The Communication Handler class is aimed to instantiate a ROS node which provides several ROS services to communicate with one - or many - qbrobotics devices connected to the ROS ecosystem. More...

#include <qb_device_communication_handler.h>

Public Member Functions
	qbDeviceCommunicationHandler ()
	Wait until at least one device is connected and then initialize the Communication Handler. More...

	qbDeviceCommunicationHandler (qb_device_driver::qbDeviceAPIPtr device_api)
	Allow to mock the API for unit testing. More...

virtual	~qbDeviceCommunicationHandler ()
	Close all the still open serial ports. More...

Protected Member Functions
virtual int	activate (const int &id, const int &max_repeats)
	Activate the motors of the given device. More...

bool	activateCallback (qb_device_srvs::TriggerRequest &request, qb_device_srvs::TriggerResponse &response)
	Activate the motors of the device relative to the node requesting the service. More...

virtual int	close (const std::string &serial_port)
	Close the communication with all the devices connected to the given serial port. More...

virtual int	deactivate (const int &id, const int &max_repeats)
	Deactivate the motors of the given device. More...

bool	deactivateCallback (qb_device_srvs::TriggerRequest &request, qb_device_srvs::TriggerResponse &response)
	Deactivate the motors of the device relative to the node requesting the service. More...

virtual int	getCurrents (const int &id, const int &max_repeats, std::vector< short int > &currents)
	Retrieve the motor currents of the given device. More...

virtual int	getInfo (const int &id, const int &max_repeats, std::string &info)
	Retrieve the printable configuration setup of the given device. More...

bool	getInfoCallback (qb_device_srvs::TriggerRequest &request, qb_device_srvs::TriggerResponse &response)
	Retrieve the printable configuration setup of the device relative to the node requesting the service. More...

virtual int	getMeasurements (const int &id, const int &max_repeats, std::vector< short int > &currents, std::vector< short int > &positions)
	Retrieve the motor currents of the given device. More...

bool	getMeasurementsCallback (qb_device_srvs::GetMeasurementsRequest &request, qb_device_srvs::GetMeasurementsResponse &response)
	Retrieve the motor positions and currents of the device relative to the node requesting the service. More...

virtual int	getParameters (const int &id, std::vector< int > &limits, std::vector< int > &resolutions)
	Retrieve some of the parameters from the given device. More...

virtual int	getPositions (const int &id, const int &max_repeats, std::vector< short int > &positions)
	Retrieve the motor positions of the given device. More...

virtual int	getSerialPortsAndDevices (const int &max_repeats)
	Scan for all the serial ports of type `/dev/ttyUSB*` detected in the system, initialize their mutex protector (each serial port connected to the system has to be accessed in a mutually exclusive fashion), and retrieve all the qbrobotics devices connected to them. More...

virtual bool	initializeCallback (qb_device_srvs::InitializeDeviceRequest &request, qb_device_srvs::InitializeDeviceResponse &response)
	Initialize the device node requesting the service to the Communication Handler if the relative physical device is connected through any serial port to the system (can re-scan the serial resources if specified in the request). More...

virtual int	isActive (const int &id, const int &max_repeats, bool &status)
	Check whether the motors of the device specified by the given ID are active. More...

virtual int	isConnected (const int &id, const int &max_repeats)
	Check whether the the device specified by the given ID is connected through the serial port. More...

virtual bool	isInConnectedSet (const int &id)
	Check whether the physical device specified by the given ID is connected to the Communication Handler. More...

virtual bool	isInOpenMap (const std::string &serial_port)
	Check whether the given serial port is managed by the Communication Handler, i.e. More...

virtual int	open (const std::string &serial_port)
	Open the serial communication on the given serial port. More...

virtual int	setCommandsAndWait (const int &id, const int &max_repeats, std::vector< short int > &commands)
	Send the reference command to the motors of the given device and wait for acknowledge. More...

virtual int	setCommandsAsync (const int &id, std::vector< short int > &commands)
	Send the reference command to the motors of the given device in a non-blocking fashion. More...

bool	setCommandsCallback (qb_device_srvs::SetCommandsRequest &request, qb_device_srvs::SetCommandsResponse &response)
	Send the reference command to the motors of the device relative to the node requesting the service. More...

int	setPID (const int &id, const int &max_repeats, std::vector< float > &pid)
	Set the position control PID parameters of the given device, temporarily (until power off). More...

bool	setPIDCallback (qb_device_srvs::SetPIDRequest &request, qb_device_srvs::SetPIDResponse &response)
	Set (temporarily, i.e. More...

Protected Attributes
std::map< int, std::string >	connected_devices_

std::map< std::string, comm_settings >	file_descriptors_

ros::NodeHandle	node_handle_

std::map< std::string, std::unique_ptr< std::mutex > >	serial_protectors_

Private Member Functions
virtual int	activate (const int &id, const bool &command, const int &max_repeats)
	Activate (or deactivate, according to the given command) the motors of the given device. More...

bool	isReliable (int const &failures, int const &max_repeats)
	Check whether the reading failures are in the given range. More...

Private Attributes
ros::ServiceServer	activate_motors_

ros::ServiceServer	deactivate_motors_

qb_device_driver::qbDeviceAPIPtr	device_api_

ros::ServiceServer	get_info_

ros::ServiceServer	get_measurements_

ros::ServiceServer	initialize_device_

ros::ServiceServer	set_commands_

ros::ServiceServer	set_pid_

ros::AsyncSpinner	spinner_

Detailed Description

The Communication Handler class is aimed to instantiate a ROS node which provides several ROS services to communicate with one - or many - qbrobotics devices connected to the ROS ecosystem.

Each hardware interface which manage a single qbrobotics device must first request the initialization of its ID to the Communication Handler and then interact with it through specific ROS services - blocking by nature. The Communication Handler essentially manage the shared serial port resources and lets all the hardware interfaces to get access to them. This could seem a bottleneck in the architecture, but the real bottleneck is the shared resource itself; moreover this structure is also necessary since the multi-process nature of ROS which does not easily allow to share common resources among distinct processes. Actually the implementation of qbrobotics classes could be reshaped to exploit the multi-threading approach, e.g. using nodelet or similar plugins each device node could handle the communication process by itself, without the intermediary Communication Handler. The advantage of such a restyle in term of communication speed does not worth the effort though.

Definition at line 58 of file qb_device_communication_handler.h.

Constructor & Destructor Documentation

qbDeviceCommunicationHandler::qbDeviceCommunicationHandler ( )

Wait until at least one device is connected and then initialize the Communication Handler.

See also: getSerialPortsAndDevices()

Definition at line 32 of file qb_device_communication_handler.cpp.

qbDeviceCommunicationHandler::qbDeviceCommunicationHandler ( qb_device_driver::qbDeviceAPIPtr device_api )

Allow to mock the API for unit testing.

It is called from the default constructor with the real API smart pointer, but it can be called with a pointer to the mock class inherited from the qbDeviceAPI itself.

Parameters

device_api The shared pointer to the current API derived from qb_device_driver::qbDeviceAPI.

Definition at line 42 of file qb_device_communication_handler.cpp.

qbDeviceCommunicationHandler::~qbDeviceCommunicationHandler ( )

virtual

Close all the still open serial ports.

See also: close()

Definition at line 56 of file qb_device_communication_handler.cpp.

Member Function Documentation

int qbDeviceCommunicationHandler::activate	(	const int &	id,
		const int &	max_repeats
	)

protectedvirtual

Activate the motors of the given device.

Do nothing if the device is not connected in the Communication Handler.

Parameters

id	The ID of the device to be activated, in range [`1`, `128`].
max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.

See also: activateCallback(), activate(const int &, const bool &, const int &), isActive()

Definition at line 82 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::activate	(	const int &	id,
		const bool &	command,
		const int &	max_repeats
	)

privatevirtual

Activate (or deactivate, according to the given command) the motors of the given device.

Do nothing if the device is not connected in the Communication Handler.

Parameters

id	The ID of the device to be activated (or deactivated), in range [`1`, `128`].
command	`true` to turn motors on, `false` to turn them off.
max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.

See also: qb_device_driver::qbDeviceAPI::activate(), activate(const int &, const int &), deactivate(), isActive()

Definition at line 62 of file qb_device_communication_handler.cpp.

bool qbDeviceCommunicationHandler::activateCallback	(	qb_device_srvs::TriggerRequest &	request,
		qb_device_srvs::TriggerResponse &	response
	)

protected

Activate the motors of the device relative to the node requesting the service.

Parameters

request	The request of the given service (see qb_device_srvs::Trigger for details).
response	The response of the given service (see qb_device_srvs::Trigger for details).

Returns: true if the call succeed (actually response.success may be false).

See also: activate(const int &, const int &)

Definition at line 86 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::close ( const std::string & serial_port )

protectedvirtual

Close the communication with all the devices connected to the given serial port.

Parameters

serial_port The serial port which has to be closed, e.g. /dev/ttyUSB0.

See also: qb_device_driver::qbDeviceAPI::close(), isInOpenMap(), open()

Definition at line 101 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::deactivate	(	const int &	id,
		const int &	max_repeats
	)

protectedvirtual

Deactivate the motors of the given device.

Do nothing if the device is not connected in the Communication Handler.

Parameters

id	The ID of the device to be deactivated, in range [`1`, `128`].
max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.

See also: deactivateCallback(), activate(const int &, const bool &, const int &), isActive()

Definition at line 119 of file qb_device_communication_handler.cpp.

bool qbDeviceCommunicationHandler::deactivateCallback	(	qb_device_srvs::TriggerRequest &	request,
		qb_device_srvs::TriggerResponse &	response
	)

protected

Deactivate the motors of the device relative to the node requesting the service.

Parameters

request	The request of the given service (see qb_device_srvs::Trigger for details).
response	The response of the given service (see qb_device_srvs::Trigger for details).

Returns: true if the call succeed (actually response.success may be false).

See also: deactivate()

Definition at line 123 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::getCurrents	(	const int &	id,
		const int &	max_repeats,
		std::vector< short int > &	currents
	)

protectedvirtual

Retrieve the motor currents of the given device.

Parameters

	id	The ID of the device of interest, in range [`1`, `128`].
[out]	currents	The two-element device motor current vector, expressed in mA: if the device is a qbhand only the first element is filled while the other remains always `0`; in the case of a qbmove both the elements contain relevant data, i.e. the currents respectively of `motor_1` and `motor_2`.
	max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.

Returns: The number of failure reads between 0 and max_repeats.

See also: qb_device_driver::qbDeviceAPI::getCurrents(), getMeasurementsCallback(), getMeasurements()

Definition at line 138 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::getInfo	(	const int &	id,
		const int &	max_repeats,
		std::string &	info
	)

protectedvirtual

Retrieve the printable configuration setup of the given device.

Parameters

id	The ID of the device of interest, in range [`1`, `128`].
max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.
info	The configuration setup formatted as a plain text string (empty string on communication error).

Returns: The number of failure reads between 0 and max_repeats.

See also: qb_device_driver::qbDeviceAPI::getInfo(), getInfoCallback(), getParameters()

Definition at line 152 of file qb_device_communication_handler.cpp.

bool qbDeviceCommunicationHandler::getInfoCallback	(	qb_device_srvs::TriggerRequest &	request,
		qb_device_srvs::TriggerResponse &	response
	)

protected

Retrieve the printable configuration setup of the device relative to the node requesting the service.

Parameters

request	The request of the given service (see qb_device_srvs::Trigger for details).
response	The response of the given service (see qb_device_srvs::Trigger for details).

Returns: true if the call succeed (actually response.success may be false).

See also: getInfo()

Definition at line 166 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::getMeasurements	(	const int &	id,
		const int &	max_repeats,
		std::vector< short int > &	currents,
		std::vector< short int > &	positions
	)

protectedvirtual

Retrieve the motor currents of the given device.

Parameters

	id	The ID of the device of interest, in range [`1`, `128`].
[out]	currents	The two-element device motor current vector, expressed in mA: if the device is a qbhand only the first element is filled while the other remains always `0`; in the case of a qbmove both the elements contain relevant data, i.e. the currents respectively of `motor_1` and `motor_2`.
[out]	positions	The device position vector, expressed in ticks: if the device is a qbhand only the first element is filled while the others remain always `0`; in the case of a qbmove all the elements contain relevant data, i.e. the positions respectively of `motor_1`, `motor_2` and `motor_shaft` (which is not directly actuated).
	max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.

Returns: The number of failure reads between 0 and max_repeats.

See also: qb_device_driver::qbDeviceAPI::getMeasurements(), getMeasurementsCallback(), getCurrents(), getPositions()

Definition at line 180 of file qb_device_communication_handler.cpp.

bool qbDeviceCommunicationHandler::getMeasurementsCallback	(	qb_device_srvs::GetMeasurementsRequest &	request,
		qb_device_srvs::GetMeasurementsResponse &	response
	)

protected

Retrieve the motor positions and currents of the device relative to the node requesting the service.

Parameters

request	The request of the given service (see qb_device_srvs::GetMeasurements for details).
response	The response of the given service (see qb_device_srvs::GetMeasurements for details).

Returns: true if the call succeed (actually response.success may be false).

See also: getMeasurements(), getCurrents(), getPositions()

Definition at line 198 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::getParameters	(	const int &	id,
		std::vector< int > &	limits,
		std::vector< int > &	resolutions
	)

protectedvirtual

Retrieve some of the parameters from the given device.

Parameters

	id	The ID of the device of interest, in range [`1`, `128`].
[out]	limits	The vector of motor position limits expressed in ticks: two values for each motor, respectively [`lower_limit`, `upper_limit`].
[out]	resolutions	The vector of encoder resolutions, each in range [`0`, `8`]: one value for each encoder (note: the qbmove has also the shaft encoder even if it is not actuated). The word "resolution" could be misunderstood: taken the resolution `r`, is the number of turns of the wire inside the device mechanics. It is used essentially to convert the measured position of the motors in ticks to radians or degrees.

Returns: 0 on success.

See also: qb_device_driver::qbDeviceAPI::getParameters(), getInfo(), initializeCallback()

Definition at line 228 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::getPositions	(	const int &	id,
		const int &	max_repeats,
		std::vector< short int > &	positions
	)

protectedvirtual

Retrieve the motor positions of the given device.

Parameters

	id	The ID of the device of interest, in range [`1`, `128`].
[out]	positions	The device position vector, expressed in ticks: if the device is a qbhand only the first element is filled while the others remain always `0`; in the case of a qbmove all the elements contain relevant data, i.e. the positions respectively of `motor_1`, `motor_2` and `motor_shaft` (which is not directly actuated).
	max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.

Returns: The number of failure reads between 0 and max_repeats.

See also: qb_device_driver::qbDeviceAPI::getPositions(), getMeasurementsCallback(), getMeasurements()

Definition at line 238 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::getSerialPortsAndDevices ( const int & max_repeats )

protectedvirtual

Scan for all the serial ports of type /dev/ttyUSB* detected in the system, initialize their mutex protector (each serial port connected to the system has to be accessed in a mutually exclusive fashion), and retrieve all the qbrobotics devices connected to them.

For each device, store its ID in the private map connected_devices_, i.e. insert a pair [device_id, serial_port]. The map connected_devices_ is constructed from scratch at each call.

Parameters

max_repeats The maximum number of consecutive repetitions to mark retrieved data as corrupted.

Returns: the number of connected devices.

See also: qb_device_driver::qbDeviceAPI::getDeviceIds(), qb_device_driver::qbDeviceAPI::getSerialPorts(), isInConnectedSet(), open()

Definition at line 252 of file qb_device_communication_handler.cpp.

bool qbDeviceCommunicationHandler::initializeCallback	(	qb_device_srvs::InitializeDeviceRequest &	request,
		qb_device_srvs::InitializeDeviceResponse &	response
	)

protectedvirtual

Initialize the device node requesting the service to the Communication Handler if the relative physical device is connected through any serial port to the system (can re-scan the serial resources if specified in the request).

If the device is found, retrieve some of its parameter and activate its motors, if requested.

Parameters

request	The request of the given service (see qb_device_srvs::InitializeDevice for details).
response	The response of the given service (see qb_device_srvs::InitializeDevice for details).

Returns: true if the call succeed (actually response.success may be false).

See also: getSerialPortsAndDevices()

Definition at line 350 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::isActive	(	const int &	id,
		const int &	max_repeats,
		bool &	status
	)

protectedvirtual

Check whether the motors of the device specified by the given ID are active.

Parameters

id	The ID of the device of interest, in range [`1`, `128`].
max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.
status	`true` if the device motors are on.

Returns: The number of failure reads between 0 and max_repeats.

See also: qb_device_driver::qbDeviceAPI::getStatus()

Definition at line 292 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::isConnected	(	const int &	id,
		const int &	max_repeats
	)

protectedvirtual

Check whether the the device specified by the given ID is connected through the serial port.

Parameters

id	The ID of the device of interest, in range [`1`, `128`].
max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.

Returns: The number of failure reads between 0 and max_repeats.

See also: qb_device_driver::qbDeviceAPI::getStatus()

Definition at line 306 of file qb_device_communication_handler.cpp.

bool qbDeviceCommunicationHandler::isInConnectedSet ( const int & id )

protectedvirtual

Check whether the physical device specified by the given ID is connected to the Communication Handler.

Parameters

id	The ID of the device of interest, in range [`1`, `128`].

Returns: true if the given device belongs to the connected device vector, i.e. connected_devices_.

See also: getSerialPortsAndDevices()

Definition at line 319 of file qb_device_communication_handler.cpp.

bool qbDeviceCommunicationHandler::isInOpenMap ( const std::string & serial_port )

protectedvirtual

Check whether the given serial port is managed by the Communication Handler, i.e.

is open.

Parameters

serial_port The name of the serial port of interest, e.g. /dev/ttyUSB0.

Returns: true if the given serial port belongs to the open file descriptor map, i.e. file_descriptors_.

See also: open(), close()

Definition at line 323 of file qb_device_communication_handler.cpp.

bool qb_device_communication_handler::qbDeviceCommunicationHandler::isReliable	(	int const &	failures,
		int const &	max_repeats
	)

inlineprivate

Check whether the reading failures are in the given range.

Parameters

failures	The current number of communication failures per serial resource reading.
max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.

Returns: true if the failures are less than the given threshold.

Definition at line 355 of file qb_device_communication_handler.h.

int qbDeviceCommunicationHandler::open ( const std::string & serial_port )

protectedvirtual

Open the serial communication on the given serial port.

On success, store the opened file descriptor in the private map file_descriptors_, i.e. insert a pair [serial_port, file_descriptor].

Parameters

serial_port The serial port which has to be opened, e.g. /dev/ttyUSB0.

Returns: 0 on success.

See also: qb_device_driver::qbDeviceAPI::open(), close(), isInOpenMap()

Definition at line 327 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::setCommandsAndWait	(	const int &	id,
		const int &	max_repeats,
		std::vector< short int > &	commands
	)

protectedvirtual

Send the reference command to the motors of the given device and wait for acknowledge.

Parameters

id	The ID of the device of interest, in range [`1`, `128`].
max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted.
commands	The reference command vector, expressed in ticks: if the device is a qbhand only the first element is meaningful while the other remains always `0`; in the case of a qbmove both the elements contain relevant data, i.e. the commands respectively of `motor_1` and `motor_2`.

Returns: 0 on success.

See also: qb_device_driver::qbDeviceAPI::setCommandsAndWait(), setCommandsCallback()

Definition at line 391 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::setCommandsAsync	(	const int &	id,
		std::vector< short int > &	commands
	)

protectedvirtual

Send the reference command to the motors of the given device in a non-blocking fashion.

Parameters

id	The ID of the device of interest, in range [`1`, `128`].
commands	The reference command vector, expressed in ticks: if the device is a qbhand only the first element is meaningful while the other remains always `0`; in the case of a qbmove both the elements contain relevant data, i.e. the commands respectively of `motor_1` and `motor_2`.

Returns: Always 0 (note that this is a non reliable method).

See also: qb_device_driver::qbDeviceAPI::setCommandsAsync(), setCommandsCallback()

Definition at line 405 of file qb_device_communication_handler.cpp.

bool qbDeviceCommunicationHandler::setCommandsCallback	(	qb_device_srvs::SetCommandsRequest &	request,
		qb_device_srvs::SetCommandsResponse &	response
	)

protected

Send the reference command to the motors of the device relative to the node requesting the service.

Parameters

request	The request of the given service (see qb_device_srvs::SetCommands for details).
response	The response of the given service (see qb_device_srvs::SetCommands for details).

Returns: true if the call succeed (actually response.success may be false).

See also: setCommandsAndWait(), setCommandsAsync()

Definition at line 412 of file qb_device_communication_handler.cpp.

int qbDeviceCommunicationHandler::setPID	(	const int &	id,
		const int &	max_repeats,
		std::vector< float > &	pid
	)

protected

Set the position control PID parameters of the given device, temporarily (until power off).

Parameters

file_descriptor	The file descriptor of the serial port on which the device is connected.
id	The ID of the device of interest, in range [`1`, `128`].
pid	The three-element [`P`, `I`, `D`] vector of parameters to be set.

Returns: Always 0 (note that this is a non reliable method).

See also: qb_device_driver::qbDeviceAPI::setPID(), setPIDCallback()

Definition at line 432 of file qb_device_communication_handler.cpp.

bool qbDeviceCommunicationHandler::setPIDCallback	(	qb_device_srvs::SetPIDRequest &	request,
		qb_device_srvs::SetPIDResponse &	response
	)

protected

Set (temporarily, i.e.

until power off) the position control PID parameters of the device relative to the node requesting the service.

Parameters

request	The request of the given service (see qb_device_srvs::SetPID for details).
response	The response of the given service (see qb_device_srvs::SetPID for details).

Returns: true if the call succeed (actually response.success may be false).

See also: setPID()

Definition at line 445 of file qb_device_communication_handler.cpp.

Member Data Documentation

ros::ServiceServer qb_device_communication_handler::qbDeviceCommunicationHandler::activate_motors_

private

Definition at line 330 of file qb_device_communication_handler.h.

std::map<int, std::string> qb_device_communication_handler::qbDeviceCommunicationHandler::connected_devices_

protected

Definition at line 83 of file qb_device_communication_handler.h.

ros::ServiceServer qb_device_communication_handler::qbDeviceCommunicationHandler::deactivate_motors_

private

Definition at line 331 of file qb_device_communication_handler.h.

qb_device_driver::qbDeviceAPIPtr qb_device_communication_handler::qbDeviceCommunicationHandler::device_api_

private

Definition at line 337 of file qb_device_communication_handler.h.

std::map<std::string, comm_settings> qb_device_communication_handler::qbDeviceCommunicationHandler::file_descriptors_

protected

Definition at line 82 of file qb_device_communication_handler.h.

ros::ServiceServer qb_device_communication_handler::qbDeviceCommunicationHandler::get_info_

private

Definition at line 332 of file qb_device_communication_handler.h.

ros::ServiceServer qb_device_communication_handler::qbDeviceCommunicationHandler::get_measurements_

private

Definition at line 333 of file qb_device_communication_handler.h.

ros::ServiceServer qb_device_communication_handler::qbDeviceCommunicationHandler::initialize_device_

private

Definition at line 334 of file qb_device_communication_handler.h.

ros::NodeHandle qb_device_communication_handler::qbDeviceCommunicationHandler::node_handle_

protected

Definition at line 80 of file qb_device_communication_handler.h.

std::map<std::string, std::unique_ptr<std::mutex> > qb_device_communication_handler::qbDeviceCommunicationHandler::serial_protectors_

protected

Definition at line 81 of file qb_device_communication_handler.h.

ros::ServiceServer qb_device_communication_handler::qbDeviceCommunicationHandler::set_commands_

private

Definition at line 335 of file qb_device_communication_handler.h.

ros::ServiceServer qb_device_communication_handler::qbDeviceCommunicationHandler::set_pid_

private

Definition at line 336 of file qb_device_communication_handler.h.

ros::AsyncSpinner qb_device_communication_handler::qbDeviceCommunicationHandler::spinner_

private

Definition at line 329 of file qb_device_communication_handler.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation