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

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();

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.

Constructors, destructors, conversion operators

VectorsCollectionServer(): Constructor.
~VectorsCollectionServer() virtual: Destructor.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool: Initialize the server.
auto populateMetadata(const std::string& key, const std::vector<std::string>& metadata) -> bool: Populate the metadata.
auto finalizeMetadata() -> bool: Finalize the metadata.
auto populateData(const std::string& key, const iDynTree::Span<const double>& data) -> bool: Set the data.
auto getMetadata() -> VectorsCollectionMetadata override: Get the metadata.
auto areMetadataReady() -> bool override: Check if the metadata is ready.
void sendData(bool forceStrict = false): Send the data filled with populateData.
void clearData(): Deallocates the memory held by the internal buffer used to store data.

Function documentation

bool BipedalLocomotion::YarpUtilities::VectorsCollectionServer::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler)

Initialize the server.

Parameters
handler	pointer to the parameters handler.
Returns	true if the server has been initialized successfully, false otherwise.

bool BipedalLocomotion::YarpUtilities::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.

bool BipedalLocomotion::YarpUtilities::VectorsCollectionServer::finalizeMetadata()

Finalize the metadata.

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

bool BipedalLocomotion::YarpUtilities::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.

VectorsCollectionMetadata BipedalLocomotion::YarpUtilities::VectorsCollectionServer::getMetadata() override

Get the metadata.

Returns	the metadata.

bool BipedalLocomotion::YarpUtilities::VectorsCollectionServer::areMetadataReady() override

Check if the metadata is ready.

Returns	true if the metadata is ready, false otherwise.

void BipedalLocomotion::YarpUtilities::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.

void BipedalLocomotion::YarpUtilities::VectorsCollectionServer::clearData()

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