#include <ros_chain.h>

Inheritance diagram for canopen::RosChain:

Classes
struct	HeartbeatSender
Public Member Functions
	RosChain (const ros::NodeHandle &nh, const ros::NodeHandle &nh_priv)
bool	setup ()
virtual	~RosChain ()
Protected Member Functions
bool	handle_get_object (canopen_chain_node::GetObject::Request &req, canopen_chain_node::GetObject::Response &res)
virtual bool	handle_halt (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual bool	handle_init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual bool	handle_recover (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
bool	handle_set_object (canopen_chain_node::SetObject::Request &req, canopen_chain_node::SetObject::Response &res)
virtual bool	handle_shutdown (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual void	handleShutdown (LayerStatus &status)
virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)
void	logState (const can::State &s)
virtual bool	nodeAdded (XmlRpc::XmlRpcValue &params, const boost::shared_ptr< canopen::Node > &node, const boost::shared_ptr< Logger > &logger)
void	report_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	run ()
bool	setup_bus ()
virtual bool	setup_chain ()
bool	setup_heartbeat ()
bool	setup_nodes ()
bool	setup_sync ()
Protected Attributes
boost::mutex	diag_mutex_
ros::Timer	diag_timer_
diagnostic_updater::Updater	diag_updater_
boost::shared_ptr < canopen::LayerGroupNoDiag < canopen::EMCYHandler > >	emcy_handlers_
struct canopen::RosChain::HeartbeatSender	hb_sender_
Timer	heartbeat_timer_
boost::shared_ptr < can::DriverInterface >	interface_
std::vector< boost::shared_ptr < Logger > >	loggers_
boost::shared_ptr< Master >	master_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::NodeHandle	nh_priv_
boost::shared_ptr < canopen::LayerGroupNoDiag < canopen::Node > >	nodes_
std::map< std::string, boost::shared_ptr < canopen::Node > >	nodes_lookup_
std::vector < PublishFunc::func_type >	publishers_
bool	reset_errors_before_recover_
boost::atomic< bool >	running_
ros::ServiceServer	srv_get_object_
ros::ServiceServer	srv_halt_
ros::ServiceServer	srv_init_
ros::ServiceServer	srv_recover_
ros::ServiceServer	srv_set_object_
ros::ServiceServer	srv_shutdown_
can::StateInterface::StateListener::Ptr	state_listener_
boost::shared_ptr < canopen::SyncLayer >	sync_
boost::scoped_ptr< boost::thread >	thread_
time_duration	update_duration_
Private Attributes
GuardedClassLoader < can::DriverInterface >	driver_loader_
ClassAllocator< canopen::Master >	master_allocator_

Detailed Description

Definition at line 154 of file ros_chain.h.

Constructor & Destructor Documentation

canopen::RosChain::RosChain	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_priv
	)

Definition at line 536 of file ros_chain.cpp.

canopen::RosChain::~RosChain ( ) [virtual]

Definition at line 574 of file ros_chain.cpp.

Member Function Documentation

bool canopen::RosChain::handle_get_object	(	canopen_chain_node::GetObject::Request &	req,
		canopen_chain_node::GetObject::Response &	res
	)		`[protected]`

Definition at line 188 of file ros_chain.cpp.

bool canopen::RosChain::handle_halt	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		`[protected, virtual]`

Definition at line 175 of file ros_chain.cpp.

bool canopen::RosChain::handle_init	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		`[protected, virtual]`

Definition at line 73 of file ros_chain.cpp.

bool canopen::RosChain::handle_recover	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		`[protected, virtual]`

Definition at line 111 of file ros_chain.cpp.

bool canopen::RosChain::handle_set_object	(	canopen_chain_node::SetObject::Request &	req,
		canopen_chain_node::SetObject::Response &	res
	)		`[protected]`

Definition at line 203 of file ros_chain.cpp.

bool canopen::RosChain::handle_shutdown	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)		`[protected, virtual]`

Definition at line 161 of file ros_chain.cpp.

void canopen::RosChain::handleShutdown ( LayerStatus & status ) [protected, virtual]

Reimplemented from canopen::LayerStack.

Definition at line 149 of file ros_chain.cpp.

void canopen::RosChain::handleWrite	(	LayerStatus &	status,
		const LayerState &	current_state
	)		`[protected, virtual]`

Reimplemented from canopen::LayerStack.

Definition at line 142 of file ros_chain.cpp.

void canopen::RosChain::logState ( const can::State & s ) [protected]

Definition at line 45 of file ros_chain.cpp.

bool canopen::RosChain::nodeAdded	(	XmlRpc::XmlRpcValue &	params,
		const boost::shared_ptr< canopen::Node > &	node,
		const boost::shared_ptr< Logger > &	logger
	)		`[protected, virtual]`