Functions | Variables
bridge.cpp File Reference
#include <ros/node_handle.h>
#include <cob_hand_bridge/InitFinger.h>
#include <cob_hand_bridge/InitPins.h>
#include <cob_hand_bridge/SetPWM.h>
#include <cob_hand_bridge/UpdatePins.h>
#include <cob_hand_bridge/Status.h>
#include <std_msgs/UInt8.h>
#include <std_srvs/Trigger.h>
#include <boost/thread/thread.hpp>
#include <boost/scoped_ptr.hpp>
#include "hardware.h"
#include "gpio.h"
#include "sdhx.h"
Include dependency graph for bridge.cpp:

Go to the source code of this file.

Functions

void handleClearPin (const std_msgs::UInt8 &mgs)
void handleHaltFinger (const Trigger::Request &req, Trigger::Response &res)
void handleInitFinger (const InitFinger::Request &req, InitFinger::Response &res)
void handleInitPins (const InitPins::Request &req, InitPins::Response &res)
void handleJointCommand (const cob_hand_bridge::JointValues &j)
void handleRecover (const Trigger::Request &req, Trigger::Response &res)
void handleSetPin (const std_msgs::UInt8 &mgs)
void handleSetPWM (const SetPWM::Request &req, SetPWM::Response &res)
void handleUpdatePins (const UpdatePins::Request &req, UpdatePins::Response &res)
bool initFinger (const InitFinger::Request &req)
int main (int argc, char **argv)
void step ()

Variables

GPIO g_gpio
InitFinger::Request g_init_req
ros::NodeHandle_
< HandBridgeHardware
g_nh
std::string g_port
ros::Publisher g_pub ("status",&g_status_msg)
boost::scoped_ptr< SDHXg_sdhx
ros::ServiceServer
< Trigger::Request,
Trigger::Response > 
g_srv_halt_finger ("halt",&handleHaltFinger)
ros::ServiceServer
< InitFinger::Request,
InitFinger::Response > 
g_srv_init_finger ("init_finger",&handleInitFinger)
ros::ServiceServer
< InitPins::Request,
InitPins::Response > 
g_srv_init_pins ("init_pins",&handleInitPins)
ros::ServiceServer
< Trigger::Request,
Trigger::Response > 
g_srv_recover ("recover",&handleRecover)
ros::ServiceServer
< SetPWM::Request,
SetPWM::Response > 
g_srv_set_pwm ("set_pwm",&handleSetPWM)
ros::ServiceServer
< UpdatePins::Request,
UpdatePins::Response > 
g_srv_update_pins ("update_pins",&handleUpdatePins)
cob_hand_bridge::Status g_status_msg
ros::Subscriber< std_msgs::UInt8g_sub_clear_pin ("clear_pin", handleClearPin)
ros::Subscriber
< cob_hand_bridge::JointValues
g_sub_command ("command", handleJointCommand)
ros::Subscriber< std_msgs::UInt8g_sub_set_pin ("set_pin", handleSetPin)

Function Documentation

void handleClearPin ( const std_msgs::UInt8 mgs)

Definition at line 118 of file bridge.cpp.

void handleHaltFinger ( const Trigger::Request &  req,
Trigger::Response &  res 
)

Definition at line 66 of file bridge.cpp.

void handleInitFinger ( const InitFinger::Request &  req,
InitFinger::Response &  res 
)

Definition at line 60 of file bridge.cpp.

void handleInitPins ( const InitPins::Request &  req,
InitPins::Response &  res 
)

Definition at line 97 of file bridge.cpp.

Definition at line 87 of file bridge.cpp.

void handleRecover ( const Trigger::Request &  req,
Trigger::Response &  res 
)

Definition at line 71 of file bridge.cpp.

void handleSetPin ( const std_msgs::UInt8 mgs)

Definition at line 123 of file bridge.cpp.

void handleSetPWM ( const SetPWM::Request &  req,
SetPWM::Response &  res 
)

Definition at line 132 of file bridge.cpp.

void handleUpdatePins ( const UpdatePins::Request &  req,
UpdatePins::Response &  res 
)

Definition at line 111 of file bridge.cpp.

bool initFinger ( const InitFinger::Request &  req)

Definition at line 47 of file bridge.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 170 of file bridge.cpp.

void step ( )

Definition at line 146 of file bridge.cpp.


Variable Documentation

Definition at line 93 of file bridge.cpp.

InitFinger::Request g_init_req

Definition at line 44 of file bridge.cpp.

Definition at line 35 of file bridge.cpp.

std::string g_port

Definition at line 45 of file bridge.cpp.

ros::Publisher g_pub("status",&g_status_msg)
boost::scoped_ptr<SDHX> g_sdhx

Definition at line 40 of file bridge.cpp.

ros::ServiceServer<Trigger::Request, Trigger::Response> g_srv_halt_finger("halt",&handleHaltFinger)
ros::ServiceServer<InitFinger::Request, InitFinger::Response> g_srv_init_finger("init_finger",&handleInitFinger)
ros::ServiceServer<InitPins::Request, InitPins::Response> g_srv_init_pins("init_pins",&handleInitPins)
ros::ServiceServer<Trigger::Request, Trigger::Response> g_srv_recover("recover",&handleRecover)
ros::ServiceServer<SetPWM::Request, SetPWM::Response> g_srv_set_pwm("set_pwm",&handleSetPWM)
ros::ServiceServer<UpdatePins::Request, UpdatePins::Response> g_srv_update_pins("update_pins",&handleUpdatePins)

Definition at line 36 of file bridge.cpp.

ros::Subscriber<std_msgs::UInt8> g_sub_clear_pin("clear_pin", handleClearPin)
ros::Subscriber<std_msgs::UInt8> g_sub_set_pin("set_pin", handleSetPin)


cob_hand_bridge
Author(s): Mathias Lüdtke
autogenerated on Thu Jun 6 2019 20:43:57