IRI ROS Specific Driver Class. More...

#include <segway_rmp200_driver.h>

Inheritance diagram for segway_rmp200_node::SegwayRmp200Driver:

Public Types
typedef iri_segway_rmp200::SegwayRmp200Config	Config
	define config type
enum	segway_events_enum { NO_USB = 0, POWER_OFF, NO_HEART_BEAT, NEW_STATUS }
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
float	get_forward_displacement (void)
gain	get_gain_schedule (void)
float	get_left_motor_torque (void)
float	get_left_wheel_displacement (void)
float	get_left_wheel_velocity (void)
op_mode	get_operation_mode (void)
float	get_pitch_angle (void)
float	get_pitch_rate (void)
float	get_powerbase_battery_voltage (void)
float	get_right_motor_torque (void)
float	get_right_wheel_displacement (void)
float	get_right_wheel_velocity (void)
float	get_roll_angle (void)
float	get_roll_rate (void)
iri_segway_rmp_msgs::SegwayRMP200Status	get_status (void)
float	get_ui_battery_voltage (void)
float	get_uptime (void)
float	get_yaw_displacement (void)
float	get_yaw_rate (void)
const std::list< std::string > &	getSegwayEvents () const
void	move_platform (float vT, float vR)
bool	openDriver (void)
	open driver
void	reset (void)
	SegwayRmp200Driver ()
	constructor
void	setSegwayEvents (void)
bool	startDriver (void)
	start driver
void	stop_platform (void)
bool	stopDriver (void)
	stop driver
	~SegwayRmp200Driver ()
	Destructor.
Static Public Member Functions
static const std::string &	getSegwayEventName (const unsigned int &ev)
Public Attributes
Config	config_
	config variable
Private Attributes
std::list< std::string >	events_
CFTDIServer *	ftdi_server_
CSegwayRMP200 *	segway_
std::string	serial_number_

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 SegwayRmp200Driver 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 SegwayRmp200Config.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 58 of file segway_rmp200_driver.h.

Member Typedef Documentation

typedef iri_segway_rmp200::SegwayRmp200Config segway_rmp200_node::SegwayRmp200Driver::Config

define config type

Define a Config type with the SegwayRmp200Config. All driver implementations will then use the same variable type Config.

Definition at line 76 of file segway_rmp200_driver.h.

Member Enumeration Documentation

enum segway_rmp200_node::SegwayRmp200Driver::segway_events_enum

Enumerator:

NO_USB
POWER_OFF
NO_HEART_BEAT
NEW_STATUS

Definition at line 68 of file segway_rmp200_driver.h.

Constructor & Destructor Documentation

SegwayRmp200Driver::SegwayRmp200Driver ( )

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 7 of file segway_rmp200_driver.cpp.

SegwayRmp200Driver::~SegwayRmp200Driver ( )

Destructor.

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

Definition at line 139 of file segway_rmp200_driver.cpp.

Member Function Documentation

bool SegwayRmp200Driver::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 65 of file segway_rmp200_driver.cpp.

void SegwayRmp200Driver::config_update	(	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 96 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_forward_displacement ( void )

Definition at line 264 of file segway_rmp200_driver.cpp.

gain SegwayRmp200Driver::get_gain_schedule ( void )

Definition at line 314 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_left_motor_torque ( void )

Definition at line 284 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_left_wheel_displacement ( void )

Definition at line 244 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_left_wheel_velocity ( void )

Definition at line 204 of file segway_rmp200_driver.cpp.

op_mode SegwayRmp200Driver::get_operation_mode ( void )

Definition at line 304 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_pitch_angle ( void )

Definition at line 164 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_pitch_rate ( void )

Definition at line 174 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_powerbase_battery_voltage ( void )

Definition at line 334 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_right_motor_torque ( void )

Definition at line 294 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_right_wheel_displacement ( void )

Definition at line 254 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_right_wheel_velocity ( void )

Definition at line 214 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_roll_angle ( void )

Definition at line 184 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_roll_rate ( void )

Definition at line 194 of file segway_rmp200_driver.cpp.

iri_segway_rmp_msgs::SegwayRMP200Status SegwayRmp200Driver::get_status ( void )

Definition at line 154 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_ui_battery_voltage ( void )

Definition at line 324 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_uptime ( void )

Definition at line 234 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_yaw_displacement ( void )

Definition at line 274 of file segway_rmp200_driver.cpp.

float SegwayRmp200Driver::get_yaw_rate ( void )

Definition at line 224 of file segway_rmp200_driver.cpp.

const std::string & SegwayRmp200Driver::getSegwayEventName ( const unsigned int & ev ) [static]

Definition at line 384 of file segway_rmp200_driver.cpp.

const std::list< std::string > & SegwayRmp200Driver::getSegwayEvents ( ) const

Definition at line 368 of file segway_rmp200_driver.cpp.

void SegwayRmp200Driver::move_platform	(	float	vT,
		float	vR
	)

Definition at line 352 of file segway_rmp200_driver.cpp.

bool SegwayRmp200Driver::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 14 of file segway_rmp200_driver.cpp.

void SegwayRmp200Driver::reset ( void )

Definition at line 344 of file segway_rmp200_driver.cpp.

void SegwayRmp200Driver::setSegwayEvents ( void )

Definition at line 373 of file segway_rmp200_driver.cpp.

bool SegwayRmp200Driver::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 86 of file segway_rmp200_driver.cpp.

void SegwayRmp200Driver::stop_platform ( void )

Definition at line 360 of file segway_rmp200_driver.cpp.

bool SegwayRmp200Driver::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.