Interface for naoqi driver which is registered as a naoqi2 Module, once the external roscore ip is set, this class will advertise and publish ros messages. More...

#include <naoqi_driver.hpp>

Classes
struct	ScheduledConverter
Public Member Functions
std::string	_whoIsYourDaddy ()
void	addMemoryConverters (std::string filepath)
	qicli call function to add on-the-fly some memory keys extractors
	Driver (qi::SessionPtr session, const std::string &prefix)
	Constructor for naoqi driver.
std::vector< std::string >	getAvailableConverters ()
	get all available converters
float	getBufferDuration ()
std::vector< std::string >	getFilesList ()
std::string	getMasterURI () const
	qicli call function to get current master uri
std::vector< std::string >	getSubscribedPublishers () const
	get all subscribed publishers
void	init ()
std::string	minidump (const std::string &prefix)
	Write a ROSbag with the last bufferized data (10s by default)
std::string	minidumpConverters (const std::string &prefix, const std::vector< std::string > &names)
void	parseJsonFile (std::string filepath, boost::property_tree::ptree &pt)
void	registerConverter (converter::Converter &conv)
	registers generall converter units they are connected via callbacks to various actions such as record, log, publish
void	registerConverter (converter::Converter conv, publisher::Publisher pub, recorder::Recorder rec)
	register a converter with an associated publisher and recorder
bool	registerEventConverter (const std::string &key, const dataType::DataType &type)
	qicli call function to register a converter for a given memory event
bool	registerMemoryConverter (const std::string &key, float frequency, const dataType::DataType &type)
	qicli call function to register a converter for a given memory key
void	registerPublisher (const std::string &conv_name, publisher::Publisher &pub)
	prepare and register a publisher
void	registerPublisher (converter::Converter conv, publisher::Publisher pub)
	register a converter with an associated publisher instance
void	registerRecorder (const std::string &conv_name, recorder::Recorder &rec, float frequency)
	prepare and register a recorder
void	registerRecorder (converter::Converter conv, recorder::Recorder rec)
	register a converter with an associated recorder instance
void	registerService (service::Service srv)
	registers a service
void	registerSubscriber (subscriber::Subscriber sub)
	registers a subscriber
void	removeAllFiles ()
void	removeFiles (std::vector< std::string > files)
void	setBufferDuration (float duration)
void	setMasterURI (const std::string &uri)
	qicli call function to set current master uri
void	setMasterURINet (const std::string &uri, const std::string &network_interface)
	qicli call function to set current master uri
void	startLogging ()
void	startPublishing ()
	qicli call function to start/enable publishing all registered publisher
void	startRecording ()
	qicli call function to start recording all registered converter in a ROSbag
void	startRecordingConverters (const std::vector< std::string > &names)
	qicli call function to start recording given topics in a ROSbag
void	startRosLoop ()
void	stopLogging ()
void	stopPublishing ()
	qicli call function to stop/disable publishing all registered publisher
std::string	stopRecording ()
	qicli call function to stop recording all registered publisher in a ROSbag
void	stopRosLoop ()
void	stopService ()
	~Driver ()
	Destructor for naoqi driver, destroys all ros nodehandle and shutsdown all publisher.
Private Types
typedef std::map< std::string, event::Event >::const_iterator	EventConstIter
typedef std::map< std::string, event::Event >::iterator	EventIter
typedef std::map< std::string, publisher::Publisher > ::const_iterator	PubConstIter
typedef std::map< std::string, publisher::Publisher > ::iterator	PubIter
typedef std::map< std::string, recorder::Recorder > ::const_iterator	RecConstIter
typedef std::map< std::string, recorder::Recorder >::iterator	RecIter
Private Member Functions
template<typename T1 , typename T2 , typename T3 >
void	_registerMemoryConverter (const std::string &key, float frequency)
void	insertEventConverter (const std::string &key, event::Event event)
void	loadBootConfig ()
void	registerDefaultConverter ()
void	registerDefaultServices ()
void	registerDefaultSubscriber ()
void	rosLoop ()
Private Attributes
boost::property_tree::ptree	boot_config_
float	buffer_duration_
std::priority_queue < ScheduledConverter >	conv_queue_
std::vector< converter::Converter >	converters_
std::map< std::string, event::Event >	event_map_
const size_t	freq_
bool	keep_looping
bool	log_enabled_
boost::mutex	mutex_conv_queue_
boost::mutex	mutex_record_
boost::mutex	mutex_reinit_
boost::scoped_ptr < ros::NodeHandle >	nhPtr_
std::map< std::string, publisher::Publisher >	pub_map_
bool	publish_enabled_
boost::thread	publisherThread_
std::map< std::string, recorder::Recorder >	rec_map_
bool	record_enabled_
boost::shared_ptr < recorder::GlobalRecorder >	recorder_
const robot::Robot &	robot_
std::vector< service::Service >	services_
qi::SessionPtr	sessionPtr_
std::vector < subscriber::Subscriber >	subscribers_
boost::shared_ptr < tf2_ros::Buffer >	tf2_buffer_

Detailed Description

Interface for naoqi driver which is registered as a naoqi2 Module, once the external roscore ip is set, this class will advertise and publish ros messages.

Definition at line 65 of file naoqi_driver.hpp.

Member Typedef Documentation

typedef std::map< std::string, event::Event>::const_iterator naoqi::Driver::EventConstIter [private]

Definition at line 285 of file naoqi_driver.hpp.

typedef std::map< std::string, event::Event>::iterator naoqi::Driver::EventIter [private]

Definition at line 286 of file naoqi_driver.hpp.

typedef std::map< std::string, publisher::Publisher>::const_iterator naoqi::Driver::PubConstIter [private]

Definition at line 281 of file naoqi_driver.hpp.

typedef std::map< std::string, publisher::Publisher>::iterator naoqi::Driver::PubIter [private]

Definition at line 282 of file naoqi_driver.hpp.

typedef std::map< std::string, recorder::Recorder>::const_iterator naoqi::Driver::RecConstIter [private]

Definition at line 283 of file naoqi_driver.hpp.

typedef std::map< std::string, recorder::Recorder>::iterator naoqi::Driver::RecIter [private]

Definition at line 284 of file naoqi_driver.hpp.

Constructor & Destructor Documentation

naoqi::Driver::Driver	(	qi::SessionPtr	session,
		const std::string &	prefix
	)

Constructor for naoqi driver.

Parameters:

session[in] session pointer for naoqi2 service registration

Definition at line 116 of file naoqi_driver.cpp.

naoqi::Driver::~Driver ( )

Destructor for naoqi driver, destroys all ros nodehandle and shutsdown all publisher.

Definition at line 137 of file naoqi_driver.cpp.

Member Function Documentation

template<typename T1 , typename T2 , typename T3 >

void naoqi::Driver::_registerMemoryConverter	(	const std::string &	key,
		float	frequency
	)		`[inline, private]`

Definition at line 260 of file naoqi_driver.hpp.

std::string naoqi::Driver::_whoIsYourDaddy ( ) [inline]

Definition at line 149 of file naoqi_driver.hpp.

void naoqi::Driver::addMemoryConverters ( std::string filepath )

qicli call function to add on-the-fly some memory keys extractors

Definition at line 1165 of file naoqi_driver.cpp.

std::vector< std::string > naoqi::Driver::getAvailableConverters ( )

get all available converters

Definition at line 894 of file naoqi_driver.cpp.

float naoqi::Driver::getBufferDuration ( )

Definition at line 414 of file naoqi_driver.cpp.

std::vector< std::string > naoqi::Driver::getFilesList ( )

Definition at line 1320 of file naoqi_driver.cpp.

std::string naoqi::Driver::getMasterURI ( ) const

qicli call function to get current master uri

Returns:: string indicating http master uri

Definition at line 913 of file naoqi_driver.cpp.

std::vector< std::string > naoqi::Driver::getSubscribedPublishers ( ) const

get all subscribed publishers

Definition at line 1009 of file naoqi_driver.cpp.

void naoqi::Driver::init ( )

Definition at line 148 of file naoqi_driver.cpp.

void naoqi::Driver::insertEventConverter	(	const std::string &	key,
		event::Event	event
	)		`[private]`

Definition at line 446 of file naoqi_driver.cpp.

void naoqi::Driver::loadBootConfig ( ) [private]

Definition at line 158 of file naoqi_driver.cpp.

std::string naoqi::Driver::minidump ( const std::string & prefix )

Write a ROSbag with the last bufferized data (10s by default)

Definition at line 257 of file naoqi_driver.cpp.

std::string naoqi::Driver::minidumpConverters	(	const std::string &	prefix,
		const std::vector< std::string > &	names
	)

Definition at line 316 of file naoqi_driver.cpp.

void naoqi::Driver::parseJsonFile	(	std::string	filepath,
		boost::property_tree::ptree &	pt
	)

Definition at line 1156 of file naoqi_driver.cpp.

void naoqi::Driver::registerConverter ( converter::Converter & conv )

registers generall converter units they are connected via callbacks to various actions such as record, log, publish

Definition at line 419 of file naoqi_driver.cpp.

void naoqi::Driver::registerConverter	(	converter::Converter	conv,
		publisher::Publisher	pub,
		recorder::Recorder	rec
	)

register a converter with an associated publisher and recorder

Definition at line 453 of file naoqi_driver.cpp.

void naoqi::Driver::registerDefaultConverter ( ) [private]

Info publisher

LOGS

DIAGNOSTICS

IMU TORSO

IMU BASE

Front Camera

Depth Camera

Infrared Camera

Joint States

Laser

Sonar

Audio

TOUCH

Odom

Definition at line 534 of file naoqi_driver.cpp.

void naoqi::Driver::registerDefaultServices ( ) [private]

Definition at line 889 of file naoqi_driver.cpp.

void naoqi::Driver::registerDefaultSubscriber ( ) [private]

Definition at line 874 of file naoqi_driver.cpp.

bool naoqi::Driver::registerEventConverter	(	const std::string &	key,
		const dataType::DataType &	type
	)

qicli call function to register a converter for a given memory event

Definition at line 1234 of file naoqi_driver.cpp.

bool naoqi::Driver::registerMemoryConverter	(	const std::string &	key,
		float	frequency,
		const dataType::DataType &	type
	)

qicli call function to register a converter for a given memory key

Definition at line 472 of file naoqi_driver.cpp.

void naoqi::Driver::registerPublisher	(	const std::string &	conv_name,
		publisher::Publisher &	pub
	)

prepare and register a publisher

Parameters:

conv_name	the name of the converter related to the publisher
pub	the publisher to add

Definition at line 428 of file naoqi_driver.cpp.

void naoqi::Driver::registerPublisher	(	converter::Converter	conv,
		publisher::Publisher	pub
	)

register a converter with an associated publisher instance

Definition at line 460 of file naoqi_driver.cpp.

void naoqi::Driver::registerRecorder	(	const std::string &	conv_name,
		recorder::Recorder &	rec,
		float	frequency
	)

prepare and register a recorder

Parameters:

conv_name	the name of the converter related to the recorder
rec	the recorder to add

Definition at line 438 of file naoqi_driver.cpp.

void naoqi::Driver::registerRecorder	(	converter::Converter	conv,
		recorder::Recorder	rec
	)

register a converter with an associated recorder instance

Definition at line 466 of file naoqi_driver.cpp.

void naoqi::Driver::registerService ( service::Service srv )

registers a service

Parameters:

service to register

See also:: Service

Note:: it will be called by value to expose that internally there will be a copy, eventually this should be replaced by move semantics C++11

Definition at line 883 of file naoqi_driver.cpp.

void naoqi::Driver::registerSubscriber ( subscriber::Subscriber sub )

registers a subscriber

Parameters:

subscriber to register

See also:: Subscriber

Note:: it will be called by value to expose that internally there will be a copy, eventually this should be replaced by move semantics C++11

Definition at line 853 of file naoqi_driver.cpp.

void naoqi::Driver::removeAllFiles ( )

Definition at line 1335 of file naoqi_driver.cpp.

void naoqi::Driver::removeFiles ( std::vector< std::string > files )

Definition at line 1348 of file naoqi_driver.cpp.

void naoqi::Driver::rosLoop ( ) [private]

Definition at line 176 of file naoqi_driver.cpp.

void naoqi::Driver::setBufferDuration ( float duration )

Definition at line 401 of file naoqi_driver.cpp.

void naoqi::Driver::setMasterURI ( const std::string & uri )

qicli call function to set current master uri

Parameters:

string in form of http://<ip>:11311

Definition at line 918 of file naoqi_driver.cpp.

void naoqi::Driver::setMasterURINet	(	const std::string &	uri,
		const std::string &	network_interface
	)

qicli call function to set current master uri

Parameters:

string	in form of http://<ip>:11311
network_interface	the network interface ("eth0", "tether" ...)

Definition at line 923 of file naoqi_driver.cpp.

void naoqi::Driver::startLogging ( )

Definition at line 1123 of file naoqi_driver.cpp.

void naoqi::Driver::startPublishing ( )

qicli call function to start/enable publishing all registered publisher

Definition at line 991 of file naoqi_driver.cpp.

void naoqi::Driver::startRecording ( )

qicli call function to start recording all registered converter in a ROSbag

Definition at line 1025 of file naoqi_driver.cpp.

void naoqi::Driver::startRecordingConverters ( const std::vector< std::string > & names )

qicli call function to start recording given topics in a ROSbag

Definition at line 1050 of file naoqi_driver.cpp.

void naoqi::Driver::startRosLoop ( )

Definition at line 1133 of file naoqi_driver.cpp.

void naoqi::Driver::stopLogging ( )

Definition at line 1128 of file naoqi_driver.cpp.

void naoqi::Driver::stopPublishing ( )

qicli call function to stop/disable publishing all registered publisher

Definition at line 1000 of file naoqi_driver.cpp.

std::string naoqi::Driver::stopRecording ( )

qicli call function to stop recording all registered publisher in a ROSbag

Definition at line 1104 of file naoqi_driver.cpp.

void naoqi::Driver::stopRosLoop ( )

Definition at line 1145 of file naoqi_driver.cpp.

void naoqi::Driver::stopService ( )

Definition at line 168 of file naoqi_driver.cpp.

Member Data Documentation

boost::property_tree::ptree naoqi::Driver::boot_config_ [private]

Definition at line 251 of file naoqi_driver.hpp.

float naoqi::Driver::buffer_duration_ [private]

Definition at line 291 of file naoqi_driver.hpp.

std::priority_queue<ScheduledConverter> naoqi::Driver::conv_queue_ [private]

Priority queue to process the publishers according to their frequency

Definition at line 310 of file naoqi_driver.hpp.

std::vector< converter::Converter > naoqi::Driver::converters_ [private]

Definition at line 277 of file naoqi_driver.hpp.

std::map< std::string, event::Event > naoqi::Driver::event_map_ [private]

Definition at line 280 of file naoqi_driver.hpp.

const size_t naoqi::Driver::freq_ [private]

Definition at line 244 of file naoqi_driver.hpp.

bool naoqi::Driver::keep_looping [private]

Definition at line 242 of file naoqi_driver.hpp.

bool naoqi::Driver::log_enabled_ [private]

Definition at line 241 of file naoqi_driver.hpp.

boost::mutex naoqi::Driver::mutex_conv_queue_ [private]

Definition at line 274 of file naoqi_driver.hpp.

boost::mutex naoqi::Driver::mutex_record_ [private]

Definition at line 275 of file naoqi_driver.hpp.

boost::mutex naoqi::Driver::mutex_reinit_ [private]

Definition at line 273 of file naoqi_driver.hpp.

boost::scoped_ptr<ros::NodeHandle> naoqi::Driver::nhPtr_ [private]

Definition at line 272 of file naoqi_driver.hpp.

std::map< std::string, publisher::Publisher > naoqi::Driver::pub_map_ [private]

Definition at line 278 of file naoqi_driver.hpp.

bool naoqi::Driver::publish_enabled_ [private]

Definition at line 239 of file naoqi_driver.hpp.

boost::thread naoqi::Driver::publisherThread_ [private]

Definition at line 245 of file naoqi_driver.hpp.

std::map< std::string, recorder::Recorder > naoqi::Driver::rec_map_ [private]

Definition at line 279 of file naoqi_driver.hpp.

bool naoqi::Driver::record_enabled_ [private]

Definition at line 240 of file naoqi_driver.hpp.

boost::shared_ptr<recorder::GlobalRecorder> naoqi::Driver::recorder_ [private]

Definition at line 248 of file naoqi_driver.hpp.

const robot::Robot& naoqi::Driver::robot_ [private]

Definition at line 237 of file naoqi_driver.hpp.

std::vector< service::Service > naoqi::Driver::services_ [private]

Definition at line 289 of file naoqi_driver.hpp.

qi::SessionPtr naoqi::Driver::sessionPtr_ [private]

Definition at line 235 of file naoqi_driver.hpp.

std::vector< subscriber::Subscriber > naoqi::Driver::subscribers_ [private]

Definition at line 288 of file naoqi_driver.hpp.

boost::shared_ptr<tf2_ros::Buffer> naoqi::Driver::tf2_buffer_ [private]

tf2 buffer that will be shared between different publishers/subscribers This is only for performance improvements

Definition at line 315 of file naoqi_driver.hpp.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation