#include <motor_data_checker.hpp>

Public Member Functions
bool	check_message (boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp, FROM_MOTOR_DATA_TYPE motor_data_type, int16u motor_slow_data_type)
void	init (boost::ptr_vector< shadow_joints::Joint > joints_vector, std::vector< UpdateConfig > initialization_configs_vector)
	MotorDataChecker (boost::ptr_vector< shadow_joints::Joint > joints_vector, std::vector< UpdateConfig > initialization_configs_vector)
	~MotorDataChecker ()
Protected Member Functions
int	find (FROM_MOTOR_DATA_TYPE motor_data_type)
bool	is_everything_checked ()
void	timer_callback (const ros::TimerEvent &event)
Protected Attributes
ros::Timer	check_timeout_timer
ros::Duration	init_max_duration
std::vector< MessageChecker >	msg_checkers_
ros::NodeHandle	nh_tilde
operation_mode::device_update_state::DeviceUpdateState	update_state
Static Protected Attributes
static const double	timeout = 5.0

Detailed Description

MotorDataChecker checks if all expected messages from the motors have been received

Definition at line 96 of file motor_data_checker.hpp.

Constructor & Destructor Documentation

generic_updater::MotorDataChecker::MotorDataChecker	(	boost::ptr_vector< shadow_joints::Joint >	joints_vector,
		std::vector< UpdateConfig >	initialization_configs_vector
	)

Definition at line 33 of file motor_data_checker.cpp.

generic_updater::MotorDataChecker::~MotorDataChecker ( )

Definition at line 40 of file motor_data_checker.cpp.

Member Function Documentation

bool generic_updater::MotorDataChecker::check_message	(	boost::ptr_vector< shadow_joints::Joint >::iterator	joint_tmp,
		FROM_MOTOR_DATA_TYPE	motor_data_type,
		int16u	motor_slow_data_type
	)

Checks the message as received. Checking if we received the specified motor_data_type or the motor_slow_data_type. Checks a certain message coming from a certain joint (motor) Joints without a motor are not expected to provide any information

Parameters:

joint_tmp	joint iterator containing the data of the joint
motor_data_type	the type of the received data
motor_slow_data_type	the type of the received sub-data (used if the motor_data_type is MOTOR_DATA_SLOW_MISC)

Returns:: true if all expected messages have already been received

Definition at line 85 of file motor_data_checker.cpp.

int generic_updater::MotorDataChecker::find ( FROM_MOTOR_DATA_TYPE motor_data_type ) [protected]

Definition at line 147 of file motor_data_checker.cpp.

void generic_updater::MotorDataChecker::init	(	boost::ptr_vector< shadow_joints::Joint >	joints_vector,
		std::vector< UpdateConfig >	initialization_configs_vector
	)

Initializes the Motor Data Checker to the not received state for each message Should be used when reinitializing

Parameters:

joints_vector	the vector with the joints (motors) from which information is coming
initialization_configs_vector	vector containing the initialization commands whose answers need to be checked

Definition at line 51 of file motor_data_checker.cpp.

bool generic_updater::MotorDataChecker::is_everything_checked ( ) [protected]

Definition at line 124 of file motor_data_checker.cpp.

void generic_updater::MotorDataChecker::timer_callback ( const ros::TimerEvent & event ) [protected]

Definition at line 157 of file motor_data_checker.cpp.