Component.h File Reference

Clase que definirá la estructura básica una serie de componentes. Adaptado para ROS Define e implementa una serie de métodos y estructuras básicas que seguirán todos los componentes desarrollados por Robotnik (C) 2013 Robotnik Automation, SLL All rights reserved. More...

#include <ros/ros.h>
#include <pthread.h>
#include <string>
#include <vector>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

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Classes
class	Component
	Class component. More...
struct	thread_data
	struct to store main data for a thread More...
struct	thread_param
	Struct used for real time thread. More...
Defines
#define	DEFAULT_THREAD_DESIRED_HZ   40.0
	Size of string for logging.
#define	DEFAULT_THREAD_PRIORITY   25
#define	NSEC_PER_SEC   1000000000
#define	Pi   3.141592654
#define	USEC_PER_SEC   1000000
Typedefs
typedef struct thread_data	thread_data
	struct to store main data for a thread
Enumerations
enum	ReturnValue {   OK = 0, INITIALIZED, THREAD_RUNNING, ERROR = -1,   NOT_INITIALIZED = -2, THREAD_NOT_RUNNING = -3, COM_ERROR = -4, NOT_ERROR = -5 }
	Defines return values for methods and functions. More...
enum	States {   INIT_STATE, STANDBY_STATE, READY_STATE, EMERGENCY_STATE,   FAILURE_STATE, SHUTDOWN_STATE, UNKNOWN_STATE }
	Defines standard states of a component. More...
Functions
void *	AuxControlThread (void *threadParam)
	Main function to execute into the thread.
static long	calcdiff (struct timespec t1, struct timespec t2)
	Returns time difference in uS.
int	clock_nanosleep (clockid_t __clock_id, int __flags, __const struct timespec *__req, struct timespec *__rem)
static void	radnorm (double *radians)
	Normalize in rad.
static void	radnorm2 (double *radians)
static void	tsnorm (struct timespec *ts)

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Detailed Description

Clase que definirá la estructura básica una serie de componentes. Adaptado para ROS Define e implementa una serie de métodos y estructuras básicas que seguirán todos los componentes desarrollados por Robotnik (C) 2013 Robotnik Automation, SLL All rights reserved.

Author:

Robotnik Automation S.L.L

Version:

1.1.1

Date:

2014

Definition in file Component.h.

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Define Documentation

#define DEFAULT_THREAD_DESIRED_HZ   40.0

Size of string for logging.

Definition at line 25 of file Component.h.

#define DEFAULT_THREAD_PRIORITY   25

Definition at line 26 of file Component.h.

#define NSEC_PER_SEC   1000000000

Definition at line 29 of file Component.h.

#define Pi   3.141592654

Definition at line 30 of file Component.h.

#define USEC_PER_SEC   1000000

Definition at line 28 of file Component.h.

---

Typedef Documentation

typedef struct thread_data thread_data

struct to store main data for a thread

---

Enumeration Type Documentation

enum ReturnValue

Defines return values for methods and functions.

Enumerator:

OK
INITIALIZED
THREAD_RUNNING
ERROR
NOT_INITIALIZED
THREAD_NOT_RUNNING
COM_ERROR
NOT_ERROR

Definition at line 33 of file Component.h.

enum States

Defines standard states of a component.

Enumerator:

INIT_STATE
STANDBY_STATE
READY_STATE
EMERGENCY_STATE
FAILURE_STATE
SHUTDOWN_STATE
UNKNOWN_STATE

Definition at line 44 of file Component.h.

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Function Documentation

void * AuxControlThread

(

void *

threadParam

)

Main function to execute into the thread.

Parameters:

threadParam

as void *, parameters of thread Function executing in the thread

Definition at line 20 of file Component.cc.

static long calcdiff	(	struct timespec	t1,
		struct timespec	t2
	)		[inline, static]

Returns time difference in uS.

Definition at line 91 of file Component.h.

int clock_nanosleep	(	clockid_t	__clock_id,
		int	__flags,
		__const struct timespec *	__req,
		struct timespec *	__rem
	)

Global functions Use of real time nanosleep

static void radnorm

(

double *

radians

)

[inline, static]

Normalize in rad.

Definition at line 70 of file Component.h.

static void radnorm2

(

double *

radians

)

[inline, static]

Normalize in rad Normalize between -PI and PI

Definition at line 81 of file Component.h.

static void tsnorm

(

struct timespec *

ts

)

[inline, static]

Common functions to all components Normalize in sec.ns

Definition at line 62 of file Component.h.