protected, inherited]

A std::map of module options stored as key value pairs.

Definition at line 128 of file RFModule2.h.

Referenced by vislab::yarp::util::RFModule2::addModuleOption().

double vislab::yarp::util::RFModule2::period [protected, inherited]

The interval in which the module's updateModule() functions gets called.

Definition at line 112 of file RFModule2.h.

Referenced by vislab::yarp::util::RFModule2::getPeriod().

::yarp::os::ConstString vislab::yarp::util::RFModule2::prefix [protected, inherited]

The "standard" prefix for YARP ports "/".

Definition at line 114 of file RFModule2.h.

Referenced by vislab::yarp::util::RFModule2::setName().

CommandManager vislab::yarp::util::RFModule2::remoteCommands [protected, inherited]

The RPC commands of the module.

Definition at line 126 of file RFModule2.h.

Referenced by vislab::yarp::util::RFModule2::addRemoteCommand().

::yarp::os::ConstString vislab::yarp::util::RFModule2::robotName [protected, inherited]

The name of the robot to be used.

Definition at line 118 of file RFModule2.h.

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

src/libvislab-snapshot/libvislab_YARP/src/vislab/yarp/util/AbstractRFModule.h
src/libvislab-snapshot/libvislab_YARP/src/AbstractRFModule.cpp

All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Friends Defines

vislab::yarp::util::AbstractRFModule Class Reference

Data Structures

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation