fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler Class Reference

Message handler that relays joint positions (converts simple message types to ROS message types and publishes them) More...

#include <io_state_relay_handler.h>

Inheritance diagram for fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler:

Public Member Functions
bool	init (industrial::smpl_msg_connection::SmplMsgConnection *connection)
	Class initializer. More...
	IOStateRelayHandler ()
	Constructor. More...
Public Member Functions inherited from industrial::message_handler::MessageHandler
bool	callback (industrial::simple_message::SimpleMessage &in)
int	getMsgType ()
	MessageHandler ()
	~MessageHandler ()

Protected Member Functions
bool	internalCB (fsrobo_r_driver::simple_message::io_state_message::IOStateMessage &in)
	Callback executed upon receiving a robot status message. More...
Protected Member Functions inherited from industrial::message_handler::MessageHandler
industrial::smpl_msg_connection::SmplMsgConnection *	getConnection ()
bool	init (int msg_type, industrial::smpl_msg_connection::SmplMsgConnection *connection)

Protected Attributes
ros::NodeHandle	node_
ros::Publisher	pub_io_states_

Private Member Functions
void	createAnalogMessage (int data, int n, int base_ch, fsrobo_r_msgs::Analog &a)
void	createDigitalMessage (int data, int n, int base_addr, fsrobo_r_msgs::Digital &d)
bool	internalCB (industrial::simple_message::SimpleMessage &in)
	Callback executed upon receiving a message. More...

Detailed Description

Message handler that relays joint positions (converts simple message types to ROS message types and publishes them)

THIS CLASS IS NOT THREAD-SAFE

Definition at line 50 of file io_state_relay_handler.h.

Constructor & Destructor Documentation

fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler::IOStateRelayHandler ( )

inline

Constructor.

Definition at line 60 of file io_state_relay_handler.h.

Member Function Documentation

void fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler::createAnalogMessage ( int  data, int  n, int  base_ch, fsrobo_r_msgs::Analog &  a  )

private

Definition at line 129 of file io_state_relay_handler.cpp.

void fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler::createDigitalMessage ( int  data, int  n, int  base_addr, fsrobo_r_msgs::Digital &  d  )

private

Definition at line 120 of file io_state_relay_handler.cpp.

bool fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler::init

(

industrial::smpl_msg_connection::SmplMsgConnection *

connection

)

Class initializer.

Parameters

connection

simple message connection that will be used to send replies.

Returns

true on success, false otherwise (an invalid message type)

Definition at line 45 of file io_state_relay_handler.cpp.

bool fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler::internalCB ( fsrobo_r_driver::simple_message::io_state_message::IOStateMessage &  in )

protected

Callback executed upon receiving a robot status message.

Parameters

in	incoming message

Returns

true on success, false otherwise

Definition at line 65 of file io_state_relay_handler.cpp.

bool fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler::internalCB ( industrial::simple_message::SimpleMessage &  in )

privatevirtual

Callback executed upon receiving a message.

Parameters

in	incoming message

Returns

true on success, false otherwise

Implements industrial::message_handler::MessageHandler.

Definition at line 52 of file io_state_relay_handler.cpp.

Member Data Documentation

ros::NodeHandle fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler::node_

protected

Definition at line 75 of file io_state_relay_handler.h.

ros::Publisher fsrobo_r_driver::io_state_relay_handler::IOStateRelayHandler::pub_io_states_

protected

Definition at line 74 of file io_state_relay_handler.h.

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

• io_state_relay_handler.h
• io_state_relay_handler.cpp