driver_base::DriverNode< Driver > Class Template Reference

#include <driver_node.h>

Inheritance diagram for driver_base::DriverNode< Driver >:

Public Types
typedef Driver::Config	Config

Public Member Functions
	DriverNode (ros::NodeHandle &nh)
int	spin ()
virtual	~DriverNode ()

Protected Member Functions
virtual void	addDiagnostics ()=0
virtual void	addOpenedTests ()=0
virtual void	addRunningTests ()=0
virtual void	addStoppedTests ()=0
virtual void	reconfigureHook (int level)=0

Protected Attributes
diagnostic_updater::Updater	diagnostic_
Driver	driver_
diagnostic_updater::CompositeDiagnosticTask	driver_status_diagnostic_
ros::NodeHandle	node_handle_
ros::NodeHandle	private_node_handle_
dynamic_reconfigure::Server< Config >	reconfigure_server_
self_test::TestRunner	self_test_

Private Types
typedef Driver::state_t	drv_state_t

Private Member Functions
void	closeTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	idTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	interruptionTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	openTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	prepareDiagnostics ()
void	prepareSelfTests ()
void	reconfigure (Config &config, uint32_t level)
void	reliableGoStateTest (diagnostic_updater::DiagnosticStatusWrapper &status, drv_state_t target_state)
void	resumeTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	runTest (diagnostic_updater::DiagnosticStatusWrapper &status)
void	statusDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	stopTest (diagnostic_updater::DiagnosticStatusWrapper &status)

Private Attributes
diagnostic_updater::FunctionDiagnosticTask	driver_status_standard_diagnostic_
int	exit_status_
int	num_subscribed_topics_
drv_state_t	pre_self_test_driver_state_
boost::shared_ptr< boost::thread >	ros_thread_

Additional Inherited Members
Static Public Member Functions inherited from driver_base::AbstractDriverNode
static void	hupCalled (int sig)
static void	sigCalled (int sig)
Static Public Attributes inherited from driver_base::AbstractDriverNode
static int	ctrl_c_hit_count_ = 0

Detailed Description

template<class Driver>
class driver_base::DriverNode< Driver >

Definition at line 84 of file driver_node.h.

Member Typedef Documentation

template<class Driver >

typedef Driver::Config driver_base::DriverNode< Driver >::Config

Definition at line 88 of file driver_node.h.

template<class Driver >

typedef Driver::state_t driver_base::DriverNode< Driver >::drv_state_t

private

Definition at line 127 of file driver_node.h.

Constructor & Destructor Documentation

template<class Driver >

virtual driver_base::DriverNode< Driver >::~DriverNode ( )

inlinevirtual

Definition at line 308 of file driver_node.h.

template<class Driver >

driver_base::DriverNode< Driver >::DriverNode ( ros::NodeHandle &  nh )

inline

this variable is hokey.

Definition at line 367 of file driver_node.h.

Member Function Documentation

template<class Driver >

virtual void driver_base::DriverNode< Driver >::addDiagnostics ( )

protectedpure virtual

template<class Driver >

virtual void driver_base::DriverNode< Driver >::addOpenedTests ( )

protectedpure virtual

template<class Driver >

virtual void driver_base::DriverNode< Driver >::addRunningTests ( )

protectedpure virtual

template<class Driver >

virtual void driver_base::DriverNode< Driver >::addStoppedTests ( )

protectedpure virtual

template<class Driver >

void driver_base::DriverNode< Driver >::closeTest ( diagnostic_updater::DiagnosticStatusWrapper &  status )

inlineprivate

Definition at line 297 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::idTest ( diagnostic_updater::DiagnosticStatusWrapper &  status )

inlineprivate

Definition at line 275 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::interruptionTest ( diagnostic_updater::DiagnosticStatusWrapper &  status )

inlineprivate

Todo:

need to set num_subscribed_topics_ somewhere.

Definition at line 224 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::openTest ( diagnostic_updater::DiagnosticStatusWrapper &  status )

inlineprivate

Definition at line 270 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::prepareDiagnostics ( )

inlineprivate

Definition at line 191 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::prepareSelfTests ( )

inlineprivate

Definition at line 210 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::reconfigure ( Config &  config, uint32_t  level  )

inlineprivate

Todo:

Move this into the Driver class?

Definition at line 133 of file driver_node.h.

template<class Driver >

virtual void driver_base::DriverNode< Driver >::reconfigureHook ( int  level )

protectedpure virtual

template<class Driver >

void driver_base::DriverNode< Driver >::reliableGoStateTest ( diagnostic_updater::DiagnosticStatusWrapper &  status, drv_state_t  target_state  )

inlineprivate

Definition at line 239 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::resumeTest ( diagnostic_updater::DiagnosticStatusWrapper &  status )

inlineprivate

Definition at line 302 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::runTest ( diagnostic_updater::DiagnosticStatusWrapper &  status )

inlineprivate

Definition at line 287 of file driver_node.h.

template<class Driver >

int driver_base::DriverNode< Driver >::spin ( )

inline

Todo:

What happens if thread creation fails?

Todo:

Do something about exit status?

Todo:

Work on return type here.

Definition at line 310 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::statusDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

inlineprivate

need to put something more useful here.

Definition at line 198 of file driver_node.h.

template<class Driver >

void driver_base::DriverNode< Driver >::stopTest ( diagnostic_updater::DiagnosticStatusWrapper &  status )

inlineprivate

Definition at line 292 of file driver_node.h.

Member Data Documentation

template<class Driver >

diagnostic_updater::Updater driver_base::DriverNode< Driver >::diagnostic_

protected

Definition at line 102 of file driver_node.h.

template<class Driver >

Driver driver_base::DriverNode< Driver >::driver_

protected

Definition at line 104 of file driver_node.h.

template<class Driver >

diagnostic_updater::CompositeDiagnosticTask driver_base::DriverNode< Driver >::driver_status_diagnostic_

protected

Definition at line 106 of file driver_node.h.

template<class Driver >

diagnostic_updater::FunctionDiagnosticTask driver_base::DriverNode< Driver >::driver_status_standard_diagnostic_

private

Definition at line 131 of file driver_node.h.

template<class Driver >

int driver_base::DriverNode< Driver >::exit_status_

private

Definition at line 124 of file driver_node.h.

template<class Driver >

ros::NodeHandle driver_base::DriverNode< Driver >::node_handle_

protected

Definition at line 99 of file driver_node.h.

template<class Driver >

int driver_base::DriverNode< Driver >::num_subscribed_topics_

private

Definition at line 112 of file driver_node.h.

template<class Driver >

drv_state_t driver_base::DriverNode< Driver >::pre_self_test_driver_state_

private

Definition at line 129 of file driver_node.h.

template<class Driver >

ros::NodeHandle driver_base::DriverNode< Driver >::private_node_handle_

protected

Definition at line 100 of file driver_node.h.

template<class Driver >

dynamic_reconfigure::Server<Config> driver_base::DriverNode< Driver >::reconfigure_server_

protected

Definition at line 105 of file driver_node.h.

template<class Driver >

boost::shared_ptr<boost::thread> driver_base::DriverNode< Driver >::ros_thread_

private

Definition at line 122 of file driver_node.h.

template<class Driver >

self_test::TestRunner driver_base::DriverNode< Driver >::self_test_

protected

Definition at line 101 of file driver_node.h.

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The documentation for this class was generated from the following file:

• driver_node.h