BipedalLocomotion::YarpUtilities::VectorsCollectionServer Class Reference

VectorsCollectionServer is a class that implements the VectorsCollectionMetadataService. More...

#include <YarpUtilities/include/BipedalLocomotion/YarpUtilities/VectorsCollectionServer.h>

Public Member Functions
	VectorsCollectionServer ()
	Constructor.
virtual	~VectorsCollectionServer ()
	Destructor.
bool	initialize (std::weak_ptr< const ParametersHandler::IParametersHandler > handler)
	Initialize the server. More...
bool	populateMetadata (const std::string &key, const std::vector< std::string > &metadata)
	Populate the metadata. More...
bool	finalizeMetadata ()
	Finalize the metadata. More...
bool	populateData (const std::string &key, const iDynTree::Span< const double > &data)
	Set the data. More...
VectorsCollectionMetadata	getMetadata () override
	Get the metadata. More...
VectorsCollectionMetadata	getMetadataIncremental (const std::int32_t fromVersion) override
	Read only the metadata introduced after the provided version. More...
bool	areMetadataReady () override
	Check if the metadata is ready. More...
void	prepareData ()
	Prepare the data. More...
void	sendData (bool forceStrict=false)
	Send the data filled with populateData. More...
bool	clearData ()
	Deallocates the memory held by the internal buffer used to store data. More...

Detailed Description

VectorsCollectionServer is a class that implements the VectorsCollectionMetadataService.

It allows to send a VectorsCollection to a client.

Note

The VectorCollectionServer allows to send a VectorsCollection to a client. You can use the VectorsCollectionServer as follows

auto handler = std::make_shared<ParametersHandler::StdImplementation>();
// fill the handler with the parameters shown in the documentation
 
VectorCollectionServer server;
server.initialize(handler);
// The metadata should be populated before the data is sent.
// The metadata are available to the client only after the finalizeMetadata function is called.
server.populateMetadata("key1", {"metadata1", "metadata2", "metadata3"});
server.populateMetadata("key2", {"metadata4", "metadata5", "metadata6"});
server.finalizeMetadata();
 
// prepare the data
server.prepareData();
server.clearData(); // optional
server.populateData("key1", {1.0, 2.0, 3.0});
server.populateData("key2", {4.0, 5.0, 6.0});
 
server.sendData();

server.write() will send the data to the client.

Member Function Documentation

initialize()

bool VectorsCollectionServer::initialize

(

std::weak_ptr< const ParametersHandler::IParametersHandler >

handler

)

Initialize the server.

Parameters

handler

pointer to the parameters handler.

Note

The following parameters are required:

Parameter Name	Type	Description
remote	string	Name of the port that will be created.

Returns

true if the server has been initialized successfully, false otherwise.

populateMetadata()

bool VectorsCollectionServer::populateMetadata	(	const std::string &	key,
		const std::vector< std::string > &	metadata
	)

Populate the metadata.

Parameters

key	key of the metadata.
metadata	metadata.

Returns

true if the metadata has been populated successfully, false otherwise.

finalizeMetadata()

bool VectorsCollectionServer::finalizeMetadata

(

)

Finalize the metadata.

Returns

true if the metadata has been finalized successfully, false otherwise.

Note

this function should be called after the metadata has been populated. It opens the ports.

populateData()

bool VectorsCollectionServer::populateData	(	const std::string &	key,
		const iDynTree::Span< const double > &	data
	)

Set the data.

Parameters

key	key of the data.
data	data.

Returns

true if the data has been set successfully, false otherwise.

Note

this function should be called after the metadata has been finalized and after the prepareData function has been called.

getMetadata()

VectorsCollectionMetadata VectorsCollectionServer::getMetadata ( )

override

Get the metadata.

Returns

the metadata.

Note

if the metadata is not ready, an empty VectorsCollectionMetadata is returned.

if some keys are pending to be finalized, the last finalized metadata is returned.

getMetadataIncremental()

VectorsCollectionMetadata VectorsCollectionServer::getMetadataIncremental ( const std::int32_t  fromVersion )

override

Read only the metadata introduced after the provided version.

Parameters

fromVersion

version from which the metadata should be returned. Pass -1 to get the full metadata.

Returns

the metadata introduced after the provided version.

Note

if the metadata is not ready, an empty VectorsCollectionMetadata is returned.

areMetadataReady()

bool VectorsCollectionServer::areMetadataReady ( )

override

Check if the metadata is ready.

Returns

true if the metadata is ready (it has been finalized at least once), false otherwise.

prepareData()

void VectorsCollectionServer::prepareData

(

)

Prepare the data.

Note

this function should be called before the data is populated.

sendData()

void VectorsCollectionServer::sendData

(

bool

forceStrict = false

)

Send the data filled with populateData.

Parameters

forceStrict

If this is true, wait until any previous sends are complete. If false, the current object will not be sent on connections that are currently busy.

clearData()

bool VectorsCollectionServer::clearData

(

)

Deallocates the memory held by the internal buffer used to store data.

Note

If you have previously populated the object using populateData and intend to reuse it without reallocating memory, you may skip calling this function. Otherwise, use VectorsCollection::clearData to free the memory allocated in the internal buffer.

Note that this function only clears the data and does not affect the metadata.

Returns

true if the data has been cleared successfully, false otherwise.

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

• YarpUtilities/include/BipedalLocomotion/YarpUtilities/VectorsCollectionServer.h
• YarpUtilities/src/VectorsCollectionServer.cpp