rci::Synchronizer Class Reference

Synchronizer Different synchronizers may be for example: * Update with a given frequency ** Send data every time ** Send only if new data * Update only if new data (event-based) * Triggered from robot side (e.g. More...

#include <Synchronizer.h>

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List of all members.

Public Member Functions
	Synchronizer (const std::string &name)
virtual	~Synchronizer ()
virtual void	process ()
	Synchronous processing (synchronisation of commands and sensor values with the robot).
virtual void	processAsync ()=0
	Asynchronous processing (synchronisation of commands and sensor values with the robot).
virtual void	waitForProcessAsync ()=0
	Waits until asynchronous processing (synchronisation of commands and sensor values with the robot) is done.
virtual bool	start ()
	Starts synchronizing.
virtual bool	stop ()
	Stops synchronizing, e.g.
virtual bool	tooBusy () const
	Returns, if the synchronizer is (too) busy right now.
Protected Attributes
bool	_onlyReceive
	Only true for the first time.
bool	busy
std::string	name
Friends
std::ostream &	operator<< (std::ostream &os, const Synchronizer &val)

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Detailed Description

Synchronizer Different synchronizers may be for example: * Update with a given frequency ** Send data every time ** Send only if new data * Update only if new data (event-based) * Triggered from robot side (e.g.

FRI)

Definition at line 49 of file Synchronizer.h.

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Constructor & Destructor Documentation

rci::Synchronizer::Synchronizer

(

const std::string &

name

)

Definition at line 33 of file Synchronizer.cpp.

rci::Synchronizer::~Synchronizer

(

)

[virtual]

Definition at line 37 of file Synchronizer.cpp.

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Member Function Documentation

void rci::Synchronizer::process

(

)

[virtual]

Synchronous processing (synchronisation of commands and sensor values with the robot).

After calling this, you can safely access new sensor values. Generic implementation of this method calls processAsync and then waitForProcessAsync.

Definition at line 40 of file Synchronizer.cpp.

References processAsync(), and waitForProcessAsync().

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virtual void rci::Synchronizer::processAsync

(

)

[pure virtual]

Asynchronous processing (synchronisation of commands and sensor values with the robot).

This method will return immediately, you will have to waitForProcessAsync to finish to have new sensor values and safely access them.

Referenced by process().

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bool rci::Synchronizer::start

(

)

[virtual]

Starts synchronizing.

For some backends this has to be stopped, e.g. for control mode switches.

Definition at line 45 of file Synchronizer.cpp.

References busy.

bool rci::Synchronizer::stop

(

)

[virtual]

Stops synchronizing, e.g.

to have time for control mode switches.

Definition at line 50 of file Synchronizer.cpp.

References busy.

bool rci::Synchronizer::tooBusy

(

)

const [virtual]

Returns, if the synchronizer is (too) busy right now.

This is important to know in case of robots where control has to be paused in order to make a certain action (e.g. control mode switch).

Definition at line 55 of file Synchronizer.cpp.

References busy.

virtual void rci::Synchronizer::waitForProcessAsync

(

)

[pure virtual]

Waits until asynchronous processing (synchronisation of commands and sensor values with the robot) is done.

You will need for this to know that new sensor values arrived and you can read them savely.

Referenced by process().

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const Synchronizer &	val
	)			[friend]

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Member Data Documentation

bool rci::Synchronizer::_onlyReceive [protected]

Only true for the first time.

Definition at line 108 of file Synchronizer.h.

bool rci::Synchronizer::busy [protected]

Definition at line 113 of file Synchronizer.h.

Referenced by start(), stop(), and tooBusy().

std::string rci::Synchronizer::name [protected]

Definition at line 118 of file Synchronizer.h.

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

• rci/Synchronizer.h
• rci/Synchronizer.cpp