#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< SDHX > | g_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::UInt8 > | g_sub_clear_pin ("clear_pin", handleClearPin) |
| ros::Subscriber < cob_hand_bridge::JointValues > | g_sub_command ("command", handleJointCommand) |
| ros::Subscriber< std_msgs::UInt8 > | g_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.
| void handleJointCommand | ( | const cob_hand_bridge::JointValues & | j | ) |
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) |
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<cob_hand_bridge::JointValues> g_sub_command("command", handleJointCommand) |
| ros::Subscriber<std_msgs::UInt8> g_sub_set_pin("set_pin", handleSetPin) |