armadillo::gripper_handler::GripperHandler Class Reference

Message handler that responds to gripper operation requests. More...

#include <gripper_handler.h>

Inheritance diagram for armadillo::gripper_handler::GripperHandler:

[legend]

List of all members.

Public Member Functions
bool	init (industrial::smpl_msg_connection::SmplMsgConnection *connection, motoman::controller::Controller *ctrl)
	Class initializer.
Protected Member Functions
bool	init (int msg_type, industrial::smpl_msg_connection::SmplMsgConnection *connection)
	Class initializer (Direct call to base class with the same name) I couldn't get the "using" form to work/.
bool	internalCB (industrial::simple_message::SimpleMessage &in)
	Callback executed upon receiving message.
Protected Attributes
motoman::controller::Controller *	ctrl_
	Controller object for setting/reading IO.
Static Protected Attributes
static const int	GRIPPER_CLOSE_ = GRIPPER_OUT_BASE_ + 4
static const int	GRIPPER_CLOSING_ = GRIPPER_IN_BASE_ + 4
static const int	GRIPPER_IN_BASE_ = 40
static const int	GRIPPER_IN_PINCH_MODE_ = GRIPPER_IN_BASE_ + 1
static const int	GRIPPER_INIT_ = GRIPPER_OUT_BASE_ + 0
static const int	GRIPPER_INITIALIZED_ = GRIPPER_IN_BASE_ + 0
static const int	GRIPPER_MOTION_COMPLETE_ = GRIPPER_IN_BASE_ + 6
static const int	GRIPPER_MOTION_IN_PROGRESS_ = GRIPPER_IN_BASE_ + 5
static const int	GRIPPER_OPEN_ = GRIPPER_OUT_BASE_ + 3
static const int	GRIPPER_OPENING_ = GRIPPER_IN_BASE_ + 3
static const int	GRIPPER_OUT_BASE_ = 40
static const int	GRIPPER_PINCH_MODE_ = GRIPPER_OUT_BASE_ + 1
static const int	MOTION_START_DELAY = 50

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Detailed Description

Message handler that responds to gripper operation requests.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 54 of file gripper_handler.h.

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Member Function Documentation

bool armadillo::gripper_handler::GripperHandler::init	(	int	msg_type,
		industrial::smpl_msg_connection::SmplMsgConnection *	connection
	)			[inline, protected]

Class initializer (Direct call to base class with the same name) I couldn't get the "using" form to work/.

Parameters:

connection

simple message connection that will be used to send replies.

Returns:

true on success, false otherwise (an invalid message type)

Reimplemented from industrial::message_handler::MessageHandler.

Definition at line 116 of file gripper_handler.h.

bool armadillo::gripper_handler::GripperHandler::init	(	industrial::smpl_msg_connection::SmplMsgConnection *	connection,
		motoman::controller::Controller *	ctrl
	)

Class initializer.

Parameters:

connection

simple message connection that will be used to send replies.

Returns:

true on success, false otherwise (an invalid message type)

Definition at line 51 of file gripper_handler.cpp.

bool armadillo::gripper_handler::GripperHandler::internalCB

(

industrial::simple_message::SimpleMessage &

in

)

[protected, virtual]

Callback executed upon receiving message.

Parameters:

in

incoming message

Returns:

true on success, false otherwise

Implements industrial::message_handler::MessageHandler.

Definition at line 58 of file gripper_handler.cpp.

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Member Data Documentation

motoman::controller::Controller* armadillo::gripper_handler::GripperHandler::ctrl_ [protected]

Controller object for setting/reading IO.

Definition at line 106 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_CLOSE_ = GRIPPER_OUT_BASE_ + 4 [static, protected]

Definition at line 86 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_CLOSING_ = GRIPPER_IN_BASE_ + 4 [static, protected]

Definition at line 93 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_IN_BASE_ = 40 [static, protected]

Definition at line 89 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_IN_PINCH_MODE_ = GRIPPER_IN_BASE_ + 1 [static, protected]

Definition at line 91 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_INIT_ = GRIPPER_OUT_BASE_ + 0 [static, protected]

Definition at line 83 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_INITIALIZED_ = GRIPPER_IN_BASE_ + 0 [static, protected]

Definition at line 90 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_MOTION_COMPLETE_ = GRIPPER_IN_BASE_ + 6 [static, protected]

Definition at line 95 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_MOTION_IN_PROGRESS_ = GRIPPER_IN_BASE_ + 5 [static, protected]

Definition at line 94 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_OPEN_ = GRIPPER_OUT_BASE_ + 3 [static, protected]

Definition at line 85 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_OPENING_ = GRIPPER_IN_BASE_ + 3 [static, protected]

Definition at line 92 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_OUT_BASE_ = 40 [static, protected]

Definition at line 82 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::GRIPPER_PINCH_MODE_ = GRIPPER_OUT_BASE_ + 1 [static, protected]

Definition at line 84 of file gripper_handler.h.

const int armadillo::gripper_handler::GripperHandler::MOTION_START_DELAY = 50 [static, protected]

Definition at line 100 of file gripper_handler.h.

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

• gripper_handler.h
• gripper_handler.cpp