Class representing a rokubi mini device. More...

#include <Rokubimini.hpp>

Public Types
using	AnonymousErrorCb = std::function< void(void)>

using	AnonymousReadingCb = std::function< void(const Reading &)>

using	DeviceDisconnectedCb = std::function< void(const std::string &)>

using	DeviceReconnectedCb = std::function< void(const std::string &)>

using	ErrorCb = std::function< void(const std::string &)>

using	ErrorRecoveredCb = std::function< void(const std::string &)>

using	FatalCb = std::function< void(const std::string &)>

using	FatalRecoveredCb = std::function< void(const std::string &)>

using	NodeHandlePtr = std::shared_ptr< ros::NodeHandle >

using	ReadingCb = std::function< void(const std::string &, const Reading &)>

Public Member Functions
void	addDeviceDisconnectedCb (const DeviceDisconnectedCb &deviceDisconnectedCb, const int priority=0)
	Adds a device disconnencted callback to a list. More...

void	addDeviceReconnectedCb (const DeviceReconnectedCb &deviceReconnectedCb, const int priority=0)
	Adds a device reconnected callback to a list. More...

void	addErrorCb (const ErrorCb &errorCb, const int priority=0)
	Adds an error callback to a list. More...

void	addErrorRecoveredCb (const ErrorRecoveredCb &errorRecoveredCb, const int priority=0)
	Adds an error recovered callback to a list. More...

void	addFatalCb (const FatalCb &fatalCb, const int priority=0)
	Adds an fatal callback to a list. More...

void	addFatalRecoveredCb (const FatalRecoveredCb &fatalRecoveredCb, const int priority=0)
	Adds an fatal recovered callback to a list. More...

void	addReadingCb (const ReadingCb &readingCb, const int priority=0)
	Adds a reading callback to a list. More...

void	clearGoalStateEnum ()
	Clears the goal state enumeration. More...

virtual void	createRosPublishers ()=0
	Creates ROS publishers for the rokubimini device. It's virtual because it's implementation specific. More...

virtual void	createRosServices ()=0
	Creates ROS services for the rokubimini device. It's virtual because it's implementation specific. More...

void	deviceDisconnectedCb ()
	Calls the callbacks in the device disconnected callbacks list. More...

bool	deviceIsInErrorState ()
	Checks if the device is in error state. More...

bool	deviceIsInFatalState ()
	Checks if the device is in fatal state. More...

virtual bool	deviceIsMissing () const =0
	Checks if the device is missing. More...

void	deviceReconnectedCb ()
	Calls the callbacks in the device reconnected callbacks list. More...

void	errorCb ()
	Calls the callbacks in the error callbacks list. More...

void	errorRecoveredCb ()
	Calls the callbacks in the error recovered callbacks list. More...

void	fatalCb ()
	Calls the callbacks in the fatal callbacks list. More...

void	fatalRecoveredCb ()
	Calls the callbacks in the fatal recovered callbacks list. More...

configuration::Configuration &	getConfiguration ()
	Non-const version of getConfiguration() const. Gets the Configuration of the device. More...

const configuration::Configuration &	getConfiguration () const
	Gets the Configuration of the device. More...

virtual bool	getForceTorqueSamplingRate (int &samplingRate)=0
	Gets the force torque sampling rate of the device. It's virtual since it's implementation-specific. More...

std::string	getName () const
	Gets the name of the device. More...

Reading	getReading () const
	Gets the reading from the Rokubimini device. More...

void	getReading (Reading &reading) const
	Gets the internal variable reading into the provided parameter. More...

virtual bool	getSerialNumber (unsigned int &serialNumber)=0
	Gets the serial number of the device. It's virtual since it's implementation-specific. More...

Statusword	getStatusword () const
	Gets the statusword of the device. More...

bool	loadRokubiminiSetup (std::shared_ptr< rokubimini::setup::Rokubimini > setup)
	Loads the configuration of the device from the {Rokubimini Setup} provided. More...

virtual void	publishRosMessages ()=0
	Publishes ROS messages with data from the rokubimini device. It's virtual because it's implementation specific. More...

	Rokubimini ()=default
	Default constructor. More...

virtual bool	saveConfigParameter ()=0
	Saves the current configuration to the device. It's virtual since it's implementation-specific. More...

virtual bool	setAccelerationFilter (const unsigned int filter)=0
	Sets an acceleration filter to the device. It's virtual since it's implementation-specific. More...

virtual bool	setAccelerationRange (const unsigned int range)=0
	Sets an acceleration range to the device. It's virtual since it's implementation-specific. More...

virtual bool	setAngularRateFilter (const unsigned int filter)=0
	Sets an angular rate filter to the device. It's virtual since it's implementation-specific. More...

virtual bool	setAngularRateRange (const unsigned int range)=0
	Sets an angular rate range to the device. It's virtual since it's implementation-specific. More...

virtual bool	setForceTorqueFilter (const configuration::ForceTorqueFilter &filter)=0
	Sets a force torque filter to the device. It's virtual since it's implementation-specific. More...

virtual bool	setForceTorqueOffset (const Eigen::Matrix< double, 6, 1 > &forceTorqueOffset)=0
	Sets a force torque offset to the device. It's virtual since it's implementation-specific. More...

void	setNodeHandle (const NodeHandlePtr &nh)
	Sets the nodeHandle of the device. More...

virtual bool	setSensorCalibration (const calibration::SensorCalibration &sensorCalibration)=0
	Sets a sensor calibration to the device. It's virtual since it's implementation-specific. More...

virtual bool	setSensorConfiguration (const configuration::SensorConfiguration &sensorConfiguration)=0
	Sets a sensor configuration to the device. It's virtual since it's implementation-specific. More...

virtual void	shutdownWithCommunication ()=0
	Shuts down a Rokubimini device before communication has been closed. More...

virtual void	shutdownWithoutCommunication ()

void	startupWithCommunication ()
	Starts up a Rokubimini device after communication has been established. More...

void	startupWithoutCommunication ()
	Starts up a Rokubimini device before communication has been established by the BusManager. More...

virtual void	updateProcessReading ()=0
	Updates the Rokubimini object with new measurements. More...

virtual	~Rokubimini ()=default

Protected Member Functions
virtual void	doStartupWithCommunication ()=0

void	setStatusword (Statusword &statusword)
	Sets the statusword of the device. More...

Protected Attributes
configuration::Configuration	configuration_
	The Configuration of the device. More...

std::multimap< int, DeviceDisconnectedCb, std::greater< int > >	deviceDisconnectedCbs_

std::multimap< int, DeviceReconnectedCb, std::greater< int > >	deviceReconnectedCbs_

std::multimap< int, ErrorCb, std::greater< int > >	errorCbs_

std::multimap< int, ErrorRecoveredCb, std::greater< int > >	errorRecoveredCbs_

std::multimap< int, FatalCb, std::greater< int > >	fatalCbs_

std::multimap< int, FatalRecoveredCb, std::greater< int > >	fatalRecoveredCbs_

std::string	name_
	The name of the device. More...

NodeHandlePtr	nh_
	The node handle of the ROS node, used by the publishers. More...

Reading	reading_
	The reading of the device. More...

std::multimap< int, ReadingCb, std::greater< int > >	readingCbs_

std::recursive_mutex	readingMutex_
	The mutex for accessing the reading. More...

Statusword	statusword_
	The current statusword. More...

std::atomic< bool >	statuswordRequested_ { false }
	Flag indicating if a statusword has been actively requested. More...

Static Protected Attributes
static constexpr double	NAN_VALUE = std::numeric_limits<double>::quiet_NaN()
	NaN abbreviation for convenience. More...

Detailed Description

Class representing a rokubi mini device.

Definition at line 25 of file Rokubimini.hpp.

Member Typedef Documentation

using rokubimini::Rokubimini::AnonymousErrorCb = std::function<void(void)>

Definition at line 39 of file Rokubimini.hpp.

using rokubimini::Rokubimini::AnonymousReadingCb = std::function<void(const Reading&)>

Definition at line 38 of file Rokubimini.hpp.

using rokubimini::Rokubimini::DeviceDisconnectedCb = std::function<void(const std::string&)>

Definition at line 34 of file Rokubimini.hpp.

using rokubimini::Rokubimini::DeviceReconnectedCb = std::function<void(const std::string&)>

Definition at line 35 of file Rokubimini.hpp.

using rokubimini::Rokubimini::ErrorCb = std::function<void(const std::string&)>

Definition at line 30 of file Rokubimini.hpp.

using rokubimini::Rokubimini::ErrorRecoveredCb = std::function<void(const std::string&)>

Definition at line 31 of file Rokubimini.hpp.

using rokubimini::Rokubimini::FatalCb = std::function<void(const std::string&)>

Definition at line 32 of file Rokubimini.hpp.

using rokubimini::Rokubimini::FatalRecoveredCb = std::function<void(const std::string&)>

Definition at line 33 of file Rokubimini.hpp.

using rokubimini::Rokubimini::NodeHandlePtr = std::shared_ptr<ros::NodeHandle>

Definition at line 28 of file Rokubimini.hpp.

using rokubimini::Rokubimini::ReadingCb = std::function<void(const std::string&, const Reading&)>

Definition at line 29 of file Rokubimini.hpp.

Constructor & Destructor Documentation

rokubimini::Rokubimini::Rokubimini ( )

default

Default constructor.

virtual rokubimini::Rokubimini::~Rokubimini ( )

virtualdefault

Member Function Documentation

void rokubimini::Rokubimini::addDeviceDisconnectedCb	(	const DeviceDisconnectedCb &	deviceDisconnectedCb,
		const int	priority = `0`
	)

inline

Adds a device disconnencted callback to a list.

Parameters

DeviceDisconnectedCb	The device disconnencted callback.
priority	The priority of the callback.

Definition at line 169 of file Rokubimini.hpp.

void rokubimini::Rokubimini::addDeviceReconnectedCb	(	const DeviceReconnectedCb &	deviceReconnectedCb,
		const int	priority = `0`
	)

inline

Adds a device reconnected callback to a list.

Parameters

DeviceReconnectedCb	The device reconnected callback.
priority	The priority of the callback.

Definition at line 182 of file Rokubimini.hpp.

void rokubimini::Rokubimini::addErrorCb	(	const ErrorCb &	errorCb,
		const int	priority = `0`
	)

inline

Adds an error callback to a list.

Parameters

errorCb	The error callback.
priority	The priority of the callback.

Definition at line 117 of file Rokubimini.hpp.

void rokubimini::Rokubimini::addErrorRecoveredCb	(	const ErrorRecoveredCb &	errorRecoveredCb,
		const int	priority = `0`
	)

inline

Adds an error recovered callback to a list.

Parameters

errorRecoveredCb	The error recovered callback.
priority	The priority of the callback.

Definition at line 130 of file Rokubimini.hpp.

void rokubimini::Rokubimini::addFatalCb	(	const FatalCb &	fatalCb,
		const int	priority = `0`
	)

inline

Adds an fatal callback to a list.

Parameters

fatalCb	The fatal callback.
priority	The priority of the callback.

Definition at line 143 of file Rokubimini.hpp.

void rokubimini::Rokubimini::addFatalRecoveredCb	(	const FatalRecoveredCb &	fatalRecoveredCb,
		const int	priority = `0`
	)

inline

Adds an fatal recovered callback to a list.

Parameters

fatalRecoveredCb	The fatal recovered callback.
priority	The priority of the callback.

Definition at line 156 of file Rokubimini.hpp.

void rokubimini::Rokubimini::addReadingCb	(	const ReadingCb &	readingCb,
		const int	priority = `0`
	)

inline

Adds a reading callback to a list.

Parameters

readingCb	The reading callback.
priority	The priority of the callback.

Definition at line 104 of file Rokubimini.hpp.

void rokubimini::Rokubimini::clearGoalStateEnum ( )

Clears the goal state enumeration.

Todo:: Fix me.

Definition at line 239 of file Rokubimini.hpp.

void rokubimini::Rokubimini::createRosPublishers ( )

pure virtual

Creates ROS publishers for the rokubimini device. It's virtual because it's implementation specific.

void rokubimini::Rokubimini::createRosServices ( )

pure virtual

Creates ROS services for the rokubimini device. It's virtual because it's implementation specific.

void rokubimini::Rokubimini::deviceDisconnectedCb ( )

Calls the callbacks in the device disconnected callbacks list.

Definition at line 116 of file Rokubimini.cpp.

bool rokubimini::Rokubimini::deviceIsInErrorState ( )

Checks if the device is in error state.

Returns: True if the device is in error state.

Definition at line 87 of file Rokubimini.cpp.

bool rokubimini::Rokubimini::deviceIsInFatalState ( )

Checks if the device is in fatal state.

Returns: True if the device is in fatal state.

Definition at line 110 of file Rokubimini.cpp.

bool rokubimini::Rokubimini::deviceIsMissing ( ) const

pure virtual

Checks if the device is missing.

Returns: True if the device is missing.

void rokubimini::Rokubimini::deviceReconnectedCb ( )

Calls the callbacks in the device reconnected callbacks list.

Definition at line 160 of file Rokubimini.cpp.

virtual void rokubimini::Rokubimini::doStartupWithCommunication ( )

protectedpure virtual

void rokubimini::Rokubimini::errorCb ( )

Calls the callbacks in the error callbacks list.

Definition at line 70 of file Rokubimini.cpp.

void rokubimini::Rokubimini::errorRecoveredCb ( )

Calls the callbacks in the error recovered callbacks list.

Definition at line 78 of file Rokubimini.cpp.

void rokubimini::Rokubimini::fatalCb ( )

Calls the callbacks in the fatal callbacks list.

Definition at line 93 of file Rokubimini.cpp.

void rokubimini::Rokubimini::fatalRecoveredCb ( )

Calls the callbacks in the fatal recovered callbacks list.

Definition at line 101 of file Rokubimini.cpp.

configuration::Configuration & rokubimini::Rokubimini::getConfiguration ( )

inline

Non-const version of getConfiguration() const. Gets the Configuration of the device.

Returns: The Configuration value.

Definition at line 69 of file Rokubimini.hpp.

const configuration::Configuration & rokubimini::Rokubimini::getConfiguration ( ) const

inline

Gets the Configuration of the device.

Returns: The Configuration value.

Definition at line 81 of file Rokubimini.hpp.

bool rokubimini::Rokubimini::getForceTorqueSamplingRate ( int & samplingRate )

pure virtual

Gets the force torque sampling rate of the device. It's virtual since it's implementation-specific.

Parameters

samplingRate The force torque sampling rate to be fetched.

Returns: True if the force torque sampling rate was successfully fetched.

std::string rokubimini::Rokubimini::getName ( ) const

inline

Gets the name of the device.

Returns: The name value.

Definition at line 57 of file Rokubimini.hpp.

Reading rokubimini::Rokubimini::getReading ( ) const

Gets the reading from the Rokubimini device.

Returns: The reading value.

Definition at line 169 of file Rokubimini.cpp.

void rokubimini::Rokubimini::getReading ( Reading & reading ) const

Gets the internal variable reading into the provided parameter.

Parameters

reading The reading to assign the internal reading variable.

Definition at line 175 of file Rokubimini.cpp.

bool rokubimini::Rokubimini::getSerialNumber ( unsigned int & serialNumber )

pure virtual

Gets the serial number of the device. It's virtual since it's implementation-specific.

Parameters

serialNumber The serial number to be fetched.

Returns: True if the serial number was successfully fetched.

Statusword rokubimini::Rokubimini::getStatusword ( ) const

inline

Gets the statusword of the device.

Returns: The statusword of the device.

Definition at line 333 of file Rokubimini.hpp.

bool rokubimini::Rokubimini::loadRokubiminiSetup ( std::shared_ptr< rokubimini::setup::Rokubimini > setup )

Loads the configuration of the device from the {Rokubimini Setup} provided.

Parameters

setup The {Rokubimini Setup} to load.

Returns: True if the load was successful.

Definition at line 8 of file Rokubimini.cpp.

void rokubimini::Rokubimini::publishRosMessages ( )

pure virtual

Publishes ROS messages with data from the rokubimini device. It's virtual because it's implementation specific.

bool rokubimini::Rokubimini::saveConfigParameter ( )

pure virtual

Saves the current configuration to the device. It's virtual since it's implementation-specific.

Returns: True if the configuration was successfully saved in the device.

bool rokubimini::Rokubimini::setAccelerationFilter ( const unsigned int filter )

pure virtual

Sets an acceleration filter to the device. It's virtual since it's implementation-specific.

Parameters

filter The filter to be set.

Returns: True if the acceleration torque filter was successfully set.

bool rokubimini::Rokubimini::setAccelerationRange ( const unsigned int range )

pure virtual

Sets an acceleration range to the device. It's virtual since it's implementation-specific.

Parameters

range The range to be set.

Returns: True if the acceleration range was successfully set.

bool rokubimini::Rokubimini::setAngularRateFilter ( const unsigned int filter )

pure virtual

Sets an angular rate filter to the device. It's virtual since it's implementation-specific.

Parameters

filter The filter to be set.

Returns: True if the angular rate filter was successfully set.

bool rokubimini::Rokubimini::setAngularRateRange ( const unsigned int range )

pure virtual

Sets an angular rate range to the device. It's virtual since it's implementation-specific.

Parameters

range The range to be set.

Returns: True if the angular rate range was successfully set.

bool rokubimini::Rokubimini::setForceTorqueFilter ( const configuration::ForceTorqueFilter & filter )

pure virtual

Sets a force torque filter to the device. It's virtual since it's implementation-specific.

Parameters

filter The filter to be set.

Returns: True if the force torque filter was successfully set.

bool rokubimini::Rokubimini::setForceTorqueOffset ( const Eigen::Matrix< double, 6, 1 > & forceTorqueOffset )

pure virtual

Sets a force torque offset to the device. It's virtual since it's implementation-specific.

Parameters

forceTorqueOffset The offset to be set.

Returns: True if the offset was successfully set.

void rokubimini::Rokubimini::setNodeHandle ( const NodeHandlePtr & nh )

inline

Sets the nodeHandle of the device.

Todo:: Methods for logging.

Parameters

nh	The nodeHanlde of the device.

Definition at line 503 of file Rokubimini.hpp.

bool rokubimini::Rokubimini::setSensorCalibration ( const calibration::SensorCalibration & sensorCalibration )

pure virtual

Sets a sensor calibration to the device. It's virtual since it's implementation-specific.

Parameters

sensorCalibration The calibration to be set.

Returns: True if the calibration was successfully set.

bool rokubimini::Rokubimini::setSensorConfiguration ( const configuration::SensorConfiguration & sensorConfiguration )

pure virtual

Sets a sensor configuration to the device. It's virtual since it's implementation-specific.

Parameters

sensorConfiguration The configuration to be set.

Returns: True if the configuration was successfully set.

void rokubimini::Rokubimini::setStatusword ( Statusword & statusword )

protected

Sets the statusword of the device.

Todo:: Check if needed.

Parameters

statusword The statusword to set.

Definition at line 181 of file Rokubimini.cpp.

void rokubimini::Rokubimini::shutdownWithCommunication ( )

pure virtual

Shuts down a Rokubimini device before communication has been closed.

Shuts down a Rokubimini device after communication has been closed.

This method shuts down a Rokubimini device before the BusManager has terminated communication with the device. It's virtual since it's implementation-specific.

This method shuts down a Rokubimini device after the BusManager has terminated communication with the device. It's virtual since it's implementation-specific.

virtual void rokubimini::Rokubimini::shutdownWithoutCommunication ( )

inlinevirtual

Definition at line 239 of file Rokubimini.hpp.

void rokubimini::Rokubimini::startupWithCommunication ( )

Starts up a Rokubimini device after communication has been established.

This method is virtual because it's implementation-specific.

Definition at line 15 of file Rokubimini.cpp.

void rokubimini::Rokubimini::startupWithoutCommunication ( )

Starts up a Rokubimini device before communication has been established by the BusManager.

Definition at line 61 of file Rokubimini.cpp.

void rokubimini::Rokubimini::updateProcessReading ( )

pure virtual

Updates the Rokubimini object with new measurements.

This method updates the internal Reading variable of Rokubimini, by getting the new values from its implementation. It's virtual since it's implementation-specific.

Member Data Documentation

configuration::Configuration rokubimini::Rokubimini::configuration_

protected

The Configuration of the device.

Definition at line 580 of file Rokubimini.hpp.

std::multimap<int, DeviceDisconnectedCb, std::greater<int> > rokubimini::Rokubimini::deviceDisconnectedCbs_

protected

Definition at line 668 of file Rokubimini.hpp.

std::multimap<int, DeviceReconnectedCb, std::greater<int> > rokubimini::Rokubimini::deviceReconnectedCbs_

protected

Definition at line 676 of file Rokubimini.hpp.

std::multimap<int, ErrorCb, std::greater<int> > rokubimini::Rokubimini::errorCbs_

protected

Definition at line 636 of file Rokubimini.hpp.

std::multimap<int, ErrorRecoveredCb, std::greater<int> > rokubimini::Rokubimini::errorRecoveredCbs_

protected

Definition at line 644 of file Rokubimini.hpp.

std::multimap<int, FatalCb, std::greater<int> > rokubimini::Rokubimini::fatalCbs_

protected

Definition at line 652 of file Rokubimini.hpp.

std::multimap<int, FatalRecoveredCb, std::greater<int> > rokubimini::Rokubimini::fatalRecoveredCbs_

protected

Definition at line 660 of file Rokubimini.hpp.

std::string rokubimini::Rokubimini::name_

protected

The name of the device.

Definition at line 572 of file Rokubimini.hpp.

static constexpr double rokubimini::Rokubimini::NAN_VALUE = std::numeric_limits<double>::quiet_NaN()

staticprotected

NaN abbreviation for convenience.

Definition at line 564 of file Rokubimini.hpp.

std::shared_ptr< ros::NodeHandle > rokubimini::Rokubimini::nh_

protected

The node handle of the ROS node, used by the publishers.

Definition at line 620 of file Rokubimini.hpp.

Reading rokubimini::Rokubimini::reading_

protected

The reading of the device.

Definition at line 612 of file Rokubimini.hpp.

std::multimap<int, ReadingCb, std::greater<int> > rokubimini::Rokubimini::readingCbs_

protected

Definition at line 628 of file Rokubimini.hpp.

std::recursive_mutex rokubimini::Rokubimini::readingMutex_

mutableprotected

The mutex for accessing the reading.

Definition at line 604 of file Rokubimini.hpp.

Statusword rokubimini::Rokubimini::statusword_

protected

The current statusword.

Definition at line 588 of file Rokubimini.hpp.

std::atomic< bool > rokubimini::Rokubimini::statuswordRequested_ { false }

protected

Flag indicating if a statusword has been actively requested.

Definition at line 596 of file Rokubimini.hpp.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation