#include <generic_updater.hpp>
Public Member Functions | |
| virtual operation_mode::device_update_state::DeviceUpdateState | build_command (CommandType *command)=0 |
| GenericUpdater (std::vector< UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state) | |
| void | timer_callback (const ros::TimerEvent &event, int32u data_type) |
| virtual | ~GenericUpdater () |
Public Attributes | |
| std::vector< UpdateConfig > | initialization_configs_vector |
| Contains all the initialization data types. | |
| operation_mode::device_update_state::DeviceUpdateState | update_state |
Protected Attributes | |
| std::vector< UpdateConfig > | important_update_configs_vector |
| Contains all the important data types. | |
| boost::shared_ptr< boost::mutex > | mutex |
| ros::NodeHandle | nh_tilde |
| std::vector< ros::Timer > | timers |
| All the timers for the unimportant data types. | |
| std::queue< int32u, std::list < int32u > > | unimportant_data_queue |
| A queue containing the unimportant data types we want to ask for next time (empty most of the time). | |
| std::vector< UpdateConfig > | update_configs_vector |
| Contains the vector with the update configs for every command. We store it to be able to reinitialize. | |
| int | which_data_to_request |
| iterate through the important or initialization data types. | |
Detailed Description
template<class CommandType>
class generic_updater::GenericUpdater< CommandType >
The Generic Updater builds the next command we want to send to the hand. We can ask for different types of data at different rates. The data and their rates are defined in the sr_ethercat_hand_config/rates/xxxxx.yaml The important data are refreshed as often as possible (they have a -1. refresh rate in the config file).
The unimportant data are refreshed at their given rate (the value is defined in the config in seconds).
Definition at line 77 of file generic_updater.hpp.
Constructor & Destructor Documentation
| generic_updater::GenericUpdater< CommandType >::GenericUpdater | ( | std::vector< UpdateConfig > | update_configs_vector, |
| operation_mode::device_update_state::DeviceUpdateState | update_state | ||
| ) |
Definition at line 36 of file generic_updater.cpp.
| generic_updater::GenericUpdater< CommandType >::~GenericUpdater | ( | ) | [virtual] |
Definition at line 74 of file generic_updater.cpp.
Member Function Documentation
| virtual operation_mode::device_update_state::DeviceUpdateState generic_updater::GenericUpdater< CommandType >::build_command | ( | CommandType * | command | ) | [pure virtual] |
Building the motor command. This function is called at each packCommand() call. If an unimportant data is waiting then we send it, otherwise, we send the next important data.
- Parameters:
-
command The command which will be sent to the motor.
- Returns:
- the current state of the device.
Implemented in generic_updater::SensorUpdater< CommandType >, generic_updater::MotorUpdater< CommandType >, and generic_updater::MuscleUpdater< CommandType >.
| void generic_updater::GenericUpdater< CommandType >::timer_callback | ( | const ros::TimerEvent & | event, |
| int32u | data_type | ||
| ) |
A timer callback for the unimportant data. The frequency of this callback is defined in the config file.
- Parameters:
-
event data_type The unimportant data type we want to ask for.
Definition at line 79 of file generic_updater.cpp.
Member Data Documentation
std::vector<UpdateConfig> generic_updater::GenericUpdater< CommandType >::important_update_configs_vector [protected] |
Contains all the important data types.
Definition at line 110 of file generic_updater.hpp.
| std::vector<UpdateConfig> generic_updater::GenericUpdater< CommandType >::initialization_configs_vector |
Contains all the initialization data types.
Definition at line 104 of file generic_updater.hpp.
boost::shared_ptr<boost::mutex> generic_updater::GenericUpdater< CommandType >::mutex [protected] |
Definition at line 121 of file generic_updater.hpp.
ros::NodeHandle generic_updater::GenericUpdater< CommandType >::nh_tilde [protected] |
Definition at line 107 of file generic_updater.hpp.
std::vector<ros::Timer> generic_updater::GenericUpdater< CommandType >::timers [protected] |
All the timers for the unimportant data types.
Definition at line 115 of file generic_updater.hpp.
std::queue<int32u, std::list<int32u> > generic_updater::GenericUpdater< CommandType >::unimportant_data_queue [protected] |
A queue containing the unimportant data types we want to ask for next time (empty most of the time).
Definition at line 117 of file generic_updater.hpp.
std::vector<UpdateConfig> generic_updater::GenericUpdater< CommandType >::update_configs_vector [protected] |
Contains the vector with the update configs for every command. We store it to be able to reinitialize.
Definition at line 119 of file generic_updater.hpp.
| operation_mode::device_update_state::DeviceUpdateState generic_updater::GenericUpdater< CommandType >::update_state |
Definition at line 102 of file generic_updater.hpp.
int generic_updater::GenericUpdater< CommandType >::which_data_to_request [protected] |
iterate through the important or initialization data types.
Definition at line 112 of file generic_updater.hpp.
The documentation for this class was generated from the following files: