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>

Data Structures
struct	ScheduledConverter

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

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

void	init ()

void	startRosLoop ()

void	stopRosLoop ()

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	setBufferDuration (float duration)

float	getBufferDuration ()

void	registerConverter (converter::Converter &conv)
	registers generall converter units they are connected via callbacks to various actions such as record, log, publish More...

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

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

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

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

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

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

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

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

std::string	_whoIsYourDaddy ()

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

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

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

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

void	stopPublishing ()
	qicli call function to stop/disable 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...

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

void	startLogging ()

void	stopLogging ()

void	addMemoryConverters (std::string filepath)
	qicli call function to add on-the-fly some memory keys extractors More...

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

void	stopService ()

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

void	removeAllFiles ()

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

Private Types
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

typedef std::map< std::string, event::Event >::const_iterator	EventConstIter

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

Private Member Functions
void	loadBootConfig ()

void	registerDefaultConverter ()

void	registerDefaultSubscriber ()

void	registerDefaultServices ()

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

template<typename T1 , typename T2 , typename T3 >
void	_registerMemoryConverter (const std::string &key, float frequency)

void	rosLoop ()

Private Attributes
qi::SessionPtr	sessionPtr_

const robot::Robot &	robot_

bool	publish_enabled_

bool	record_enabled_

bool	log_enabled_

bool	keep_looping

const size_t	freq_

boost::thread	publisherThread_

boost::shared_ptr< recorder::GlobalRecorder >	recorder_

boost::property_tree::ptree	boot_config_

boost::scoped_ptr< ros::NodeHandle >	nhPtr_

boost::mutex	mutex_reinit_

boost::mutex	mutex_conv_queue_

boost::mutex	mutex_record_

std::vector< converter::Converter >	converters_

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

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

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

std::vector< subscriber::Subscriber >	subscribers_

std::vector< service::Service >	services_

float	buffer_duration_

std::priority_queue< ScheduledConverter >	conv_queue_

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.

Member Typedef Documentation

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

private

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

private

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

private

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

private

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

private

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

private

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

naoqi::Driver::~Driver ( )

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

Member Function Documentation

template<typename T1 , typename T2 , typename T3 >

void naoqi::Driver::_registerMemoryConverter	(	const std::string &	key,
		float	frequency
	)

inlineprivate

std::string naoqi::Driver::_whoIsYourDaddy ( )

inline

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

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

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

get all available converters

float naoqi::Driver::getBufferDuration ( )

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

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

qicli call function to get current master uri

Returns: string indicating http master uri

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

get all subscribed publishers

void naoqi::Driver::init ( )

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

private

void naoqi::Driver::loadBootConfig ( )

private

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

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

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

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

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

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

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

register a converter with an associated publisher and recorder

void naoqi::Driver::registerDefaultConverter ( )

private

Info publisher

LOGS

DIAGNOSTICS

IMU TORSO

IMU BASE

Front Camera

Depth Camera

Infrared Camera

Joint States

Laser

Sonar

Audio

void naoqi::Driver::registerDefaultServices ( )

private

void naoqi::Driver::registerDefaultSubscriber ( )

private

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

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

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

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

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

register a converter with an associated publisher instance

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

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

register a converter with an associated recorder instance

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

registers a service

Parameters

service to register

See also: Service

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

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

void naoqi::Driver::removeAllFiles ( )

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

void naoqi::Driver::rosLoop ( )

private

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

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

qicli call function to set current master uri

Parameters

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

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" ...)

void naoqi::Driver::startLogging ( )

void naoqi::Driver::startPublishing ( )

qicli call function to start/enable publishing all registered publisher

void naoqi::Driver::startRecording ( )

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

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

qicli call function to start recording given topics in a ROSbag

void naoqi::Driver::startRosLoop ( )

void naoqi::Driver::stopLogging ( )

void naoqi::Driver::stopPublishing ( )

qicli call function to stop/disable publishing all registered publisher

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

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

void naoqi::Driver::stopRosLoop ( )

void naoqi::Driver::stopService ( )

Field Documentation

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

private

float naoqi::Driver::buffer_duration_

private

std::priority_queue<ScheduledConverter> naoqi::Driver::conv_queue_

private

Priority queue to process the publishers according to their frequency

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

private

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

private

const size_t naoqi::Driver::freq_

private

bool naoqi::Driver::keep_looping

private

bool naoqi::Driver::log_enabled_

private

boost::mutex naoqi::Driver::mutex_conv_queue_

private

boost::mutex naoqi::Driver::mutex_record_

private

boost::mutex naoqi::Driver::mutex_reinit_

private

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

private

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

private

bool naoqi::Driver::publish_enabled_

private

boost::thread naoqi::Driver::publisherThread_

private

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

private

bool naoqi::Driver::record_enabled_

private

boost::shared_ptr<recorder::GlobalRecorder> naoqi::Driver::recorder_

private

const robot::Robot& naoqi::Driver::robot_

private

std::vector< service::Service > naoqi::Driver::services_

private

qi::SessionPtr naoqi::Driver::sessionPtr_

private

std::vector< subscriber::Subscriber > naoqi::Driver::subscribers_

private

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

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

/home/vrabaud/ros/ws_nao_dashboard/src/naoqi_driver/include/naoqi_driver/naoqi_driver.hpp
/home/vrabaud/ros/ws_nao_dashboard/src/naoqi_driver/src/naoqi_driver.cpp

Data Structures

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation