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	DiagnosticsUpdaterPtr = std::shared_ptr< diagnostic_updater::Updater >

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 &)>

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

using	TimerPtr = std::shared_ptr< ros::Timer >

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	createRosDiagnostics ()=0
	Creates ROS diagnostics for the rokubimini device. It's virtual because it's implementation specific. 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

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...

std::string	getProductName () const
	Gets the product 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...

virtual void	load ()
	Loads the rokubimini configuration from the parameter server. More...

virtual void	publishRosDiagnostics ()=0
	Publishes ROS diagnostics from the rokubimini device. It's virtual because it's implementation specific. 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...

	Rokubimini (const std::string &name, NodeHandlePtr nh)

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	postSetupConfiguration ()=0
	Post-setup configuration hook. More...

virtual void	preSetupConfiguration ()=0
	Pre-setup configuration hook. More...

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

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

DiagnosticsUpdaterPtr	connectionStatusUpdater_
	The Connection Status diagnostics updater. More...

RosPublisherPtr	dataFlagsDiagnosticsPublisher_
	The Publisher for publishing Data Flags Diagnostics. More...

TimerPtr	dataFlagsDiagnosticsTimer_
	A timer for running the Data Flags Diagnostics update callback. 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...

std::string	productName_
	The product name of the rokubimini. 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 27 of file Rokubimini.hpp.

Member Typedef Documentation

◆ AnonymousErrorCb

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

Definition at line 44 of file Rokubimini.hpp.

◆ AnonymousReadingCb

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

Definition at line 43 of file Rokubimini.hpp.

◆ DeviceDisconnectedCb

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

Definition at line 39 of file Rokubimini.hpp.

◆ DeviceReconnectedCb

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

Definition at line 40 of file Rokubimini.hpp.

◆ DiagnosticsUpdaterPtr

using rokubimini::Rokubimini::DiagnosticsUpdaterPtr = std::shared_ptr<diagnostic_updater::Updater>

Definition at line 31 of file Rokubimini.hpp.

◆ ErrorCb

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

Definition at line 35 of file Rokubimini.hpp.

◆ ErrorRecoveredCb

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

Definition at line 36 of file Rokubimini.hpp.

◆ FatalCb

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

Definition at line 37 of file Rokubimini.hpp.

◆ FatalRecoveredCb

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

Definition at line 38 of file Rokubimini.hpp.

◆ NodeHandlePtr

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

Definition at line 30 of file Rokubimini.hpp.

◆ ReadingCb

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

Definition at line 34 of file Rokubimini.hpp.

◆ RosPublisherPtr

using rokubimini::Rokubimini::RosPublisherPtr = std::shared_ptr<ros::Publisher>

Definition at line 32 of file Rokubimini.hpp.

◆ TimerPtr

using rokubimini::Rokubimini::TimerPtr = std::shared_ptr<ros::Timer>

Definition at line 33 of file Rokubimini.hpp.

Constructor & Destructor Documentation

◆ Rokubimini() [1/2]

rokubimini::Rokubimini::Rokubimini ( )

default

Default constructor.

◆ Rokubimini() [2/2]

rokubimini::Rokubimini::Rokubimini	(	const std::string &	name,
		NodeHandlePtr	nh
	)

inline

Definition at line 60 of file Rokubimini.hpp.

◆ ~Rokubimini()

virtual rokubimini::Rokubimini::~Rokubimini ( )

virtualdefault

Member Function Documentation

◆ addDeviceDisconnectedCb()

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 172 of file Rokubimini.hpp.

◆ addDeviceReconnectedCb()

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 185 of file Rokubimini.hpp.

◆ addErrorCb()

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 120 of file Rokubimini.hpp.

◆ addErrorRecoveredCb()

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 133 of file Rokubimini.hpp.

◆ addFatalCb()

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 146 of file Rokubimini.hpp.

◆ addFatalRecoveredCb()

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 159 of file Rokubimini.hpp.

◆ addReadingCb()

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 107 of file Rokubimini.hpp.

◆ clearGoalStateEnum()

void rokubimini::Rokubimini::clearGoalStateEnum ( )

Clears the goal state enumeration.

Todo:: Fix me.

Definition at line 242 of file Rokubimini.hpp.

◆ createRosDiagnostics()

void rokubimini::Rokubimini::createRosDiagnostics ( )

pure virtual

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

◆ createRosPublishers()

void rokubimini::Rokubimini::createRosPublishers ( )

pure virtual

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

◆ createRosServices()

void rokubimini::Rokubimini::createRosServices ( )

pure virtual

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

◆ deviceDisconnectedCb()

void rokubimini::Rokubimini::deviceDisconnectedCb ( )

Calls the callbacks in the device disconnected callbacks list.

Definition at line 126 of file Rokubimini.cpp.

◆ deviceIsInErrorState()

bool rokubimini::Rokubimini::deviceIsInErrorState ( )

Checks if the device is in error state.

Returns: True if the device is in error state.

Definition at line 97 of file Rokubimini.cpp.

◆ deviceIsInFatalState()

bool rokubimini::Rokubimini::deviceIsInFatalState ( )

Checks if the device is in fatal state.

Returns: True if the device is in fatal state.

Definition at line 120 of file Rokubimini.cpp.

◆ deviceIsMissing()

bool rokubimini::Rokubimini::deviceIsMissing ( ) const

pure virtual

Checks if the device is missing.

Returns: True if the device is missing.

◆ deviceReconnectedCb()

void rokubimini::Rokubimini::deviceReconnectedCb ( )

Calls the callbacks in the device reconnected callbacks list.

Definition at line 170 of file Rokubimini.cpp.

◆ errorCb()

void rokubimini::Rokubimini::errorCb ( )

Calls the callbacks in the error callbacks list.

Definition at line 80 of file Rokubimini.cpp.

◆ errorRecoveredCb()

void rokubimini::Rokubimini::errorRecoveredCb ( )

Calls the callbacks in the error recovered callbacks list.

Definition at line 88 of file Rokubimini.cpp.

◆ fatalCb()

void rokubimini::Rokubimini::fatalCb ( )

Calls the callbacks in the fatal callbacks list.

Definition at line 103 of file Rokubimini.cpp.

◆ fatalRecoveredCb()

void rokubimini::Rokubimini::fatalRecoveredCb ( )

Calls the callbacks in the fatal recovered callbacks list.

Definition at line 111 of file Rokubimini.cpp.

◆ getConfiguration() [1/2]

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

inline

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

Gets the Configuration of the device.

Returns: The Configuration value.

Definition at line 82 of file Rokubimini.hpp.

◆ getConfiguration() [2/2]

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

inline

Definition at line 94 of file Rokubimini.hpp.

◆ getForceTorqueSamplingRate()

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.

◆ getName()

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

inline

Gets the name of the device.

Returns: The name value.

Definition at line 70 of file Rokubimini.hpp.

◆ getProductName()

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

inline

Gets the product name of the device.

Returns: The product name.

Definition at line 554 of file Rokubimini.hpp.

◆ getReading() [1/2]

Reading rokubimini::Rokubimini::getReading ( ) const

Gets the reading from the Rokubimini device.

Returns: The reading value.

Definition at line 179 of file Rokubimini.cpp.

◆ getReading() [2/2]

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 185 of file Rokubimini.cpp.

◆ getSerialNumber()

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.

◆ getStatusword()

Statusword rokubimini::Rokubimini::getStatusword ( ) const

inline

Gets the statusword of the device.

Returns: The statusword of the device.

Definition at line 336 of file Rokubimini.hpp.

◆ load()

void rokubimini::Rokubimini::load ( )

virtual

Loads the rokubimini configuration from the parameter server.

Definition at line 8 of file Rokubimini.cpp.

◆ postSetupConfiguration()

void rokubimini::Rokubimini::postSetupConfiguration ( )

protectedpure virtual

Post-setup configuration hook.

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

◆ preSetupConfiguration()

void rokubimini::Rokubimini::preSetupConfiguration ( )

protectedpure virtual

Pre-setup configuration hook.

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

◆ publishRosDiagnostics()

void rokubimini::Rokubimini::publishRosDiagnostics ( )

pure virtual

Publishes ROS diagnostics from the rokubimini device. It's virtual because it's implementation specific.

◆ publishRosMessages()

void rokubimini::Rokubimini::publishRosMessages ( )

pure virtual

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

◆ saveConfigParameter()

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.

◆ setAccelerationFilter()

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.

◆ setAccelerationRange()

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.

◆ setAngularRateFilter()

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.

◆ setAngularRateRange()

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.

◆ setForceTorqueFilter()

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.

◆ setForceTorqueOffset()

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.

◆ setNodeHandle()

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 506 of file Rokubimini.hpp.

◆ setSensorCalibration()

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.

◆ setSensorConfiguration()

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.

◆ setStatusword()

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 191 of file Rokubimini.cpp.

◆ shutdownWithCommunication()

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.

◆ shutdownWithoutCommunication()

virtual void rokubimini::Rokubimini::shutdownWithoutCommunication ( )

inlinevirtual

Definition at line 242 of file Rokubimini.hpp.

◆ startupWithCommunication()

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 24 of file Rokubimini.cpp.

◆ startupWithoutCommunication()

void rokubimini::Rokubimini::startupWithoutCommunication ( )

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

Definition at line 71 of file Rokubimini.cpp.

◆ updateProcessReading()

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::Configuration rokubimini::Rokubimini::configuration_

protected

The Configuration of the device.

Definition at line 633 of file Rokubimini.hpp.

◆ connectionStatusUpdater_

DiagnosticsUpdaterPtr rokubimini::Rokubimini::connectionStatusUpdater_

protected

The Connection Status diagnostics updater.

Definition at line 745 of file Rokubimini.hpp.

◆ dataFlagsDiagnosticsPublisher_

RosPublisherPtr rokubimini::Rokubimini::dataFlagsDiagnosticsPublisher_

protected

The Publisher for publishing Data Flags Diagnostics.

Definition at line 761 of file Rokubimini.hpp.

◆ dataFlagsDiagnosticsTimer_

TimerPtr rokubimini::Rokubimini::dataFlagsDiagnosticsTimer_

protected

A timer for running the Data Flags Diagnostics update callback.

Definition at line 753 of file Rokubimini.hpp.

◆ deviceDisconnectedCbs_

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

protected

Definition at line 729 of file Rokubimini.hpp.

◆ deviceReconnectedCbs_

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

protected

Definition at line 737 of file Rokubimini.hpp.

◆ errorCbs_

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

protected

Definition at line 697 of file Rokubimini.hpp.

◆ errorRecoveredCbs_

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

protected

Definition at line 705 of file Rokubimini.hpp.

◆ fatalCbs_

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

protected

Definition at line 713 of file Rokubimini.hpp.

◆ fatalRecoveredCbs_

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

protected

Definition at line 721 of file Rokubimini.hpp.

◆ name_

std::string rokubimini::Rokubimini::name_

protected

The name of the device.

Definition at line 625 of file Rokubimini.hpp.

◆ NAN_VALUE

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

staticconstexprprotected

NaN abbreviation for convenience.

Definition at line 617 of file Rokubimini.hpp.

◆ nh_

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

protected

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

Definition at line 673 of file Rokubimini.hpp.

◆ productName_

std::string rokubimini::Rokubimini::productName_

protected

The product name of the rokubimini.

Definition at line 681 of file Rokubimini.hpp.

◆ reading_

Reading rokubimini::Rokubimini::reading_

protected

The reading of the device.

Definition at line 665 of file Rokubimini.hpp.

◆ readingCbs_

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

protected

Definition at line 689 of file Rokubimini.hpp.

◆ readingMutex_

std::recursive_mutex rokubimini::Rokubimini::readingMutex_

mutableprotected

The mutex for accessing the reading.

Definition at line 657 of file Rokubimini.hpp.

◆ statusword_

Statusword rokubimini::Rokubimini::statusword_

protected

The current statusword.

Definition at line 641 of file Rokubimini.hpp.

◆ statuswordRequested_

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

protected

Flag indicating if a statusword has been actively requested.

Definition at line 649 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

◆ AnonymousErrorCb

◆ AnonymousReadingCb

◆ DeviceDisconnectedCb

◆ DeviceReconnectedCb

◆ DiagnosticsUpdaterPtr

◆ ErrorCb

◆ ErrorRecoveredCb

◆ FatalCb

◆ FatalRecoveredCb

◆ NodeHandlePtr

◆ ReadingCb

◆ RosPublisherPtr

◆ TimerPtr

Constructor & Destructor Documentation

◆ Rokubimini() [1/2]

◆ Rokubimini() [2/2]

◆ ~Rokubimini()

Member Function Documentation

◆ addDeviceDisconnectedCb()

◆ addDeviceReconnectedCb()

◆ addErrorCb()

◆ addErrorRecoveredCb()

◆ addFatalCb()

◆ addFatalRecoveredCb()

◆ addReadingCb()

◆ clearGoalStateEnum()

◆ createRosDiagnostics()

◆ createRosPublishers()

◆ createRosServices()

◆ deviceDisconnectedCb()

◆ deviceIsInErrorState()

◆ deviceIsInFatalState()

◆ deviceIsMissing()

◆ deviceReconnectedCb()

◆ errorCb()

◆ errorRecoveredCb()

◆ fatalCb()

◆ fatalRecoveredCb()

◆ getConfiguration() [1/2]

◆ getConfiguration() [2/2]

◆ getForceTorqueSamplingRate()

◆ getName()

◆ getProductName()

◆ getReading() [1/2]

◆ getReading() [2/2]

◆ getSerialNumber()

◆ getStatusword()

◆ load()

◆ postSetupConfiguration()

◆ preSetupConfiguration()

◆ publishRosDiagnostics()

◆ publishRosMessages()

◆ saveConfigParameter()

◆ setAccelerationFilter()

◆ setAccelerationRange()

◆ setAngularRateFilter()

◆ setAngularRateRange()

◆ setForceTorqueFilter()

◆ setForceTorqueOffset()

◆ setNodeHandle()

◆ setSensorCalibration()

◆ setSensorConfiguration()

◆ setStatusword()

◆ shutdownWithCommunication()

◆ shutdownWithoutCommunication()

◆ startupWithCommunication()

◆ startupWithoutCommunication()

◆ updateProcessReading()

Member Data Documentation

◆ configuration_

◆ connectionStatusUpdater_

◆ dataFlagsDiagnosticsPublisher_

◆ dataFlagsDiagnosticsTimer_