Inheritance diagram for novatel_oem7_driver::Oem7MessageNodelet:

Public Member Functions
	Oem7MessageNodelet ()

	~Oem7MessageNodelet ()

Public Member Functions inherited from novatel_oem7_driver::Oem7MessageDecoderUserIf
virtual void	onNewMessage (boost::shared_ptr< const novatel_oem7::Oem7RawMessageIf >)=0

virtual	~Oem7MessageDecoderUserIf ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Private Types
typedef std::map< int, long >	log_count_map_t

Private Member Functions
void	onInit ()

void	onInitImpl ()

void	onNewMessage (Oem7RawMessageIf::ConstPtr raw_msg)

void	outputLogStatistics ()

void	publishOem7RawMsg (Oem7RawMessageIf::ConstPtr raw_msg)

void	serviceLoopCb (const ros::TimerEvent &event)

bool	serviceOem7AbasciiCb (novatel_oem7_msgs::Oem7AbasciiCmd::Request &req, novatel_oem7_msgs::Oem7AbasciiCmd::Response &rsp)

void	updateLogStatistics (const Oem7RawMessageIf::ConstPtr &raw_msg)

Private Attributes
boost::shared_ptr< ros::AsyncSpinner >	aspinner_
	1 thread servicing the command queue. More...

long	discarded_msg_num_
	Number of messages received and discarded by the driver. More...

log_count_map_t	log_counts_
	Indidividual log counts. More...

boost::shared_ptr< novatel_oem7_driver::Oem7MessageDecoderIf >	msg_decoder
	Message Decoder plugin. More...

boost::shared_ptr< MessageHandler >	msg_handler_
	Dispatches individual messages for handling. More...

std::mutex	nodelet_mtx_
	Protects nodelet internal state. More...

ros::ServiceServer	oem7_cmd_srv_
	Oem7 command service. More...

pluginlib::ClassLoader< novatel_oem7_driver::Oem7MessageDecoderIf >	oem7_msg_decoder_loader

Oem7RosPublisher	oem7rawmsg_pub_
	Publishes raw Oem7 messages. More...

double	publish_delay_sec_
	Delay after publishing each message; used to throttle output with static data sources. More...

bool	publish_unknown_oem7raw_
	Publish all unknown messages to 'Oem7Raw'. More...

ros::CallbackQueue	queue_

std::set< int >	raw_msg_pub_
	Set of raw messages to publish. More...

boost::shared_ptr< novatel_oem7_driver::Oem7ReceiverIf >	recvr_
	Oem7 Receiver Interface plugin. More...

pluginlib::ClassLoader< novatel_oem7_driver::Oem7ReceiverIf >	recvr_loader_

std::string	rsp_
	The latest response from Oem7 receiver. More...

std::condition_variable	rsp_ready_cond_
	Response ready, signaled from response handler to Oem7 Cmd Handler. More...

std::mutex	rsp_ready_mtx_
	Response condition guard. More...

ros::Timer	timer_
	One time service callback. More...

ros::CallbackQueue	timer_queue_
	Dedicated queue for command requests. More...

boost::shared_ptr< ros::AsyncSpinner >	timer_spinner_
	1 thread servicing the command queue. More...

long	total_log_count_
	Total number of logs received. More...

long	unknown_msg_num_
	number of messages received that could not be identified. More...

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

Nodelet publishing raw oem7 messages and issuing oem7 commands. Loads plugins responsible for obtaining byte input from the Oem7 receiver, and decoding it into raw oem7 messages. Implements a service allowing Oem7 Abbreviated ASCII commands to be sent to the receiver.

Definition at line 57 of file oem7_message_nodelet.cpp.

Member Typedef Documentation

typedef std::map<int, long> novatel_oem7_driver::Oem7MessageNodelet::log_count_map_t

private

Definition at line 92 of file oem7_message_nodelet.cpp.

Constructor & Destructor Documentation

novatel_oem7_driver::Oem7MessageNodelet::Oem7MessageNodelet ( )

inline

Definition at line 391 of file oem7_message_nodelet.cpp.

novatel_oem7_driver::Oem7MessageNodelet::~Oem7MessageNodelet ( )

inline

Definition at line 402 of file oem7_message_nodelet.cpp.

Member Function Documentation

void novatel_oem7_driver::Oem7MessageNodelet::onInit ( )

inlineprivatevirtual

Wraps actual initializating for exception handling.

Implements nodelet::Nodelet.

Definition at line 107 of file oem7_message_nodelet.cpp.

void novatel_oem7_driver::Oem7MessageNodelet::onInitImpl ( )

inlineprivate

Loads plugins, sets up threading/callbacks, advertises messages and services.

Definition at line 124 of file oem7_message_nodelet.cpp.

void novatel_oem7_driver::Oem7MessageNodelet::onNewMessage ( Oem7RawMessageIf::ConstPtr raw_msg )

inlineprivate

Called by ROS decoder with new raw messages

Definition at line 300 of file oem7_message_nodelet.cpp.

void novatel_oem7_driver::Oem7MessageNodelet::outputLogStatistics ( )

inlineprivate

Outputs Log statistics to ROS console.

Definition at line 246 of file oem7_message_nodelet.cpp.

void novatel_oem7_driver::Oem7MessageNodelet::publishOem7RawMsg ( Oem7RawMessageIf::ConstPtr raw_msg )

inlineprivate

Definition at line 283 of file oem7_message_nodelet.cpp.

void novatel_oem7_driver::Oem7MessageNodelet::serviceLoopCb ( const ros::TimerEvent & event )

inlineprivate

Service loop; drives Oem7 message decoder. onNewMessage is called on this thread.

Definition at line 380 of file oem7_message_nodelet.cpp.

bool novatel_oem7_driver::Oem7MessageNodelet::serviceOem7AbasciiCb	(	novatel_oem7_msgs::Oem7AbasciiCmd::Request &	req,
		novatel_oem7_msgs::Oem7AbasciiCmd::Response &	rsp
	)

inlineprivate

Called to request O7AbasciiCmd service

Definition at line 201 of file oem7_message_nodelet.cpp.

void novatel_oem7_driver::Oem7MessageNodelet::updateLogStatistics ( const Oem7RawMessageIf::ConstPtr & raw_msg )

inlineprivate

Definition at line 266 of file oem7_message_nodelet.cpp.

Member Data Documentation

boost::shared_ptr<ros::AsyncSpinner> novatel_oem7_driver::Oem7MessageNodelet::aspinner_

private

1 thread servicing the command queue.

Definition at line 76 of file oem7_message_nodelet.cpp.

long novatel_oem7_driver::Oem7MessageNodelet::discarded_msg_num_

private

Number of messages received and discarded by the driver.

Definition at line 96 of file oem7_message_nodelet.cpp.

log_count_map_t novatel_oem7_driver::Oem7MessageNodelet::log_counts_

private

Indidividual log counts.

Definition at line 93 of file oem7_message_nodelet.cpp.

boost::shared_ptr<novatel_oem7_driver::Oem7MessageDecoderIf> novatel_oem7_driver::Oem7MessageNodelet::msg_decoder

private

Message Decoder plugin.

Definition at line 99 of file oem7_message_nodelet.cpp.

boost::shared_ptr<MessageHandler> novatel_oem7_driver::Oem7MessageNodelet::msg_handler_

private

Dispatches individual messages for handling.

Definition at line 87 of file oem7_message_nodelet.cpp.

std::mutex novatel_oem7_driver::Oem7MessageNodelet::nodelet_mtx_

private

Protects nodelet internal state.

Definition at line 61 of file oem7_message_nodelet.cpp.

ros::ServiceServer novatel_oem7_driver::Oem7MessageNodelet::oem7_cmd_srv_

private

Oem7 command service.

Definition at line 77 of file oem7_message_nodelet.cpp.

pluginlib::ClassLoader<novatel_oem7_driver::Oem7MessageDecoderIf> novatel_oem7_driver::Oem7MessageNodelet::oem7_msg_decoder_loader

private

Definition at line 83 of file oem7_message_nodelet.cpp.

Oem7RosPublisher novatel_oem7_driver::Oem7MessageNodelet::oem7rawmsg_pub_

private

Publishes raw Oem7 messages.

Definition at line 65 of file oem7_message_nodelet.cpp.

double novatel_oem7_driver::Oem7MessageNodelet::publish_delay_sec_

private

Delay after publishing each message; used to throttle output with static data sources.

Definition at line 63 of file oem7_message_nodelet.cpp.

bool novatel_oem7_driver::Oem7MessageNodelet::publish_unknown_oem7raw_

private

Publish all unknown messages to 'Oem7Raw'.

Definition at line 66 of file oem7_message_nodelet.cpp.

ros::CallbackQueue novatel_oem7_driver::Oem7MessageNodelet::queue_

private

Definition at line 75 of file oem7_message_nodelet.cpp.

std::set<int> novatel_oem7_driver::Oem7MessageNodelet::raw_msg_pub_

private

Set of raw messages to publish.

Definition at line 85 of file oem7_message_nodelet.cpp.

boost::shared_ptr<novatel_oem7_driver::Oem7ReceiverIf> novatel_oem7_driver::Oem7MessageNodelet::recvr_

private

Oem7 Receiver Interface plugin.

Definition at line 100 of file oem7_message_nodelet.cpp.

pluginlib::ClassLoader<novatel_oem7_driver::Oem7ReceiverIf> novatel_oem7_driver::Oem7MessageNodelet::recvr_loader_

private

Definition at line 82 of file oem7_message_nodelet.cpp.

std::string novatel_oem7_driver::Oem7MessageNodelet::rsp_

private

The latest response from Oem7 receiver.

Definition at line 74 of file oem7_message_nodelet.cpp.

std::condition_variable novatel_oem7_driver::Oem7MessageNodelet::rsp_ready_cond_

private

Response ready, signaled from response handler to Oem7 Cmd Handler.

Definition at line 72 of file oem7_message_nodelet.cpp.

std::mutex novatel_oem7_driver::Oem7MessageNodelet::rsp_ready_mtx_

private

Response condition guard.

Definition at line 73 of file oem7_message_nodelet.cpp.

ros::Timer novatel_oem7_driver::Oem7MessageNodelet::timer_

private

One time service callback.

Definition at line 80 of file oem7_message_nodelet.cpp.

ros::CallbackQueue novatel_oem7_driver::Oem7MessageNodelet::timer_queue_

private

Dedicated queue for command requests.

Definition at line 68 of file oem7_message_nodelet.cpp.

boost::shared_ptr<ros::AsyncSpinner> novatel_oem7_driver::Oem7MessageNodelet::timer_spinner_

private

1 thread servicing the command queue.

Definition at line 69 of file oem7_message_nodelet.cpp.

long novatel_oem7_driver::Oem7MessageNodelet::total_log_count_

private

Total number of logs received.

Definition at line 90 of file oem7_message_nodelet.cpp.

long novatel_oem7_driver::Oem7MessageNodelet::unknown_msg_num_

private

number of messages received that could not be identified.

Definition at line 95 of file oem7_message_nodelet.cpp.

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

oem7_message_nodelet.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation