#include <remote_power_manager.h>
Public Member Functions | |
| bool | getPortStatus (remote_power_manager::GetPortStatus::Request &req, remote_power_manager::GetPortStatus::Response &res) |
| Retrieve the status (on/off) of all power ports. | |
| bool | rebootPort (remote_power_manager::RebootPort::Request &req, remote_power_manager::RebootPort::Response &res) |
| Toggle the value (on/off) of a particular power port. | |
| RemotePowerManager (const ros::NodeHandle &nh) | |
| bool | setAllRelay (remote_power_manager::SetAllRelay::Request &req, remote_power_manager::SetAllRelay::Response &res) |
| Set all power ports to the same value (on/off). | |
| bool | setPortRelay (remote_power_manager::SetPortRelay::Request &req, remote_power_manager::SetPortRelay::Response &res) |
| Set the value (on/off) of a particular power port. | |
Private Member Functions | |
| bool | closeConnection (void) |
| Close the TCP connection to the host specified in the launch file. | |
| bool | openConnection (void) |
| Open a TCP connection to the host specified in the launch file. | |
| int | parseCommands (char *raw_message, int length, char *text_message) |
| Parse out telnet commands in TCP data from the remote power manager. | |
| bool | sendCommand (const char command[], char reply[]) |
| Send a telnet command over the TCP connection specified in the launch file. | |
Private Attributes | |
| std::string | host_name_ |
| int | host_port_ |
| int | number_of_power_ports_ |
| int | socket_ |
Definition at line 49 of file remote_power_manager.h.
| RemotePowerManager::RemotePowerManager | ( | const ros::NodeHandle & | nh | ) |
The constructor initializes a node to interface with a remote power manager. The NodeHandle is necessary so variables can be initialized by parameters in the launch file.
| nh | The node handle from the main loop |
Definition at line 57 of file remote_power_manager.cpp.
| bool RemotePowerManager::closeConnection | ( | void | ) | [private] |
Close the TCP connection to the host specified in the launch file.
Definition at line 204 of file remote_power_manager.cpp.
| bool RemotePowerManager::getPortStatus | ( | remote_power_manager::GetPortStatus::Request & | req, | |
| remote_power_manager::GetPortStatus::Response & | res | |||
| ) |
Retrieve the status (on/off) of all power ports.
Query the remote power manager over TCP to retrieve the status of all the power ports controlled by the manager.
| req | The ROS service request | |
| res | The ROS service response which contains the power port status |
Definition at line 266 of file remote_power_manager.cpp.
| bool RemotePowerManager::openConnection | ( | void | ) | [private] |
Open a TCP connection to the host specified in the launch file.
Definition at line 149 of file remote_power_manager.cpp.
| int RemotePowerManager::parseCommands | ( | char * | raw_message, | |
| int | length, | |||
| char * | text_message | |||
| ) | [private] |
Parse out telnet commands in TCP data from the remote power manager.
Communication with the remote power manager is done through the telnet protocal. These commands need to be acknowledged and responded to in order for communication to proceed. This method parses telnet commands from a character array and replies, only agreeing to drop the go ahead option.
| raw_message | The character array including telnet control sequences. | |
| length | The length of the input character array. | |
| text_message | The new character array with no telnet sequences. |
Definition at line 73 of file remote_power_manager.cpp.
| bool RemotePowerManager::rebootPort | ( | remote_power_manager::RebootPort::Request & | req, | |
| remote_power_manager::RebootPort::Response & | res | |||
| ) |
Toggle the value (on/off) of a particular power port.
Rebooting a port will toggle the value to the opposite of the current value and hold it there for the reboot time. After the reboot time has expired the port will be reset to the original value. The reboot time is set in the remote power manager from the web interface, and it cannot be set from this package.
| req | The ROS service request which contains the port | |
| res | The ROS service response |
Definition at line 373 of file remote_power_manager.cpp.
| bool RemotePowerManager::sendCommand | ( | const char | command[], | |
| char | reply[] | |||
| ) | [private] |
Send a telnet command over the TCP connection specified in the launch file.
The connection must be open before this function is called.
| command | A character array giving the command to issue. | |
| reply | A character array containing the response to the issued command. |
Definition at line 231 of file remote_power_manager.cpp.
| bool RemotePowerManager::setAllRelay | ( | remote_power_manager::SetAllRelay::Request & | req, | |
| remote_power_manager::SetAllRelay::Response & | res | |||
| ) |
Set all power ports to the same value (on/off).
| req | The ROS service request which contains the on/off value | |
| res | The ROS service response |
Definition at line 314 of file remote_power_manager.cpp.
| bool RemotePowerManager::setPortRelay | ( | remote_power_manager::SetPortRelay::Request & | req, | |
| remote_power_manager::SetPortRelay::Response & | res | |||
| ) |
Set the value (on/off) of a particular power port.
| req | The ROS service request which contains the port and the on/off value | |
| res | The ROS service response |
Definition at line 343 of file remote_power_manager.cpp.
std::string RemotePowerManager::host_name_ [private] |
Definition at line 107 of file remote_power_manager.h.
int RemotePowerManager::host_port_ [private] |
Definition at line 108 of file remote_power_manager.h.
int RemotePowerManager::number_of_power_ports_ [private] |
Definition at line 109 of file remote_power_manager.h.
int RemotePowerManager::socket_ [private] |
Definition at line 106 of file remote_power_manager.h.
