ModBridge Class Reference

Public Member Functions
	ModBridge ()
void	spin ()

Private Member Functions
void	controllerCallback (const modelica_bridge::ModComm::ConstPtr &inVal)
void	error (const char *msg)
void	readFromBuffer ()
void	writeToBuffer ()

Private Attributes
char	buffer_ [MAX_BUF]
	string buffer used to transmit information over the socket More...
struct sockaddr_in	client_address_
	Modelica socket address. More...
socklen_t	client_len_
	Modelica socket size. More...
int	error_check_
	Parameter for checking errors on socket interaction. More...
int	new_socket_fd_
	Modelica socket binding. More...
ros::NodeHandle	nh_
	ROS node handle. More...
int	port_num_
	Port number. More...
ros::Publisher	pub_
	publisher for model feedback values More...
double	ros_buffer_ [MAX_ARRAY]
	buffer array for transmission via ROS More...
struct sockaddr_in	serv_addr
	ROS socket address. More...
double	socket_buffer_ [MAX_ARRAY]
	buffer array for interaction with socket More...
int	socket_fd_
	ROS socket binding. More...
ros::Subscriber	sub_
	subscriber to ROS controller values More...
int	update_rate_
	ROS node maximum loop rate. More...

Detailed Description

Class to act as relay between ROS and Modelica. It initializes a tcp/ip socket to act as a bridge between ROS and Modelica. It can take character buffers up to 1024 bytes.

Definition at line 44 of file modbridge_node.cpp.

Constructor & Destructor Documentation

ModBridge::ModBridge

(

)

Defult constructor initializes receiving socket, subs and pubs. No inputs.

Returns

none

Definition at line 118 of file modbridge_node.cpp.

Member Function Documentation

void ModBridge::controllerCallback ( const modelica_bridge::ModComm::ConstPtr &  inVal )

private

Callback for receiving controller values. Reads from topic /control_values. Stores data into array of size MAX_ARRAY - only reads MAX_ARRAY amount of array slots.

Parameters

[in]

inVal

ModComm message holding controller values.

Returns

none

Definition at line 186 of file modbridge_node.cpp.

void ModBridge::error ( const char *  msg )

private

Prints error message when interacting with socket.

Parameters

[in]

msg

error message

See also

error_check_()

Returns

none

Definition at line 222 of file modbridge_node.cpp.

void ModBridge::readFromBuffer ( )

private

Breaks up the incoming character buffer into data array. Splits the character buffer into an array of tokens of data. The first token is the size of the array.

See also

buffer_()

ros_buffer_()

writeToBuffer()

Returns

none

Definition at line 194 of file modbridge_node.cpp.

void ModBridge::spin

(

)

Keep program from closing. Run callbacks for ROS nodes, and keep socket connection to Modelica alive. No inputs.

Returns

none

Definition at line 142 of file modbridge_node.cpp.

void ModBridge::writeToBuffer ( )

private

Concatenates the control values into a character buffer.

See also

readFromBuffer()

buffer_()

socket_buffer_()

Returns

none

Definition at line 211 of file modbridge_node.cpp.

Member Data Documentation

char ModBridge::buffer_[MAX_BUF]

private

string buffer used to transmit information over the socket

Definition at line 110 of file modbridge_node.cpp.

struct sockaddr_in ModBridge::client_address_

private

Modelica socket address.

Definition at line 108 of file modbridge_node.cpp.

socklen_t ModBridge::client_len_

private

Modelica socket size.

Definition at line 107 of file modbridge_node.cpp.

int ModBridge::error_check_

private

Parameter for checking errors on socket interaction.

Definition at line 115 of file modbridge_node.cpp.

int ModBridge::new_socket_fd_

private

Modelica socket binding.

Definition at line 104 of file modbridge_node.cpp.

ros::NodeHandle ModBridge::nh_

private

ROS node handle.

Definition at line 99 of file modbridge_node.cpp.

int ModBridge::port_num_

private

Port number.

Definition at line 105 of file modbridge_node.cpp.

ros::Publisher ModBridge::pub_

private

publisher for model feedback values

Definition at line 101 of file modbridge_node.cpp.

double ModBridge::ros_buffer_[MAX_ARRAY]

private

buffer array for transmission via ROS

Definition at line 112 of file modbridge_node.cpp.

struct sockaddr_in ModBridge::serv_addr

private

ROS socket address.

Definition at line 106 of file modbridge_node.cpp.

double ModBridge::socket_buffer_[MAX_ARRAY]

private

buffer array for interaction with socket

Definition at line 111 of file modbridge_node.cpp.

int ModBridge::socket_fd_

private

ROS socket binding.

Definition at line 103 of file modbridge_node.cpp.

ros::Subscriber ModBridge::sub_

private

subscriber to ROS controller values

Definition at line 100 of file modbridge_node.cpp.

int ModBridge::update_rate_

private

ROS node maximum loop rate.

Definition at line 113 of file modbridge_node.cpp.

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

• modbridge_node.cpp