#include <khi_robot_driver.h>

Inheritance diagram for khi_robot_control::KhiRobotDriver:

Public Member Functions
virtual bool	activate (const int &cont_no, KhiRobotData &data)=0

virtual bool	close (const int &cont_no)=0

virtual bool	commandHandler (khi_robot_msgs::KhiRobotCmd::Request &req, khi_robot_msgs::KhiRobotCmd::Response &res)=0

bool	contLimitCheck (const int &cont_no, const int &limit)

virtual bool	deactivate (const int &cont_no, const KhiRobotData &data)=0

void	errorPrint (const char *format,...)

virtual bool	getPeriodDiff (const int &cont_no, double &diff)=0

int	getState (const int &cont_no)

std::string	getStateName (const int &cont_no)

int	getStateTrigger (const int &cont_no)

virtual bool	hold (const int &cont_no, const KhiRobotData &data)=0

void	infoPrint (const char *format,...)

virtual bool	initialize (const int &cont_no, const double &period, KhiRobotData &data, const bool in_simulation=false)=0

bool	isTransitionState (const int &cont_no)

void	jointPrint (std::string name, const KhiRobotData &data)

	KhiRobotDriver ()

virtual bool	open (const int &cont_no, const std::string &ip_address, KhiRobotData &data)=0

virtual bool	readData (const int &cont_no, KhiRobotData &data)=0

bool	setState (const int &cont_no, const int &state)

bool	setStateTrigger (const int &cont_no, const int &state_trigger)

virtual bool	updateState (const int &cont_no, const KhiRobotData &data)=0

void	warnPrint (const char *format,...)

virtual bool	writeData (const int &cont_no, const KhiRobotData &data)=0

virtual	~KhiRobotDriver ()

Protected Attributes
KhiRobotControllerInfo	cont_info [KHI_MAX_CONTROLLER]

std::string	driver_name

int	error_code

bool	in_simulation

int	return_code

Detailed Description

Definition at line 155 of file khi_robot_driver.h.

Constructor & Destructor Documentation

◆ KhiRobotDriver()

khi_robot_control::KhiRobotDriver::KhiRobotDriver ( )

inline

Definition at line 158 of file khi_robot_driver.h.

◆ ~KhiRobotDriver()

virtual khi_robot_control::KhiRobotDriver::~KhiRobotDriver ( )

inlinevirtual

Definition at line 323 of file khi_robot_driver.h.

Member Function Documentation

◆ activate()

virtual bool khi_robot_control::KhiRobotDriver::activate	(	const int &	cont_no,
		KhiRobotData &	data
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ close()

virtual bool khi_robot_control::KhiRobotDriver::close ( const int & cont_no )

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ commandHandler()

virtual bool khi_robot_control::KhiRobotDriver::commandHandler	(	khi_robot_msgs::KhiRobotCmd::Request &	req,
		khi_robot_msgs::KhiRobotCmd::Response &	res
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ contLimitCheck()

bool khi_robot_control::KhiRobotDriver::contLimitCheck	(	const int &	cont_no,
		const int &	limit
	)

inline

Definition at line 257 of file khi_robot_driver.h.

◆ deactivate()

virtual bool khi_robot_control::KhiRobotDriver::deactivate	(	const int &	cont_no,
		const KhiRobotData &	data
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ errorPrint()

void khi_robot_control::KhiRobotDriver::errorPrint	(	const char *	format,
			...
	)

inline

Definition at line 292 of file khi_robot_driver.h.

◆ getPeriodDiff()

virtual bool khi_robot_control::KhiRobotDriver::getPeriodDiff	(	const int &	cont_no,
		double &	diff
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ getState()

int khi_robot_control::KhiRobotDriver::getState ( const int & cont_no )

inline

Definition at line 170 of file khi_robot_driver.h.

◆ getStateName()

std::string khi_robot_control::KhiRobotDriver::getStateName ( const int & cont_no )

inline

Definition at line 176 of file khi_robot_driver.h.

◆ getStateTrigger()

int khi_robot_control::KhiRobotDriver::getStateTrigger ( const int & cont_no )

inline

Definition at line 224 of file khi_robot_driver.h.

◆ hold()

virtual bool khi_robot_control::KhiRobotDriver::hold	(	const int &	cont_no,
		const KhiRobotData &	data
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ infoPrint()

void khi_robot_control::KhiRobotDriver::infoPrint	(	const char *	format,
			...
	)

inline

Definition at line 270 of file khi_robot_driver.h.

◆ initialize()

virtual bool khi_robot_control::KhiRobotDriver::initialize	(	const int &	cont_no,
		const double &	period,
		KhiRobotData &	data,
		const bool	in_simulation = `false`
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ isTransitionState()

bool khi_robot_control::KhiRobotDriver::isTransitionState ( const int & cont_no )

inline

Definition at line 209 of file khi_robot_driver.h.

◆ jointPrint()

void khi_robot_control::KhiRobotDriver::jointPrint	(	std::string	name,
		const KhiRobotData &	data
	)

inline

Definition at line 303 of file khi_robot_driver.h.

◆ open()

virtual bool khi_robot_control::KhiRobotDriver::open	(	const int &	cont_no,
		const std::string &	ip_address,
		KhiRobotData &	data
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ readData()

virtual bool khi_robot_control::KhiRobotDriver::readData	(	const int &	cont_no,
		KhiRobotData &	data
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ setState()

bool khi_robot_control::KhiRobotDriver::setState	(	const int &	cont_no,
		const int &	state
	)

inline

Definition at line 190 of file khi_robot_driver.h.

◆ setStateTrigger()

bool khi_robot_control::KhiRobotDriver::setStateTrigger	(	const int &	cont_no,
		const int &	state_trigger
	)

inline

Definition at line 237 of file khi_robot_driver.h.

◆ updateState()

virtual bool khi_robot_control::KhiRobotDriver::updateState	(	const int &	cont_no,
		const KhiRobotData &	data
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

◆ warnPrint()

void khi_robot_control::KhiRobotDriver::warnPrint	(	const char *	format,
			...
	)

inline

Definition at line 281 of file khi_robot_driver.h.

◆ writeData()

virtual bool khi_robot_control::KhiRobotDriver::writeData	(	const int &	cont_no,
		const KhiRobotData &	data
	)

pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

Member Data Documentation

◆ cont_info

KhiRobotControllerInfo khi_robot_control::KhiRobotDriver::cont_info[KHI_MAX_CONTROLLER]

protected

Definition at line 339 of file khi_robot_driver.h.

◆ driver_name

std::string khi_robot_control::KhiRobotDriver::driver_name

protected

Definition at line 338 of file khi_robot_driver.h.

◆ error_code

int khi_robot_control::KhiRobotDriver::error_code

protected

Definition at line 341 of file khi_robot_driver.h.

◆ in_simulation

bool khi_robot_control::KhiRobotDriver::in_simulation

protected

Definition at line 337 of file khi_robot_driver.h.

◆ return_code

int khi_robot_control::KhiRobotDriver::return_code

protected

Definition at line 340 of file khi_robot_driver.h.

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

khi_robot_driver.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ KhiRobotDriver()

◆ ~KhiRobotDriver()

Member Function Documentation

◆ activate()

◆ close()

◆ commandHandler()

◆ contLimitCheck()

◆ deactivate()

◆ errorPrint()

◆ getPeriodDiff()

◆ getState()

◆ getStateName()

◆ getStateTrigger()

◆ hold()

◆ infoPrint()

◆ initialize()

◆ isTransitionState()

◆ jointPrint()

◆ open()

◆ readData()

◆ setState()

◆ setStateTrigger()

◆ updateState()

◆ warnPrint()

◆ writeData()

Member Data Documentation

◆ cont_info

◆ driver_name

◆ error_code

◆ in_simulation

◆ return_code