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 More...

	Driver (qi::SessionPtr session, const std::string &prefix)
	Constructor for naoqi driver. More...

std::vector< std::string >	getAvailableConverters ()
	get all available converters More...

float	getBufferDuration ()

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

std::string	getMasterURI () const
	qicli call function to get current master uri More...

std::vector< std::string >	getSubscribedPublishers () const
	get all subscribed publishers More...

void	init ()

std::string	minidump (const std::string &prefix)
	Write a ROSbag with the last bufferized data (10s by default) More...

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 More...

void	registerConverter (converter::Converter conv, publisher::Publisher pub, recorder::Recorder rec)
	register a converter with an associated publisher and recorder More...

bool	registerEventConverter (const std::string &key, const dataType::DataType &type)
	qicli call function to register a converter for a given memory event More...

bool	registerMemoryConverter (const std::string &key, float frequency, const dataType::DataType &type)
	qicli call function to register a converter for a given memory key More...

void	registerPublisher (const std::string &conv_name, publisher::Publisher &pub)
	prepare and register a publisher More...

void	registerPublisher (converter::Converter conv, publisher::Publisher pub)
	register a converter with an associated publisher instance More...

void	registerRecorder (const std::string &conv_name, recorder::Recorder &rec, float frequency)
	prepare and register a recorder More...

void	registerRecorder (converter::Converter conv, recorder::Recorder rec)
	register a converter with an associated recorder instance More...

void	registerService (service::Service srv)
	registers a service More...

void	registerSubscriber (subscriber::Subscriber sub)
	registers a subscriber More...

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 More...

void	setMasterURINet (const std::string &uri, const std::string &network_interface)
	qicli call function to set current master uri More...

void	startLogging ()

void	startPublishing ()
	qicli call function to start/enable publishing all registered publisher More...

void	startRecording ()
	qicli call function to start recording all registered converter in a ROSbag More...

void	startRecordingConverters (const std::vector< std::string > &names)
	qicli call function to start recording given topics in a ROSbag More...

void	startRosLoop ()

void	stopLogging ()

void	stopPublishing ()
	qicli call function to stop/disable publishing all registered publisher More...

std::string	stopRecording ()
	qicli call function to stop recording all registered publisher in a ROSbag More...

void	stopRosLoop ()

void	stopService ()

	~Driver ()
	Destructor for naoqi driver, destroys all ros nodehandle and shutsdown all publisher. More...

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	has_stereo

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 286 of file naoqi_driver.hpp.

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

private

Definition at line 287 of file naoqi_driver.hpp.

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

private

Definition at line 282 of file naoqi_driver.hpp.

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

private

Definition at line 283 of file naoqi_driver.hpp.

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

private

Definition at line 284 of file naoqi_driver.hpp.

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

private

Definition at line 285 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 118 of file naoqi_driver.cpp.

naoqi::Driver::~Driver ( )

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

Definition at line 140 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
	)

inlineprivate

Definition at line 261 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 1218 of file naoqi_driver.cpp.

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

get all available converters

Definition at line 949 of file naoqi_driver.cpp.

float naoqi::Driver::getBufferDuration ( )

Definition at line 417 of file naoqi_driver.cpp.

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

Definition at line 1373 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 968 of file naoqi_driver.cpp.

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

get all subscribed publishers

Definition at line 1062 of file naoqi_driver.cpp.

void naoqi::Driver::init ( )

Definition at line 151 of file naoqi_driver.cpp.

void naoqi::Driver::insertEventConverter	(	const std::string &	key,
		event::Event	event
	)

private

Definition at line 449 of file naoqi_driver.cpp.

void naoqi::Driver::loadBootConfig ( )

private

Definition at line 161 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 260 of file naoqi_driver.cpp.

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

Definition at line 319 of file naoqi_driver.cpp.

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

Definition at line 1209 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 422 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 456 of file naoqi_driver.cpp.

void naoqi::Driver::registerDefaultConverter ( )

private

Info publisher

LOGS

DIAGNOSTICS

IMU TORSO

IMU BASE

Front Camera

Depth Camera

Stereo Camera

Infrared Camera

Joint States

Laser

Sonar

Audio

TOUCH

Odom

Definition at line 537 of file naoqi_driver.cpp.

void naoqi::Driver::registerDefaultServices ( )

private

Definition at line 942 of file naoqi_driver.cpp.

void naoqi::Driver::registerDefaultSubscriber ( )

private

Definition at line 927 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 1287 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 475 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 431 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 463 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 441 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 469 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 936 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 906 of file naoqi_driver.cpp.

void naoqi::Driver::removeAllFiles ( )

Definition at line 1388 of file naoqi_driver.cpp.

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

Definition at line 1401 of file naoqi_driver.cpp.

void naoqi::Driver::rosLoop ( )

private

Definition at line 179 of file naoqi_driver.cpp.

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

Definition at line 404 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 973 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 978 of file naoqi_driver.cpp.

void naoqi::Driver::startLogging ( )

Definition at line 1176 of file naoqi_driver.cpp.

void naoqi::Driver::startPublishing ( )

qicli call function to start/enable publishing all registered publisher

Definition at line 1044 of file naoqi_driver.cpp.

void naoqi::Driver::startRecording ( )

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

Definition at line 1078 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 1103 of file naoqi_driver.cpp.

void naoqi::Driver::startRosLoop ( )

Definition at line 1186 of file naoqi_driver.cpp.

void naoqi::Driver::stopLogging ( )

Definition at line 1181 of file naoqi_driver.cpp.

void naoqi::Driver::stopPublishing ( )

qicli call function to stop/disable publishing all registered publisher

Definition at line 1053 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 1157 of file naoqi_driver.cpp.

void naoqi::Driver::stopRosLoop ( )

Definition at line 1198 of file naoqi_driver.cpp.

void naoqi::Driver::stopService ( )

Definition at line 171 of file naoqi_driver.cpp.

Member Data Documentation

boost::property_tree::ptree naoqi::Driver::boot_config_

private

Definition at line 252 of file naoqi_driver.hpp.

float naoqi::Driver::buffer_duration_

private

Definition at line 292 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 311 of file naoqi_driver.hpp.

std::vector< converter::Converter > naoqi::Driver::converters_

private

Definition at line 278 of file naoqi_driver.hpp.

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

private

Definition at line 281 of file naoqi_driver.hpp.

const size_t naoqi::Driver::freq_

private

Definition at line 245 of file naoqi_driver.hpp.

bool naoqi::Driver::has_stereo

private

Definition at line 243 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 275 of file naoqi_driver.hpp.

boost::mutex naoqi::Driver::mutex_record_

private

Definition at line 276 of file naoqi_driver.hpp.

boost::mutex naoqi::Driver::mutex_reinit_

private

Definition at line 274 of file naoqi_driver.hpp.

boost::scoped_ptr<ros::NodeHandle> naoqi::Driver::nhPtr_

private

Definition at line 273 of file naoqi_driver.hpp.

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

private

Definition at line 279 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 246 of file naoqi_driver.hpp.

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

private

Definition at line 280 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 249 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 290 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 289 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 316 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