IRI ROS Specific Driver Class. More...

#include <leuze_laser_driver.h>

Inheritance diagram for LeuzeLaserDriver:

Public Types
typedef iri_leuze_laser::LeuzeLaserConfig	Config
	define config type
Public Member Functions
bool	changePair (unsigned char new_pair)
bool	closeDriver (void)
	close driver
void	config_update (const Config &new_cfg, uint32_t level=0)
	config update
std::string	getNewScanEventId (void) const
std::string	getNoLaserEventId (void) const
sensor_msgs::LaserScan	getScan (void)
iri_common_drivers_msgs::leuze_status	getStatus (void)
	LeuzeLaserDriver ()
	constructor
sensor_msgs::LaserScan	leuzeScantoLaserScan (const TLeuzeScan &leuze_scan)
bool	openDriver (void)
	open driver
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	stop driver
	~LeuzeLaserDriver ()
	Destructor.
Public Attributes
Config	config_
	config variable
Private Attributes
CLeuzeLaser	leuze_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The LeuzeLaserDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The LeuzeLaserConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 55 of file leuze_laser_driver.h.

Member Typedef Documentation

typedef iri_leuze_laser::LeuzeLaserConfig LeuzeLaserDriver::Config

define config type

Define a Config type with the LeuzeLaserConfig. All driver implementations will then use the same variable type Config.

Definition at line 68 of file leuze_laser_driver.h.

Constructor & Destructor Documentation

LeuzeLaserDriver::LeuzeLaserDriver ( )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 4 of file leuze_laser_driver.cpp.

LeuzeLaserDriver::~LeuzeLaserDriver ( )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 172 of file leuze_laser_driver.cpp.

Member Function Documentation

bool LeuzeLaserDriver::changePair ( unsigned char new_pair )

Definition at line 157 of file leuze_laser_driver.cpp.

bool LeuzeLaserDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 29 of file leuze_laser_driver.cpp.

void LeuzeLaserDriver::config_update	(	const Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 71 of file leuze_laser_driver.cpp.

std::string LeuzeLaserDriver::getNewScanEventId ( void ) const

Definition at line 96 of file leuze_laser_driver.cpp.

std::string LeuzeLaserDriver::getNoLaserEventId ( void ) const

Definition at line 101 of file leuze_laser_driver.cpp.

sensor_msgs::LaserScan LeuzeLaserDriver::getScan ( void )

Definition at line 106 of file leuze_laser_driver.cpp.

iri_common_drivers_msgs::leuze_status LeuzeLaserDriver::getStatus ( void )

Definition at line 113 of file leuze_laser_driver.cpp.

sensor_msgs::LaserScan LeuzeLaserDriver::leuzeScantoLaserScan ( const TLeuzeScan & leuze_scan )

Definition at line 130 of file leuze_laser_driver.cpp.

bool LeuzeLaserDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 10 of file leuze_laser_driver.cpp.

bool LeuzeLaserDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 43 of file leuze_laser_driver.cpp.

bool LeuzeLaserDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.