#include <sensor_updater.hpp>
Public Member Functions | |
| operation_mode::device_update_state::DeviceUpdateState | build_command (CommandType *command) |
| operation_mode::device_update_state::DeviceUpdateState | build_init_command (CommandType *command) |
| bool | reset () |
| SensorUpdater (std::vector< UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state) | |
Detailed Description
template<class CommandType>
class generic_updater::SensorUpdater< CommandType >
The Sensor Updater builds the next command we want to send to the hand. We can ask for different types of data at different rates. The data and their rates are defined in the sr_ethercat_hand_config/rates/sensor_data_polling.yaml The important data are refreshed as often as possible (they have a -1. refresh rate in the config file).
The unimportant data are refreshed at their given rate (the value is defined in the config in seconds).
Definition at line 57 of file sensor_updater.hpp.
Constructor & Destructor Documentation
| generic_updater::SensorUpdater< CommandType >::SensorUpdater | ( | std::vector< UpdateConfig > | update_configs_vector, |
| operation_mode::device_update_state::DeviceUpdateState | update_state | ||
| ) |
Definition at line 38 of file sensor_updater.cpp.
Member Function Documentation
| operation_mode::device_update_state::DeviceUpdateState generic_updater::SensorUpdater< CommandType >::build_command | ( | CommandType * | command | ) | [virtual] |
Updates the command to send to the hand. This function is called at each packCommand() call. Ask for the relevant information for the tactiles. If an unimportant data is waiting then we send it, otherwise, we send the next important data.
- Parameters:
-
command The command which will be sent to the palm.
- Returns:
- current update state
Implements generic_updater::GenericUpdater< CommandType >.
Definition at line 92 of file sensor_updater.cpp.
| operation_mode::device_update_state::DeviceUpdateState generic_updater::SensorUpdater< CommandType >::build_init_command | ( | CommandType * | command | ) |
Updates the initialization command to send to the hand. This function is called at each packCommand() call. Ask for the relevant information for the tactiles.
- Parameters:
-
command The command which will be sent to the palm.
- Returns:
- current update state
Definition at line 45 of file sensor_updater.cpp.
| bool generic_updater::SensorUpdater< CommandType >::reset | ( | ) |
Will send the reset command to the tactiles, on next build command call.
Simply adds the reset command to the unimportant_data_queue.
- Returns:
- true if RESET added to the top queue.
Definition at line 132 of file sensor_updater.cpp.
The documentation for this class was generated from the following files: