Exposes raw subdevice interface handles on a per-axis manner. More...

#include <DeviceMapper.hpp>

Public Types
using	dev_index_t = std::tuple< const RawDevice *, int >
	Tuple of a raw device pointer and either an offset or a local index.

using	dev_group_t = std::tuple< const RawDevice *, std::vector< int >, int >
	Tuple of a raw device pointer, its local indices and the global index.

template<typename T , typename... T_ref>
using	motor_single_joint_fn = bool(T::*)(int, T_ref...)
	Alias for a single-joint command. See class description.

template<typename T , typename... T_refs>
using	motor_all_joints_fn = bool(T::)(T_refs ...)
	Alias for a full-joint command. See class description.

template<typename T , typename... T_refs>
using	motor_multi_joints_fn = bool(T::)(int, const int , T_refs *...)
	Alias for a joint-group command. See class description.

template<typename T , typename T_out >
using	sensor_status_fn = T_out(T::*)(std::size_t) const

template<typename T >
using	sensor_size_fn = std::size_t(T::*)(std::size_t) const

template<typename T , typename... T_out_params>
using	sensor_output_fn = bool(T::*)(std::size_t, T_out_params &...) const

Public Member Functions
	DeviceMapper ()
	Constructor.

	~DeviceMapper ()
	Destructor.

void	enableParallelization (unsigned int concurrentTasks)
	Whether to enable parallel mappings and on how many concurrent threads.

bool	registerDevice (yarp::dev::PolyDriver *driver)
	Extract interface handles and perform sanity checks.

void	clear ()
	Delete all internal handles.

std::unique_ptr< FutureTask >	createTask () const
	Create an instance of a deferred task.

const std::vector< std::unique_ptr< const RawDevice > > &	getDevices () const
	Retrieve all registered raw devices, regardless of type. More...

dev_index_t	getMotorDevice (int globalAxis) const
	Retrieve a motor device handle and its local index given a global index. More...

std::vector< dev_index_t >	getMotorDevicesWithOffsets () const
	Retrieve all registered motor subdevices and their associated offsets. More...

std::vector< dev_group_t >	getMotorDevicesWithIndices (int globalAxesCount, const int *globalAxes) const
	Retrieve motor subdevices that map to the specified global axes. More...

int	getControlledAxes () const
	Retrieve the number of controlled axes across all subdevices.

template<typename T , typename... T_ref>
bool	mapSingleJoint (motor_single_joint_fn< T, T_ref... > fn, int j, T_ref... ref)
	Single-joint command mapping. See class description.

template<typename T , typename... T_refs>
bool	mapAllJoints (motor_all_joints_fn< T, T_refs... > fn, T_refs *... refs)
	Full-joint command mapping. See class description.

template<typename T , typename... T_refs>
bool	mapJointGroup (motor_multi_joints_fn< T, T_refs... > fn, int n_joint, const int joints, T_refs ... refs)
	Joint-group command mapping. See class description.

template<typename T >
int	getConnectedSensors () const
	Retrieve the number of connected sensors of the specified type across all subdevices.

template<typename T >
dev_index_t	getSensorDevice (int globalIndex) const
	Retrieve a sensor device handle and its local index given a global index. More...

template<typename T , typename T_out >
T_out	getSensorStatus (sensor_status_fn< T, T_out > fn, std::size_t index) const
	Retrieve the status of the sensor device at the specified global index. More...

template<typename T >
std::size_t	getSensorArraySize (sensor_size_fn< T > fn, std::size_t index) const
	Retrieve the size of the sensor array at the specified global index. More...

template<typename T , typename... T_out_params>
bool	getSensorOutput (sensor_output_fn< T, T_out_params... > fn, std::size_t index, T_out_params &... params) const
	Retrieve information from the sensor device at the specified global index. More...

Private Types
using	dev_index_offset_t = std::tuple< int, int, int >

Static Private Member Functions
static const int	getSensorFailureStatus ()

Private Attributes
std::vector< std::unique_ptr< const RawDevice > >	devices

std::vector< dev_index_offset_t >	motorOffsets

std::unordered_map< std::type_index, std::vector< dev_index_offset_t > >	sensorOffsets

std::unordered_map< std::type_index, int >	connectedSensors

int	totalAxes {0}

std::unique_ptr< FutureTaskFactory >	taskFactory

Detailed Description

Some raw subdevices might control several axes. This class knows how to map YARP commands to the right controlled motor axis or sensor of the correct subdevice given one or more indices, and forwards the call either in a sequential or parallel manner (see FutureTask).

For example, given three raw subdevices that manage one, two and three axes, respectively, a YARP command that requests global index '2' (zero-based) must be mapped to the second axis of the second subdevice and conveniently forwarded.

Terminology:

global index the joint id exposed by the control board to the YARP network and used as input in most motor interfaces; '3' in the above example
local index the joint id of the requested axis within the specific subdevice context; '1' in the above example (the second axis of the second device)
subdevice offset the global index at which local indices of a subdevice start; '0', '1' and '3' for the subdevices in the above example, respectively
parameter offset the starting index at which array values pointed to by the array parameter (see values in the following examples) refer to the given subdevice
single-joint mapping: command(int globalId, type value)
full-joint mapping: command(type * values)
joint-group mapping: command(int n, const int * globalIds, type * values)

Member Function Documentation

◆ getDevices()

const std::vector<std::unique_ptr<const RawDevice> >& roboticslab::DeviceMapper::getDevices ( ) const

inline

Returns: A vector of raw device smart pointers.

◆ getMotorDevice()

DeviceMapper::dev_index_t DeviceMapper::getMotorDevice ( int globalAxis ) const

Parameters

globalAxis The requested global axis index.

Aimed for simple, single-joint motor commands. See example and terminology in class description.

Returns: A pack of the subdevice handle and the obtained local index.

◆ getMotorDevicesWithIndices()

std::vector< DeviceMapper::dev_group_t > DeviceMapper::getMotorDevicesWithIndices	(	int	globalAxesCount,
		const int *	globalAxes
	)		const

Aimed for joint-group motor commands. See example and terminology in class description.

Returns: A vector of packs of subdevices, their requested local indices, and the associated parameter offsets.

◆ getMotorDevicesWithOffsets()

std::vector< DeviceMapper::dev_index_t > DeviceMapper::getMotorDevicesWithOffsets ( ) const

Aimed for full-mapping motor commands. See example and terminology in class description.

Returns: A vector of packs of subdevice handles and their offsets.

◆ getSensorArraySize()

template<typename T >

std::size_t roboticslab::DeviceMapper::getSensorArraySize	(	sensor_size_fn< T >	fn,
		std::size_t	index
	)		const

inline

Returns: An integer value representing the sensor array size.

◆ getSensorDevice()

template<typename T >

dev_index_t roboticslab::DeviceMapper::getSensorDevice ( int globalIndex ) const

inline

Parameters

globalAxis The requested global sensor index.

Template Parameters

T	The requested sensor type.

Returns: A pack of the subdevice handle and the obtained local index.

◆ getSensorOutput()

template<typename T , typename... T_out_params>

bool roboticslab::DeviceMapper::getSensorOutput	(	sensor_output_fn< T, T_out_params... >	fn,
		std::size_t	index,
		T_out_params &...	params
	)		const

inline

Returns: True whether everything went fine, false otherwise.

◆ getSensorStatus()

template<typename T , typename T_out >

T_out roboticslab::DeviceMapper::getSensorStatus	(	sensor_status_fn< T, T_out >	fn,
		std::size_t	index
	)		const

inline

Returns: An integer value representing sensor status.

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

libraries/YarpDeviceMapperLib/DeviceMapper.hpp
libraries/YarpDeviceMapperLib/DeviceMapper.cpp

Public Types

Public Member Functions

Private Types

Static Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

◆ getDevices()

◆ getMotorDevice()

◆ getMotorDevicesWithIndices()

◆ getMotorDevicesWithOffsets()

◆ getSensorArraySize()

◆ getSensorDevice()

◆ getSensorOutput()

◆ getSensorStatus()