#include <action_module.h>

Inheritance diagram for thormang3::ActionModule:

Public Member Functions
	ActionModule ()

void	actionPlayProcess (std::map< std::string, robotis_framework::Dynamixel * > dxls)

void	brake ()

bool	createFile (std::string file_name)

void	enableAllJoints ()

void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

bool	isRunning ()

bool	isRunning (int playing_page_num, int playing_step_num)

bool	loadFile (std::string file_name)

bool	loadPage (int page_number, action_file_define::Page *page)

void	onModuleDisable ()

void	onModuleEnable ()

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)

void	resetPage (action_file_define::Page *page)

bool	savePage (int page_number, action_file_define::Page *page)

bool	start (int page_number)

bool	start (std::string page_name)

bool	start (int page_number, action_file_define::Page *page)

void	stop ()

virtual	~ActionModule ()

Public Member Functions inherited from robotis_framework::MotionModule
ControlMode	getControlMode ()

bool	getModuleEnable ()

std::string	getModuleName ()

void	setModuleEnable (bool enable)

virtual	~MotionModule ()

Private Member Functions
std::string	convertIntToString (int n)

int	convertRadTow4095 (double rad)

double	convertw4095ToRad (int w4095)

bool	isRunningServiceCallback (thormang3_action_module_msgs::IsRunning::Request &req, thormang3_action_module_msgs::IsRunning::Response &res)

void	pageNumberCallback (const std_msgs::Int32::ConstPtr &msg)

void	publishDoneMsg (std::string msg)

void	publishStatusMsg (unsigned int type, std::string msg)

void	queueThread ()

void	setChecksum (action_file_define::Page *page)

void	startActionCallback (const thormang3_action_module_msgs::StartAction::ConstPtr &msg)

bool	verifyChecksum (action_file_define::Page *page)

Private Attributes
FILE *	action_file_

std::map< std::string, bool >	action_joints_enable_

bool	action_module_enabled_

std::map< std::string, robotis_framework::DynamixelState * >	action_result_

int	control_cycle_msec_

action_file_define::Step	current_step_

ros::Publisher	done_msg_pub_

bool	first_driving_start_

std::map< int, std::string >	joint_id_to_name_

std::map< std::string, int >	joint_name_to_id_

const int	MAIN_SECTION

action_file_define::Page	next_play_page_

const int	NONE_ZERO_FINISH

int	page_step_count_

const int	PAUSE_SECTION

action_file_define::Page	play_page_

int	play_page_idx_

bool	playing_

bool	playing_finished_

const int	POST_SECTION

const int	PRE_SECTION

bool	present_running_

bool	previous_running_

boost::thread	queue_thread_

ros::Publisher	status_msg_pub_

bool	stop_playing_

const int	ZERO_FINISH

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< ActionModule >
static void	destroyInstance ()

static T *	getInstance ()

Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_

Protected Member Functions inherited from robotis_framework::Singleton< ActionModule >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_

bool	enable_

std::string	module_name_

Detailed Description

Definition at line 49 of file action_module.h.

Constructor & Destructor Documentation

ActionModule::ActionModule ( )

Definition at line 37 of file action_module.cpp.

ActionModule::~ActionModule ( )

virtual

Definition at line 75 of file action_module.cpp.

Member Function Documentation

void ActionModule::actionPlayProcess ( std::map< std::string, robotis_framework::Dynamixel * > dxls )

Definition at line 575 of file action_module.cpp.

void ActionModule::brake ( )

Definition at line 484 of file action_module.cpp.

std::string ActionModule::convertIntToString ( int n )

private

Definition at line 31 of file action_module.cpp.

int ActionModule::convertRadTow4095 ( double rad )

private

Definition at line 317 of file action_module.cpp.

double ActionModule::convertw4095ToRad ( int w4095 )

private

Definition at line 322 of file action_module.cpp.

bool ActionModule::createFile ( std::string file_name )

Definition at line 388 of file action_module.cpp.

void ActionModule::enableAllJoints ( )

Definition at line 565 of file action_module.cpp.

void ActionModule::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 84 of file action_module.cpp.

bool ActionModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 312 of file action_module.cpp.

bool ActionModule::isRunning	(	int *	playing_page_num,
		int *	playing_step_num
	)

Definition at line 489 of file action_module.cpp.

bool ActionModule::isRunningServiceCallback	(	thormang3_action_module_msgs::IsRunning::Request &	req,
		thormang3_action_module_msgs::IsRunning::Response &	res
	)

private

Definition at line 136 of file action_module.cpp.

bool ActionModule::loadFile ( std::string file_name )

Definition at line 360 of file action_module.cpp.

bool ActionModule::loadPage	(	int	page_number,
		action_file_define::Page *	page
	)

Definition at line 500 of file action_module.cpp.

void ActionModule::onModuleDisable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 301 of file action_module.cpp.

void ActionModule::onModuleEnable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 296 of file action_module.cpp.

void ActionModule::pageNumberCallback ( const std_msgs::Int32::ConstPtr & msg )

private

Definition at line 143 of file action_module.cpp.

void ActionModule::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, double >	sensors
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 241 of file action_module.cpp.

void ActionModule::publishDoneMsg ( std::string msg )

private

Definition at line 1042 of file action_module.cpp.

void ActionModule::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

private

Definition at line 1031 of file action_module.cpp.

void ActionModule::queueThread ( )

private

Definition at line 113 of file action_module.cpp.

void ActionModule::resetPage ( action_file_define::Page * page )

Definition at line 535 of file action_module.cpp.

bool ActionModule::savePage	(	int	page_number,
		action_file_define::Page *	page
	)

Definition at line 519 of file action_module.cpp.

void ActionModule::setChecksum ( action_file_define::Page * page )

private

Definition at line 344 of file action_module.cpp.

bool ActionModule::start ( int page_number )

Definition at line 413 of file action_module.cpp.

bool ActionModule::start ( std::string page_name )

Definition at line 427 of file action_module.cpp.

bool ActionModule::start	(	int	page_number,
		action_file_define::Page *	page
	)

Definition at line 449 of file action_module.cpp.

void ActionModule::startActionCallback ( const thormang3_action_module_msgs::StartAction::ConstPtr & msg )

private

Definition at line 183 of file action_module.cpp.

void ActionModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 307 of file action_module.cpp.

bool ActionModule::verifyChecksum ( action_file_define::Page * page )

private

Definition at line 327 of file action_module.cpp.

Member Data Documentation

FILE* thormang3::ActionModule::action_file_

private

Definition at line 109 of file action_module.h.

std::map<std::string, bool> thormang3::ActionModule::action_joints_enable_

private

Definition at line 99 of file action_module.h.

bool thormang3::ActionModule::action_module_enabled_

private

Definition at line 122 of file action_module.h.

std::map<std::string, robotis_framework::DynamixelState *> thormang3::ActionModule::action_result_

private

Definition at line 100 of file action_module.h.

int thormang3::ActionModule::control_cycle_msec_

private

Definition at line 101 of file action_module.h.

action_file_define::Step thormang3::ActionModule::current_step_

private

Definition at line 112 of file action_module.h.

ros::Publisher thormang3::ActionModule::done_msg_pub_

private

Definition at line 105 of file action_module.h.

bool thormang3::ActionModule::first_driving_start_

private

Definition at line 115 of file action_module.h.

std::map<int, std::string> thormang3::ActionModule::joint_id_to_name_

private

Definition at line 108 of file action_module.h.

std::map<std::string, int> thormang3::ActionModule::joint_name_to_id_

private

Definition at line 107 of file action_module.h.

const int thormang3::ActionModule::MAIN_SECTION

private

Definition at line 127 of file action_module.h.

action_file_define::Page thormang3::ActionModule::next_play_page_

private

Definition at line 111 of file action_module.h.

const int thormang3::ActionModule::NONE_ZERO_FINISH

private

Definition at line 131 of file action_module.h.

int thormang3::ActionModule::page_step_count_

private

Definition at line 116 of file action_module.h.

const int thormang3::ActionModule::PAUSE_SECTION

private

Definition at line 129 of file action_module.h.

action_file_define::Page thormang3::ActionModule::play_page_

private

Definition at line 110 of file action_module.h.

int thormang3::ActionModule::play_page_idx_

private

Definition at line 114 of file action_module.h.

bool thormang3::ActionModule::playing_

private

Definition at line 118 of file action_module.h.

bool thormang3::ActionModule::playing_finished_

private

Definition at line 120 of file action_module.h.

const int thormang3::ActionModule::POST_SECTION

private

Definition at line 128 of file action_module.h.

const int thormang3::ActionModule::PRE_SECTION

private

Definition at line 126 of file action_module.h.

bool thormang3::ActionModule::present_running_

private

Definition at line 124 of file action_module.h.

bool thormang3::ActionModule::previous_running_

private

Definition at line 123 of file action_module.h.

boost::thread thormang3::ActionModule::queue_thread_

private

Definition at line 102 of file action_module.h.

ros::Publisher thormang3::ActionModule::status_msg_pub_

private

Definition at line 104 of file action_module.h.

bool thormang3::ActionModule::stop_playing_

private

Definition at line 119 of file action_module.h.

const int thormang3::ActionModule::ZERO_FINISH

private

Definition at line 130 of file action_module.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