rq_sensor.cpp File Reference

#include <string.h>
#include <stdio.h>
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "geometry_msgs/WrenchStamped.h"
#include "robotiq_ft_sensor/rq_sensor_state.h"
#include "robotiq_ft_sensor/ft_sensor.h"
#include "robotiq_ft_sensor/sensor_accessor.h"

Include dependency graph for rq_sensor.cpp:

Go to the source code of this file.

Typedefs
typedef robotiq_ft_sensor::sensor_accessor::Request	Request

Functions
static bool	decode_message_and_do (robotiq_ft_sensor::sensor_accessor::Request &req, robotiq_ft_sensor::sensor_accessor::Response &res)
	decode_message_and_do Decode the message received and do the associated action More...
static void	decode_message_and_do (INT_8 const *const buff, INT_8 *const ret)
	Decode the message received and do the associated action. More...
static robotiq_ft_sensor::ft_sensor	get_data (void)
	Builds the message with the force/torque data. More...
int	main (int argc, char **argv)
static int	max_retries_ (100)
bool	receiverCallback (robotiq_ft_sensor::sensor_accessor::Request &req, robotiq_ft_sensor::sensor_accessor::Response &res)
static INT_8	sensor_state_machine ()
static void	wait_for_other_connection ()
	Each second, checks for a sensor that has been connected. More...

Variables
std::string	ftdi_id
ros::Publisher	sensor_pub_acc

Detailed Description

Date

July 14, 2014

Author

Jonathan Savoie jonat.nosp@m.han..nosp@m.savoi.nosp@m.e@ro.nosp@m.botiq.nosp@m..com Jean-Philippe Roberge ros@r.nosp@m.obot.nosp@m.iq.co.nosp@m.m

Definition in file rq_sensor.cpp.

Typedef Documentation

typedef robotiq_ft_sensor::sensor_accessor::Request Request

Definition at line 53 of file rq_sensor.cpp.

Function Documentation

static bool decode_message_and_do ( robotiq_ft_sensor::sensor_accessor::Request &  req, robotiq_ft_sensor::sensor_accessor::Response &  res  )

static

decode_message_and_do Decode the message received and do the associated action

Parameters

req	request (of which the command_id is used)
res	result with requested data

Returns

true iff a valid command_id was given in the request

Definition at line 66 of file rq_sensor.cpp.

static void decode_message_and_do ( INT_8 const *const  buff, INT_8 *const  ret  )

static

Decode the message received and do the associated action.

Parameters

buff	message to decode
ret	buffer containing the return value from a GET command

Definition at line 92 of file rq_sensor.cpp.

void get_data ( void  )

static

Builds the message with the force/torque data.

Returns

ft_sensor updated with the latest data

Definition at line 178 of file rq_sensor.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 192 of file rq_sensor.cpp.

static int max_retries_ ( 100  )

static

bool receiverCallback	(	robotiq_ft_sensor::sensor_accessor::Request &	req,
		robotiq_ft_sensor::sensor_accessor::Response &	res
	)

Support for old string-based interface

New interface with numerical commands

Definition at line 119 of file rq_sensor.cpp.

static INT_8 sensor_state_machine ( )

static

Definition at line 139 of file rq_sensor.cpp.

static void wait_for_other_connection ( )

static

Each second, checks for a sensor that has been connected.

Definition at line 153 of file rq_sensor.cpp.

Variable Documentation

std::string ftdi_id

Definition at line 55 of file rq_sensor.cpp.

ros::Publisher sensor_pub_acc

Definition at line 57 of file rq_sensor.cpp.