#include <ros_chain.h>

Inheritance diagram for canopen::RosChain:

[legend]

Classes
struct	HeartbeatSender

Public Member Functions
	RosChain (const ros::NodeHandle &nh, const ros::NodeHandle &nh_priv)

bool	setup ()

virtual	~RosChain ()

Public Member Functions inherited from canopen::LayerStack
	LayerStack (const std::string &n)

Public Member Functions inherited from LayerGroup<>
	LayerGroup (const std::string &n)

Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)

LayerState	getLayerState ()

void	halt (LayerStatus &status)

void	init (LayerStatus &status)

	Layer (const std::string &n)

void	read (LayerStatus &status)

void	recover (LayerStatus &status)

void	shutdown (LayerStatus &status)

void	write (LayerStatus &status)

virtual	~Layer ()

Public Member Functions inherited from VectorHelper< Layer >
virtual void	add (const VectorMemberSharedPtr &l)

bool	callFunc (FuncType func, Data &status)

Protected Member Functions
bool	handle_get_object (canopen_chain_node::GetObject::Request &req, canopen_chain_node::GetObject::Response &res)

virtual bool	handle_halt (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

virtual bool	handle_init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

virtual bool	handle_recover (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	handle_set_object (canopen_chain_node::SetObject::Request &req, canopen_chain_node::SetObject::Response &res)

virtual bool	handle_shutdown (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

virtual void	handleShutdown (LayerStatus &status)

virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)

void	logState (const can::State &s)

virtual bool	nodeAdded (XmlRpc::XmlRpcValue &params, const canopen::NodeSharedPtr &node, const LoggerSharedPtr &logger)

void	report_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	run ()

bool	setup_bus ()

virtual bool	setup_chain ()

bool	setup_heartbeat ()

bool	setup_nodes ()

bool	setup_sync ()

Protected Member Functions inherited from LayerGroup<>
void	call_or_fail (FuncType func, FailType fail, Data &status)

void	call_or_fail_rev (FuncType func, FailType fail, Data &status)

virtual void	handleDiag (LayerReport &report)

virtual void	handleHalt (LayerStatus &status)

virtual void	handleInit (LayerStatus &status)

virtual void	handleRead (LayerStatus &status, const LayerState &current_state)

virtual void	handleRecover (LayerStatus &status)

virtual void	handleShutdown (LayerStatus &status)

virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)

Protected Member Functions inherited from canopen::Layer
virtual void	handleDiag (LayerReport &report)=0

virtual void	handleHalt (LayerStatus &status)=0

virtual void	handleInit (LayerStatus &status)=0

virtual void	handleRead (LayerStatus &status, const LayerState &current_state)=0

virtual void	handleRecover (LayerStatus &status)=0

Protected Member Functions inherited from VectorHelper< Layer >
vector_type::iterator	call (FuncType func, Data &status)

vector_type::iterator	call (FuncType func, Data &status)

vector_type::reverse_iterator	call_rev (FuncType func, Data &status)

vector_type::reverse_iterator	call_rev (FuncType func, Data &status)

void	destroy ()

Protected Attributes
boost::mutex	diag_mutex_

ros::Timer	diag_timer_

diagnostic_updater::Updater	diag_updater_

boost::shared_ptr< canopen::LayerGroupNoDiag< canopen::EMCYHandler > >	emcy_handlers_

struct canopen::RosChain::HeartbeatSender	hb_sender_

Timer	heartbeat_timer_

can::DriverInterfaceSharedPtr	interface_

std::vector< LoggerSharedPtr >	loggers_

MasterSharedPtr	master_

boost::mutex	mutex_

ros::NodeHandle	nh_

ros::NodeHandle	nh_priv_

boost::shared_ptr< canopen::LayerGroupNoDiag< canopen::Node > >	nodes_

std::map< std::string, canopen::NodeSharedPtr >	nodes_lookup_

std::vector< PublishFunc::FuncType >	publishers_

bool	reset_errors_before_recover_

boost::atomic< bool >	running_

ros::ServiceServer	srv_get_object_

ros::ServiceServer	srv_halt_

ros::ServiceServer	srv_init_

ros::ServiceServer	srv_recover_

ros::ServiceServer	srv_set_object_

ros::ServiceServer	srv_shutdown_

can::StateListenerConstSharedPtr	state_listener_

canopen::SyncLayerSharedPtr	sync_

boost::scoped_ptr< boost::thread >	thread_

time_duration	update_duration_

Private Attributes
GuardedClassLoader< can::DriverInterface >	driver_loader_

ClassAllocator< canopen::Master >	master_allocator_

Additional Inherited Members
Public Types inherited from canopen::Layer
enum	LayerState

Public Types inherited from VectorHelper< Layer >
typedef boost::shared_ptr< Layer >	VectorMemberSharedPtr

Public Attributes inherited from canopen::Layer
	Error

	Halt

	Init

const std::string	name

	Off

	Ready

	Recover

	Shutdown

Protected Types inherited from VectorHelper< Layer >
typedef std::vector< VectorMemberSharedPtr >	vector_type

Private Types inherited from canopen::GuardedClassLoaderList
typedef boost::shared_ptr< pluginlib::ClassLoaderBase >	ClassLoaderBaseSharedPtr

Private Member Functions inherited from canopen::GuardedClassLoaderList
	~GuardedClassLoaderList ()

Static Private Member Functions inherited from canopen::GuardedClassLoaderList
static void	addLoader (ClassLoaderBaseSharedPtr b)

Detailed Description

Definition at line 160 of file ros_chain.h.

Constructor & Destructor Documentation

canopen::RosChain::RosChain	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_priv
	)

Definition at line 533 of file ros_chain.cpp.

canopen::RosChain::~RosChain ( )

virtual

Definition at line 571 of file ros_chain.cpp.

Member Function Documentation

bool canopen::RosChain::handle_get_object	(	canopen_chain_node::GetObject::Request &	req,
		canopen_chain_node::GetObject::Response &	res
	)

protected

Definition at line 188 of file ros_chain.cpp.

bool canopen::RosChain::handle_halt	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

protectedvirtual

Definition at line 175 of file ros_chain.cpp.

bool canopen::RosChain::handle_init	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

protectedvirtual

Definition at line 73 of file ros_chain.cpp.

bool canopen::RosChain::handle_recover	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

protectedvirtual

Definition at line 111 of file ros_chain.cpp.

bool canopen::RosChain::handle_set_object	(	canopen_chain_node::SetObject::Request &	req,
		canopen_chain_node::SetObject::Response &	res
	)

protected

Definition at line 203 of file ros_chain.cpp.

bool canopen::RosChain::handle_shutdown	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

protectedvirtual

Definition at line 161 of file ros_chain.cpp.

void canopen::RosChain::handleShutdown ( LayerStatus & status )

protectedvirtual

Reimplemented from canopen::LayerStack.

Definition at line 149 of file ros_chain.cpp.

void canopen::RosChain::handleWrite	(	LayerStatus &	status,
		const LayerState &	current_state
	)

protectedvirtual

Reimplemented from canopen::LayerStack.

Definition at line 142 of file ros_chain.cpp.

void canopen::RosChain::logState ( const can::State & s )

protected

Definition at line 45 of file ros_chain.cpp.

bool canopen::RosChain::nodeAdded	(	XmlRpc::XmlRpcValue &	params,
		const canopen::NodeSharedPtr &	node,
		const LoggerSharedPtr &	logger
	)

protectedvirtual

Definition at line 511 of file ros_chain.cpp.

void canopen::RosChain::report_diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

protected

Definition at line 515 of file ros_chain.cpp.

void canopen::RosChain::run ( )

protected

Definition at line 52 of file ros_chain.cpp.

bool canopen::RosChain::setup ( )

Definition at line 541 of file ros_chain.cpp.

bool canopen::RosChain::setup_bus ( )

protected

Definition at line 218 of file ros_chain.cpp.

bool canopen::RosChain::setup_chain ( )

protectedvirtual

Definition at line 548 of file ros_chain.cpp.

bool canopen::RosChain::setup_heartbeat ( )

protected

Definition at line 319 of file ros_chain.cpp.

bool canopen::RosChain::setup_nodes ( )

protected

Definition at line 378 of file ros_chain.cpp.

bool canopen::RosChain::setup_sync ( )

protected

Definition at line 271 of file ros_chain.cpp.

Member Data Documentation

boost::mutex canopen::RosChain::diag_mutex_

protected

Definition at line 203 of file ros_chain.h.

ros::Timer canopen::RosChain::diag_timer_

protected

Definition at line 181 of file ros_chain.h.

diagnostic_updater::Updater canopen::RosChain::diag_updater_

protected

Definition at line 180 of file ros_chain.h.

GuardedClassLoader<can::DriverInterface> canopen::RosChain::driver_loader_

private

Definition at line 161 of file ros_chain.h.

boost::shared_ptr<canopen::LayerGroupNoDiag<canopen::EMCYHandler> > canopen::RosChain::emcy_handlers_

protected

Definition at line 167 of file ros_chain.h.

struct canopen::RosChain::HeartbeatSender canopen::RosChain::hb_sender_

protected

Timer canopen::RosChain::heartbeat_timer_

protected

Definition at line 200 of file ros_chain.h.

can::DriverInterfaceSharedPtr canopen::RosChain::interface_

protected

Definition at line 164 of file ros_chain.h.

std::vector<LoggerSharedPtr > canopen::RosChain::loggers_

protected

Definition at line 170 of file ros_chain.h.

MasterSharedPtr canopen::RosChain::master_

protected

Definition at line 165 of file ros_chain.h.

ClassAllocator<canopen::Master> canopen::RosChain::master_allocator_

private

Definition at line 162 of file ros_chain.h.

boost::mutex canopen::RosChain::mutex_

protected

Definition at line 183 of file ros_chain.h.

ros::NodeHandle canopen::RosChain::nh_

protected

Definition at line 177 of file ros_chain.h.

ros::NodeHandle canopen::RosChain::nh_priv_

protected

Definition at line 178 of file ros_chain.h.

boost::shared_ptr<canopen::LayerGroupNoDiag<canopen::Node> > canopen::RosChain::nodes_

protected

Definition at line 166 of file ros_chain.h.

std::map<std::string, canopen::NodeSharedPtr > canopen::RosChain::nodes_lookup_

protected

Definition at line 168 of file ros_chain.h.

std::vector<PublishFunc::FuncType> canopen::RosChain::publishers_

protected

Definition at line 171 of file ros_chain.h.

bool canopen::RosChain::reset_errors_before_recover_

protected

Definition at line 205 of file ros_chain.h.

boost::atomic<bool> canopen::RosChain::running_

protected

Definition at line 202 of file ros_chain.h.

ros::ServiceServer canopen::RosChain::srv_get_object_

protected

Definition at line 188 of file ros_chain.h.

ros::ServiceServer canopen::RosChain::srv_halt_

protected

Definition at line 186 of file ros_chain.h.

ros::ServiceServer canopen::RosChain::srv_init_

protected

Definition at line 184 of file ros_chain.h.

ros::ServiceServer canopen::RosChain::srv_recover_

protected

Definition at line 185 of file ros_chain.h.

ros::ServiceServer canopen::RosChain::srv_set_object_

protected

Definition at line 189 of file ros_chain.h.

ros::ServiceServer canopen::RosChain::srv_shutdown_

protected

Definition at line 187 of file ros_chain.h.

can::StateListenerConstSharedPtr canopen::RosChain::state_listener_

protected

Definition at line 173 of file ros_chain.h.

canopen::SyncLayerSharedPtr canopen::RosChain::sync_

protected

Definition at line 169 of file ros_chain.h.

boost::scoped_ptr<boost::thread> canopen::RosChain::thread_

protected

Definition at line 175 of file ros_chain.h.

time_duration canopen::RosChain::update_duration_

protected

Definition at line 191 of file ros_chain.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation