IRI ROS Specific Driver Class. More...

#include <tibi_dabo_arm_driver.h>

Inheritance diagram for TibiDaboArmDriver:

Public Types
typedef tibi_dabo_arm_node::TibiDaboArmConfig	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
std::string	get_config_file (unsigned int index)
int	get_feedback_rate (void)
std::string	get_motion_seq_file (unsigned int index)
std::string	get_motion_sequence_complete_event_id (void)
float	get_motion_sequence_completed_percentage (void)
std::string	get_motion_sequence_error_event_id (void)
std::string	get_motion_sequence_error_message (void)
unsigned int	get_num_config_files (void)
unsigned int	get_num_motion_seq_files (void)
void	get_position (std::vector< float > &position)
	function to get the current position of all motors
std::string	get_position_reached_event_id (void)
void	get_velocity (std::vector< float > &velocity)
	function to get the current velocity of all motors
void	move (std::vector< float > &position, std::vector< float > &velocity, std::vector< float > &acceleration)
	functions to move the group of motors in position control
bool	openDriver (void)
	open driver
void	pause_motion_sequence (void)
void	resume_motion_sequence (void)
void	set_absolute_motion (bool status)
void	set_position_control (bool status)
void	start_motion_sequence (std::string &filename)
void	start_motion_sequence (std::vector< TMotionStep > &seq)
bool	startDriver (void)
	start driver
void	stop (void)
	function to stop all motors
void	stop_motion_sequence (void)
bool	stopDriver (void)
	stop driver
	TibiDaboArmDriver ()
	constructor
bool	using_absolute_motion (void)
bool	using_position_control (void)
	~TibiDaboArmDriver ()
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Member Functions
void	scan_XML_files (void)
Private Attributes
bool	absolute_motion
std::string	arm_config_file
CSegwayArm	arm_driver
std::vector< std::string >	config_files
int	feedback_rate
std::vector< std::string >	motion_seq_files
CMotionSequence *	motion_sequence
bool	position_control
std::string	xml_path

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 TibiDaboArmDriver 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 TibiDaboArmConfig.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 57 of file tibi_dabo_arm_driver.h.

Member Typedef Documentation

typedef tibi_dabo_arm_node::TibiDaboArmConfig TibiDaboArmDriver::Config

define config type

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

Definition at line 82 of file tibi_dabo_arm_driver.h.

Constructor & Destructor Documentation

TibiDaboArmDriver::TibiDaboArmDriver ( )

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 16 of file tibi_dabo_arm_driver.cpp.

TibiDaboArmDriver::~TibiDaboArmDriver ( )

Destructor.

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

Definition at line 397 of file tibi_dabo_arm_driver.cpp.

Member Function Documentation

bool TibiDaboArmDriver::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 108 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::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 123 of file tibi_dabo_arm_driver.cpp.

std::string TibiDaboArmDriver::get_config_file ( unsigned int index )

Definition at line 369 of file tibi_dabo_arm_driver.cpp.

int TibiDaboArmDriver::get_feedback_rate ( void )

Definition at line 392 of file tibi_dabo_arm_driver.cpp.

std::string TibiDaboArmDriver::get_motion_seq_file ( unsigned int index )

Definition at line 383 of file tibi_dabo_arm_driver.cpp.

std::string TibiDaboArmDriver::get_motion_sequence_complete_event_id ( void )

Definition at line 246 of file tibi_dabo_arm_driver.cpp.

float TibiDaboArmDriver::get_motion_sequence_completed_percentage ( void )

Definition at line 270 of file tibi_dabo_arm_driver.cpp.

std::string TibiDaboArmDriver::get_motion_sequence_error_event_id ( void )

Definition at line 254 of file tibi_dabo_arm_driver.cpp.

std::string TibiDaboArmDriver::get_motion_sequence_error_message ( void )

Definition at line 262 of file tibi_dabo_arm_driver.cpp.

unsigned int TibiDaboArmDriver::get_num_config_files ( void )

Definition at line 364 of file tibi_dabo_arm_driver.cpp.

unsigned int TibiDaboArmDriver::get_num_motion_seq_files ( void )

Definition at line 378 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::get_position ( std::vector< float > & position )

function to get the current position of all motors

Definition at line 316 of file tibi_dabo_arm_driver.cpp.

std::string TibiDaboArmDriver::get_position_reached_event_id ( void )

Definition at line 279 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::get_velocity ( std::vector< float > & velocity )

function to get the current velocity of all motors

Definition at line 321 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::move	(	std::vector< float > &	position,
		std::vector< float > &	velocity,
		std::vector< float > &	acceleration
	)

functions to move the group of motors in position control

Definition at line 284 of file tibi_dabo_arm_driver.cpp.

bool TibiDaboArmDriver::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 67 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::pause_motion_sequence ( void )

Definition at line 231 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::resume_motion_sequence ( void )

Definition at line 236 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::scan_XML_files ( void ) [protected]

Definition at line 31 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::set_absolute_motion ( bool status )

Definition at line 326 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::set_position_control ( bool status )

Definition at line 341 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::start_motion_sequence ( std::string & filename )

Definition at line 197 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::start_motion_sequence ( std::vector< TMotionStep > & seq )

Definition at line 210 of file tibi_dabo_arm_driver.cpp.

bool TibiDaboArmDriver::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 113 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::stop ( void )

function to stop all motors

Reimplemented from driver_base::Driver.

Definition at line 311 of file tibi_dabo_arm_driver.cpp.

void TibiDaboArmDriver::stop_motion_sequence ( void )

Definition at line 241 of file tibi_dabo_arm_driver.cpp.

bool TibiDaboArmDriver::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.