#include <RokubiminiSerial.hpp>

Inheritance diagram for rokubimini::serial::RokubiminiSerial:

Public Member Functions
void	createRosPublishers () override
	Adds ROS publishers related to the device. More...

void	createRosServices () override
	Adds ROS services related to the device. More...

bool	deviceIsMissing () const override
	Checks if the device is missing. More...

void	doStartupWithCommunication () override
	Starts up a Rokubimini Serial device after communication has been established. More...

bool	firmwareUpdateCallback (rokubimini_msgs::FirmwareUpdateSerial::Request &request, rokubimini_msgs::FirmwareUpdateSerial::Response &response)
	The callback for the firmware update ROS service. More...

bool	getForceTorqueSamplingRate (int &samplingRate) override
	Gets the force torque sampling rate of the device. More...

bool	getSerialNumber (unsigned int &serialNumber) override
	Gets the serial number of the device. More...

bool	init ()
	Initializes communication with a Rokubimini Serial device. More...

bool	loadConfig ()
	Loads the configuration of the device. More...

bool	printUserConfig ()
	Prints all the user configurable parameters. More...

void	publishRosMessages () override
	Publishes ROS messages with data from the rokubimini device. More...

bool	resetWrenchCallback (rokubimini_msgs::ResetWrench::Request &request, rokubimini_msgs::ResetWrench::Response &response)
	The callback for the reset wrench ROS service. More...

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

bool	saveConfigParameter () override
	Saves the current configuration to the device. More...

bool	setAccelerationFilter (const unsigned int filter) override
	Sets an acceleration filter to the device. More...

bool	setAccelerationRange (const unsigned int range) override
	Sets an acceleration range to the device. More...

bool	setAngularRateFilter (const unsigned int filter) override
	Sets an angular rate filter to the device. More...

bool	setAngularRateRange (const unsigned int range) override
	Sets an angular rate range to the device. More...

bool	setConfigMode ()
	Sets the device in config mode. More...

bool	setForceTorqueFilter (const configuration::ForceTorqueFilter &filter) override
	Sets a force torque filter to the device. More...

bool	setForceTorqueOffset (const Eigen::Matrix< double, 6, 1 > &forceTorqueOffset) override
	Sets a force torque offset to the device. More...

bool	setHardwareReset ()
	Triggers a hardware reset of the sensor. More...

void	setImplPointer (const RokubiminiSerialImplPtr &implPtr)
	Sets a pointer to the implementation. More...

bool	setInitMode ()
	Triggers a software reset of the sensor bringing it to a known state. More...

bool	setRunMode ()
	Sets the device in run mode. More...

bool	setSensorCalibration (const calibration::SensorCalibration &sensorCalibration) override
	Sets a sensor calibration to the device. More...

bool	setSensorConfiguration (const configuration::SensorConfiguration &sensorConfiguration) override
	Sets a sensor configuration to the device. More...

void	setState (const uint16_t state)
	Sets the state of the device in the bus (unused). More...

void	shutdownWithCommunication () override
	Shuts down a Rokubimini Serial device before communication has been closed. More...

void	signalShutdown ()
	Signals shutdown for the ROS node. It's used if a firmware update was successful. More...

void	updateProcessReading () override
	Updates the RokubiminiSerial object with new measurements. More...

bool	waitForState (const uint16_t state)
	Wait for a state to be reached (unused). More...

	~RokubiminiSerial () override=default

Public Member Functions inherited from rokubimini::Rokubimini
void	addDeviceDisconnectedCb (const DeviceDisconnectedCb &deviceDisconnectedCb, const int priority=0)

void	addDeviceReconnectedCb (const DeviceReconnectedCb &deviceReconnectedCb, const int priority=0)

void	addErrorCb (const ErrorCb &errorCb, const int priority=0)

void	addErrorRecoveredCb (const ErrorRecoveredCb &errorRecoveredCb, const int priority=0)

void	addFatalCb (const FatalCb &fatalCb, const int priority=0)

void	addFatalRecoveredCb (const FatalRecoveredCb &fatalRecoveredCb, const int priority=0)

void	addReadingCb (const ReadingCb &readingCb, const int priority=0)

void	clearGoalStateEnum ()

void	deviceDisconnectedCb ()

bool	deviceIsInErrorState ()

bool	deviceIsInFatalState ()

void	deviceReconnectedCb ()

void	errorCb ()

void	errorRecoveredCb ()

void	fatalCb ()

void	fatalRecoveredCb ()

configuration::Configuration &	getConfiguration ()

const configuration::Configuration &	getConfiguration () const

std::string	getName () const

Reading	getReading () const

void	getReading (Reading &reading) const

Statusword	getStatusword () const

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

	Rokubimini ()=default

void	setNodeHandle (const NodeHandlePtr &nh)

virtual void	shutdownWithoutCommunication ()

void	startupWithCommunication ()

void	startupWithoutCommunication ()

virtual	~Rokubimini ()=default

Protected Types
using	RosPublisherPtr = std::shared_ptr< ros::Publisher >

Protected Attributes
std::atomic< bool >	computeMeanWrenchFlag_ { false }
	The flag for enabling the computation of the mean of the wrench measurements. Used withing the "reset service" callback. More...

ros::ServiceServer	firmwareUpdateService_
	The service for firmware updates. More...

RokubiminiSerialImplPtr	implPtr_ { nullptr }
	The pointer to implementation. More...

geometry_msgs::Wrench	meanWrenchOffset_
	The computed mean wrench offset. Used for the "reset service" callback. More...

std::recursive_mutex	meanWrenchOffsetMutex_
	The mutex for accessing the mean of the wrench measurements. Used for the "reset service" callback. More...

uint64_t	noFrameSyncCounter_ { 0 }
	The counter for measuring failed frame synchronizations. More...

RosPublisherPtr	readingPublisher_
	The rokubimini_msgs::Reading publisher. More...

ros::ServiceServer	resetWrenchService_
	The service for resetting the sensor wrench measurements. More...

RosPublisherPtr	temperaturePublisher_
	The sensor_msgs::Temperature publisher. More...

std::atomic< uint32_t >	wrenchMessageCount_ { 0 }
	The counter that is used for the computation of the mean of the wrench measurements. Used for the "reset service" callback. More...

RosPublisherPtr	wrenchPublisher_
	The sensor_msgs::Wrench publisher. More...

Protected Attributes inherited from rokubimini::Rokubimini
configuration::Configuration	configuration_

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_

NodeHandlePtr	nh_

Reading	reading_

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

std::recursive_mutex	readingMutex_

Statusword	statusword_

std::atomic< bool >	statuswordRequested_

Static Protected Attributes
static const uint32_t	TOTAL_NUMBER_OF_WRENCH_MESSAGES = 200

Static Protected Attributes inherited from rokubimini::Rokubimini
static constexpr double	NAN_VALUE

Additional Inherited Members
Public Types inherited from rokubimini::Rokubimini
typedef std::function< void(void)>	AnonymousErrorCb

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

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

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

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

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

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

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

typedef std::shared_ptr< ros::NodeHandle >	NodeHandlePtr

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

Protected Member Functions inherited from rokubimini::Rokubimini
void	setStatusword (Statusword &statusword)

Detailed Description

The Rokubimini Serial class.

Inherits from the Rokubimini class. It's the interface in the BRIDGE pattern used. It provides the API to be called by client code and is used for interfacing with the implementation class called RokubiminiSerialImpl.

Definition at line 25 of file RokubiminiSerial.hpp.

Member Typedef Documentation

using rokubimini::serial::RokubiminiSerial::RosPublisherPtr = std::shared_ptr<ros::Publisher>

protected

Definition at line 409 of file RokubiminiSerial.hpp.

Constructor & Destructor Documentation

rokubimini::serial::RokubiminiSerial::RokubiminiSerial ( )

default

Default constructor.

The default constructor of the RokubiminiSerial class.

rokubimini::serial::RokubiminiSerial::~RokubiminiSerial ( )

overridedefault

Member Function Documentation

void rokubimini::serial::RokubiminiSerial::createRosPublishers ( )

overridevirtual

Adds ROS publishers related to the device.

Implements rokubimini::Rokubimini.

Definition at line 196 of file RokubiminiSerial.cpp.

void rokubimini::serial::RokubiminiSerial::createRosServices ( )

overridevirtual

Adds ROS services related to the device.

Implements rokubimini::Rokubimini.

Definition at line 338 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::deviceIsMissing ( ) const

overridevirtual

Checks if the device is missing.

Implements rokubimini::Rokubimini.

Definition at line 93 of file RokubiminiSerial.cpp.

void rokubimini::serial::RokubiminiSerial::doStartupWithCommunication ( )

overridevirtual

Starts up a Rokubimini Serial device after communication has been established.

This method starts up a Rokubimini Serial device after the SerialBusManager has established communication with the device.

Implements rokubimini::Rokubimini.

Definition at line 10 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::firmwareUpdateCallback	(	rokubimini_msgs::FirmwareUpdateSerial::Request &	request,
		rokubimini_msgs::FirmwareUpdateSerial::Response &	response
	)

The callback for the firmware update ROS service.

Parameters

request	The request of the ROS service.
response	The response of the ROS service.

Returns: True always.

Definition at line 262 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::getForceTorqueSamplingRate ( int & samplingRate )

overridevirtual

Gets the force torque sampling rate of the device.

Parameters

samplingRate The force torque sampling rate to be fetched.

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

Implements rokubimini::Rokubimini.

Definition at line 103 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::getSerialNumber ( unsigned int & serialNumber )

overridevirtual

Gets the serial number of the device.

Parameters

serialNumber The serial number to be fetched.

Returns: True if the serial number was successfully fetched.

Implements rokubimini::Rokubimini.

Definition at line 98 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::init ( )

Initializes communication with a Rokubimini Serial device.

This method is called by the SerialBusManager to establish communication with the device.

Definition at line 22 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::loadConfig ( )

Loads the configuration of the device.

Returns: True if the operation was successful.

Definition at line 173 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::printUserConfig ( )

Prints all the user configurable parameters.

Returns: True if the operation was successful.

Definition at line 178 of file RokubiminiSerial.cpp.

void rokubimini::serial::RokubiminiSerial::publishRosMessages ( )

overridevirtual

Publishes ROS messages with data from the rokubimini device.

Implements rokubimini::Rokubimini.

Definition at line 208 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::resetWrenchCallback	(	rokubimini_msgs::ResetWrench::Request &	request,
		rokubimini_msgs::ResetWrench::Response &	response
	)

The callback for the reset wrench ROS service.

Parameters

request	The request of the ROS service.
response	The response of the ROS service.

Returns: True always.

Definition at line 275 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::saveConfigParameter ( )

overridevirtual

Saves the current configuration to the device.

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

Implements rokubimini::Rokubimini.

Definition at line 168 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setAccelerationFilter ( const unsigned int filter )

overridevirtual

Sets an acceleration filter to the device.

Parameters

filter The filter to be set.

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

Implements rokubimini::Rokubimini.

Definition at line 113 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setAccelerationRange ( const unsigned int range )

overridevirtual

Sets an acceleration range to the device.

Parameters

range The range to be set.

Returns: True if the acceleration range was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 123 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setAngularRateFilter ( const unsigned int filter )

overridevirtual

Sets an angular rate filter to the device.

Parameters

filter The filter to be set.

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

Implements rokubimini::Rokubimini.

Definition at line 118 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setAngularRateRange ( const unsigned int range )

overridevirtual

Sets an angular rate range to the device.

Parameters

range The range to be set.

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

Implements rokubimini::Rokubimini.

Definition at line 128 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setConfigMode ( )

Sets the device in config mode.

Returns: True if the operation was successful.

Definition at line 158 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setForceTorqueFilter ( const configuration::ForceTorqueFilter & filter )

overridevirtual

Sets a force torque filter to the device.

Parameters

filter The filter to be set.

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

Implements rokubimini::Rokubimini.

Definition at line 108 of file RokubiminiSerial.cpp.

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

overridevirtual

Sets a force torque offset to the device.

Parameters

forceTorqueOffset The offset to be set.

Returns: True if the offset was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 133 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setHardwareReset ( )

Triggers a hardware reset of the sensor.

Returns: True if the operation was successful.

Definition at line 183 of file RokubiminiSerial.cpp.

void rokubimini::serial::RokubiminiSerial::setImplPointer ( const RokubiminiSerialImplPtr & implPtr )

inline

Sets a pointer to the implementation.

This method realizes the pimpl paradigm. Through it, the RokubiminiSerial object holds a pointer to its implementation, a RokubiminiSerialImpl object.

Parameters

implPtr The pointer to the RokubiminiSerialImpl implementation.

Definition at line 107 of file RokubiminiSerial.hpp.

bool rokubimini::serial::RokubiminiSerial::setInitMode ( )

Triggers a software reset of the sensor bringing it to a known state.

Returns: True if the operation was successful.

Definition at line 188 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setRunMode ( )

Sets the device in run mode.

Returns: True if the operation was successful.

Definition at line 163 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setSensorCalibration ( const calibration::SensorCalibration & sensorCalibration )

overridevirtual

Sets a sensor calibration to the device.

Parameters

sensorCalibration The calibration to be set.

Returns: True if the calibration was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 148 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::setSensorConfiguration ( const configuration::SensorConfiguration & sensorConfiguration )

overridevirtual

Sets a sensor configuration to the device.

Parameters

sensorConfiguration The configuration to be set.

Returns: True if the configuration was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 138 of file RokubiminiSerial.cpp.

void rokubimini::serial::RokubiminiSerial::setState ( const uint16_t state )

inline

Sets the state of the device in the bus (unused).

Parameters

state Desired state.

Definition at line 121 of file RokubiminiSerial.hpp.

void rokubimini::serial::RokubiminiSerial::shutdownWithCommunication ( )

overridevirtual

Shuts down a Rokubimini Serial device before communication has been closed.

This method shuts down a Rokubimini Serial device before the SerialBusManager has terminated communication with the device.

Implements rokubimini::Rokubimini.

Definition at line 88 of file RokubiminiSerial.cpp.

void rokubimini::serial::RokubiminiSerial::signalShutdown ( )

Signals shutdown for the ROS node. It's used if a firmware update was successful.

Definition at line 255 of file RokubiminiSerial.cpp.

void rokubimini::serial::RokubiminiSerial::updateProcessReading ( )

overridevirtual

Updates the RokubiminiSerial object with new measurements.

This method updates the internal Reading variable of RokubiminiSerial, by getting the new values from its implementation RokubiminiSerialImpl.

Implements rokubimini::Rokubimini.

Definition at line 34 of file RokubiminiSerial.cpp.

bool rokubimini::serial::RokubiminiSerial::waitForState ( const uint16_t state )

inline

Wait for a state to be reached (unused).

Parameters

state Desired state.

Returns: True if the state has been reached within the timeout.

Definition at line 136 of file RokubiminiSerial.hpp.

Member Data Documentation

std::atomic< bool > rokubimini::serial::RokubiminiSerial::computeMeanWrenchFlag_ { false }

protected

The flag for enabling the computation of the mean of the wrench measurements. Used withing the "reset service" callback.

Definition at line 466 of file RokubiminiSerial.hpp.

ros::ServiceServer rokubimini::serial::RokubiminiSerial::firmwareUpdateService_

protected

The service for firmware updates.

Definition at line 441 of file RokubiminiSerial.hpp.

RokubiminiSerialImplPtr rokubimini::serial::RokubiminiSerial::implPtr_ { nullptr }

protected

The pointer to implementation.

Definition at line 407 of file RokubiminiSerial.hpp.

geometry_msgs::Wrench rokubimini::serial::RokubiminiSerial::meanWrenchOffset_

protected

The computed mean wrench offset. Used for the "reset service" callback.

Definition at line 500 of file RokubiminiSerial.hpp.

std::recursive_mutex rokubimini::serial::RokubiminiSerial::meanWrenchOffsetMutex_

mutableprotected

The mutex for accessing the mean of the wrench measurements. Used for the "reset service" callback.

Definition at line 483 of file RokubiminiSerial.hpp.

uint64_t rokubimini::serial::RokubiminiSerial::noFrameSyncCounter_ { 0 }

protected

The counter for measuring failed frame synchronizations.

Definition at line 457 of file RokubiminiSerial.hpp.

RosPublisherPtr rokubimini::serial::RokubiminiSerial::readingPublisher_

protected

The rokubimini_msgs::Reading publisher.

Definition at line 417 of file RokubiminiSerial.hpp.

ros::ServiceServer rokubimini::serial::RokubiminiSerial::resetWrenchService_

protected

The service for resetting the sensor wrench measurements.

Definition at line 449 of file RokubiminiSerial.hpp.

RosPublisherPtr rokubimini::serial::RokubiminiSerial::temperaturePublisher_

protected

The sensor_msgs::Temperature publisher.

Definition at line 433 of file RokubiminiSerial.hpp.

const uint32_t rokubimini::serial::RokubiminiSerial::TOTAL_NUMBER_OF_WRENCH_MESSAGES = 200

staticprotected

Definition at line 492 of file RokubiminiSerial.hpp.

std::atomic< uint32_t > rokubimini::serial::RokubiminiSerial::wrenchMessageCount_ { 0 }

protected

The counter that is used for the computation of the mean of the wrench measurements. Used for the "reset service" callback.

Definition at line 475 of file RokubiminiSerial.hpp.

RosPublisherPtr rokubimini::serial::RokubiminiSerial::wrenchPublisher_

protected

The sensor_msgs::Wrench publisher.

Definition at line 425 of file RokubiminiSerial.hpp.

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

Public Member Functions

Protected Types

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation