This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map. More...

#include <robotiq_3f_gripper_can_client.h>

Inheritance diagram for robotiq_3f_gripper_control::Robotiq3FGripperCanClient:

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Public Member Functions
void	init (ros::NodeHandle nh)

GripperInput	readInputs () const
	Reads set of input-register values from the gripper. More...

GripperOutput	readOutputs () const
	Reads set of output-register values from the gripper. More...

	Robotiq3FGripperCanClient (unsigned int can_id, boost::shared_ptr< can::DriverInterface > driver)

void	writeOutputs (const GripperOutput &output)
	Write the given set of control flags to the memory of the gripper. More...

virtual	~Robotiq3FGripperCanClient ()

Public Member Functions inherited from robotiq_3f_gripper_control::Robotiq3FGripperClientBase
virtual	~Robotiq3FGripperClientBase ()

Private Member Functions
void	decodeFaultStatus (const u_int8_t &f)

void	decodeFingerACurrent (const u_int8_t &f)

void	decodeFingerAPos (const u_int8_t &f)

void	decodeFingerAPosCmd (const u_int8_t &f)

void	decodeFingerBCurrent (const u_int8_t &f)

void	decodeFingerBPos (const u_int8_t &f)

void	decodeFingerBPosCmd (const u_int8_t &f)

void	decodeFingerCCurrent (const u_int8_t &f)

void	decodeFingerCPos (const u_int8_t &f)

void	decodeFingerCPosCmd (const u_int8_t &f)

void	decodeFingerSCurrent (const u_int8_t &f)

void	decodeFingerSPos (const u_int8_t &f)

void	decodeFingerSPosCmd (const u_int8_t &f)

void	decodeGripperStatus (const u_int8_t &f)

void	decodeObjectStatus (const u_int8_t &f)

void	frameCallback (const can::Frame &f)

void	requestStart ()

void	stateCallback (const can::State &s)

Private Attributes
std::string	can_device_

unsigned int	can_id_

boost::shared_ptr< can::DriverInterface >	driver_

can::CommInterface::FrameListenerConstSharedPtr	frame_listener_

GripperInput	input_

GripperOutput	output_

std::map< unsigned char, unsigned char >	prevCmd_

boost::timed_mutex	read_mutex

can::Frame::Header	resp_header_

can::StateInterface::StateListenerConstSharedPtr	state_listener_

Additional Inherited Members
Public Types inherited from robotiq_3f_gripper_control::Robotiq3FGripperClientBase
typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput	GripperInput

typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput	GripperOutput

Protected Member Functions inherited from robotiq_3f_gripper_control::Robotiq3FGripperClientBase
	Robotiq3FGripperClientBase ()

Detailed Description

This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map.

Definition at line 41 of file robotiq_3f_gripper_can_client.h.

Constructor & Destructor Documentation

Robotiq3FGripperCanClient::Robotiq3FGripperCanClient	(	unsigned int	can_id,
		boost::shared_ptr< can::DriverInterface >	driver
	)

Definition at line 35 of file robotiq_3f_gripper_can_client.cpp.

Robotiq3FGripperCanClient::~Robotiq3FGripperCanClient ( )

virtual

Definition at line 42 of file robotiq_3f_gripper_can_client.cpp.

Member Function Documentation

void Robotiq3FGripperCanClient::decodeFaultStatus ( const u_int8_t & f )

private

Definition at line 386 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerACurrent ( const u_int8_t & f )

private

Definition at line 401 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerAPos ( const u_int8_t & f )

private

Definition at line 396 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerAPosCmd ( const u_int8_t & f )

private

Definition at line 391 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerBCurrent ( const u_int8_t & f )

private

Definition at line 416 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerBPos ( const u_int8_t & f )

private

Definition at line 411 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerBPosCmd ( const u_int8_t & f )

private

Definition at line 406 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerCCurrent ( const u_int8_t & f )

private

Definition at line 431 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerCPos ( const u_int8_t & f )

private

Definition at line 426 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerCPosCmd ( const u_int8_t & f )

private

Definition at line 421 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerSCurrent ( const u_int8_t & f )

private

Definition at line 446 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerSPos ( const u_int8_t & f )

private

Definition at line 441 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeFingerSPosCmd ( const u_int8_t & f )

private

Definition at line 436 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeGripperStatus ( const u_int8_t & f )

private

Definition at line 369 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::decodeObjectStatus ( const u_int8_t & f )

private

Definition at line 378 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::frameCallback ( const can::Frame & f )

private

received response from write request

unknown subindex

Definition at line 274 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::init ( ros::NodeHandle nh )

virtual

Set up listeners

Reimplemented from robotiq_3f_gripper_control::Robotiq3FGripperClientBase.

Definition at line 47 of file robotiq_3f_gripper_can_client.cpp.

Robotiq3FGripperCanClient::GripperInput Robotiq3FGripperCanClient::readInputs ( ) const

virtual

Reads set of input-register values from the gripper.

Returns: The gripper input registers as read from the controller IOMap

try to lock one more time to wait for last read

Implements robotiq_3f_gripper_control::Robotiq3FGripperClientBase.

Definition at line 211 of file robotiq_3f_gripper_can_client.cpp.

Robotiq3FGripperCanClient::GripperOutput Robotiq3FGripperCanClient::readOutputs ( ) const

virtual

Reads set of output-register values from the gripper.

Returns: The gripper output registers as read from the controller IOMap

Implements robotiq_3f_gripper_control::Robotiq3FGripperClientBase.

Definition at line 253 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::requestStart ( )

private

initialize node

Definition at line 355 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::stateCallback ( const can::State & s )

private

Definition at line 258 of file robotiq_3f_gripper_can_client.cpp.

void Robotiq3FGripperCanClient::writeOutputs ( const GripperOutput & output )

virtual

Write the given set of control flags to the memory of the gripper.

Parameters

[in] output The set of output-register values to write to the gripper

because too much writing is bad with this device, only write when something has changed. do the check here, or elsewhere? write mutex?

Implements robotiq_3f_gripper_control::Robotiq3FGripperClientBase.

Definition at line 55 of file robotiq_3f_gripper_can_client.cpp.

Member Data Documentation

std::string robotiq_3f_gripper_control::Robotiq3FGripperCanClient::can_device_

private

Definition at line 73 of file robotiq_3f_gripper_can_client.h.

unsigned int robotiq_3f_gripper_control::Robotiq3FGripperCanClient::can_id_

private

Definition at line 71 of file robotiq_3f_gripper_can_client.h.

boost::shared_ptr<can::DriverInterface> robotiq_3f_gripper_control::Robotiq3FGripperCanClient::driver_

private

Definition at line 72 of file robotiq_3f_gripper_can_client.h.

can::CommInterface::FrameListenerConstSharedPtr robotiq_3f_gripper_control::Robotiq3FGripperCanClient::frame_listener_

private

Definition at line 79 of file robotiq_3f_gripper_can_client.h.

GripperInput robotiq_3f_gripper_control::Robotiq3FGripperCanClient::input_

private

Definition at line 76 of file robotiq_3f_gripper_can_client.h.

GripperOutput robotiq_3f_gripper_control::Robotiq3FGripperCanClient::output_

private

Definition at line 77 of file robotiq_3f_gripper_can_client.h.

std::map<unsigned char, unsigned char> robotiq_3f_gripper_control::Robotiq3FGripperCanClient::prevCmd_

private

Definition at line 87 of file robotiq_3f_gripper_can_client.h.

boost::timed_mutex robotiq_3f_gripper_control::Robotiq3FGripperCanClient::read_mutex

mutableprivate

Definition at line 89 of file robotiq_3f_gripper_can_client.h.

can::Frame::Header robotiq_3f_gripper_control::Robotiq3FGripperCanClient::resp_header_

private

Definition at line 74 of file robotiq_3f_gripper_can_client.h.

can::StateInterface::StateListenerConstSharedPtr robotiq_3f_gripper_control::Robotiq3FGripperCanClient::state_listener_

private

Definition at line 80 of file robotiq_3f_gripper_can_client.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation