Robot Hardware Interface and Resource Manager. More...
#include <robot_hw.h>
Public Member Functions | |
| RobotHW () | |
Resource Management | |
| virtual bool | checkForConflict (const std::list< ControllerInfo > &info) const |
Hardware Interface Switching | |
| virtual bool | canSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &) const |
| virtual bool | prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list) |
| virtual void | doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &) |
Detailed Description
Robot Hardware Interface and Resource Manager.
This class provides a standardized interface to a set of robot hardware interfaces to the controller manager. It performs resource conflict checking for a given set of controllers and maintains a map of hardware interfaces. It is meant to be used as a base class for abstracting custom robot hardware.
The hardware interface map (interfaces_) is a 1-to-1 map between the names of interface types derived from HardwareInterface and instances of those interface types.
Definition at line 56 of file robot_hw.h.
Constructor & Destructor Documentation
| hardware_interface::RobotHW::RobotHW | ( | ) | [inline] |
Definition at line 59 of file robot_hw.h.
Member Function Documentation
| virtual bool hardware_interface::RobotHW::canSwitch | ( | const std::list< ControllerInfo > & | , |
| const std::list< ControllerInfo > & | |||
| ) | const [inline, virtual] |
Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW with regard to necessary hardware interface switches. Start and stop list are disjoint. This is just a check, the actual switch is done in doSwitch()
- Deprecated:
- : Implement prepareSwitch() instead
Definition at line 106 of file robot_hw.h.
| virtual bool hardware_interface::RobotHW::checkForConflict | ( | const std::list< ControllerInfo > & | info | ) | const [inline, virtual] |
Check (in non-realtime) if the given set of controllers is allowed to run simultaneously.
This default implementation simply checks if any two controllers use the same resource.
Definition at line 73 of file robot_hw.h.
| virtual void hardware_interface::RobotHW::doSwitch | ( | const std::list< ControllerInfo > & | , |
| const std::list< ControllerInfo > & | |||
| ) | [inline, virtual] |
Perform (in realtime) all necessary hardware interface switches in order to start and stop the given controllers. Start and stop list are disjoint. The feasability was checked in canSwitch() beforehand.
Definition at line 121 of file robot_hw.h.
| virtual bool hardware_interface::RobotHW::prepareSwitch | ( | const std::list< ControllerInfo > & | start_list, |
| const std::list< ControllerInfo > & | stop_list | ||
| ) | [inline, virtual] |
Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW with regard to necessary hardware interface switches and prepare the switching. Start and stop list are disjoint. This handles the check and preparation, the actual switch is commited in doSwitch()
Definition at line 114 of file robot_hw.h.
The documentation for this class was generated from the following file: