#include <SVHDiagnostics.h>

Public Member Functions
void	basicTestCallback (const schunk_svh_msgs::SVHDiagnosticsGoalConstPtr &goal)

	SVHDiagnostics (const ros::NodeHandle &nh, std::shared_ptr< driver_svh::SVHFingerManager > &finger_manager, std::function< void(bool)> enable_ros_contol_loop, std::function< void(uint16_t, uint16_t)> init_controller_parameters, std::string name)
	SVHDiagnostics constructs a new node object that handles most of the functionality. More...

void	testCallback (const std_msgs::String &)
	Callback function to test the subfunctions of SVHDiagnostics. More...

	~SVHDiagnostics ()
	Default DTOR. More...

Private Types
enum	diag_information { zero_defect, board_one, board_two, board_one_encoder, board_one_motor, board_two_encoder, board_two_motor, encoder_motor, encoder, motor, current_range, position_range, diag_information_dimension }

Private Member Functions
void	debugOuput ()
	debugOutput prints the diagnostic data of all finger More...

schunk_svh_msgs::SVHDiagnosticsResult	evaluateBasicTest ()
	evaluateBasicTest evaluates the diagnostics status of the basic test to send the hint informations to the webside More...

void	initializeProtocolMessage ()
	initialize the protocol variables More...

void	initTest ()
	initialize the protocol variables More...

void	qualityProtocolWritting ()
	set the protocol variables More...

void	resetDiagnosticStatus ()
	resetDiagnosticStatus resets the finger vector with the diagnostic data More...

Private Attributes
std_msgs::Float64MultiArray	channel_currents
	Current Value message template. More...

sensor_msgs::JointState	channel_pos_
	joint state message template More...

schunk_svh_msgs::SVHDiagnosticsFeedback	m_action_feedback

std::string	m_action_name

schunk_svh_msgs::SVHDiagnosticsResult	m_action_result
	Action result. More...

std::string	m_assembly_of
	Name of the testing person. More...

bool	m_basic_test_running
	To catch multiple bastic test starts. More...

bool	m_communication
	Type of onnection. More...

int	m_connect_retry_count

actionlib::SimpleActionServer< schunk_svh_msgs::SVHDiagnosticsAction >	m_diagnostics_action_server
	Action Server. More...

std::function< void(bool)>	m_enable_ros_contol_loop

bool	m_execution_L

bool	m_execution_R
	Type of the Hand, No/ L / R. More...

std::shared_ptr< driver_svh::SVHFingerManager >	m_finger_manager
	Handle to the SVH finger manager for library access. More...

std::function< void(uint16_t, uint16_t)>	m_init_controller_parameters

schunk_svh_msgs::SVHDiagnosticsToProtocol	m_msg_protocol_variable
	Message for the Protocol variable. More...

ros::NodeHandle	m_priv_nh
	private node handle More...

ros::Publisher	m_pub_protocol_variables
	publisher to the protocol variables More...

std::string	m_serial_device_name
	Serial device to use for communication with hardware. More...

std::string	m_serial_no
	Serial No of the tested Hand. More...

std::string	name_prefix

std::vector< bool >	reset_success
	Reset successed vector. More...

Detailed Description

Definition at line 70 of file SVHDiagnostics.h.

Member Enumeration Documentation

◆ diag_information

enum SVHDiagnostics::diag_information

private

Enumerator
zero_defect
board_one
board_two
board_one_encoder
board_one_motor
board_two_encoder
board_two_motor
encoder_motor
encoder
motor
current_range
position_range
diag_information_dimension

Definition at line 203 of file SVHDiagnostics.h.

Constructor & Destructor Documentation

◆ SVHDiagnostics()

SVHDiagnostics::SVHDiagnostics	(	const ros::NodeHandle &	nh,
		std::shared_ptr< driver_svh::SVHFingerManager > &	finger_manager,
		std::function< void(bool)>	enable_ros_contol_loop,
		std::function< void(uint16_t, uint16_t)>	init_controller_parameters,
		std::string	name
	)

SVHDiagnostics constructs a new node object that handles most of the functionality.

Parameters

nh	ROS Nodehandle
finger_manager	Handle to the SVH finger manager for library access
enable_ros_contol_loop	function handle to set the ros-control-loop enabling flag
init_controller_parameters	function handle to get the hand parameters
name	action server name

m_pub_protocol_variables pubished the diagnostic results to the SVHProtocol Node to print the Test-Protocol

Definition at line 35 of file SVHDiagnostics.cpp.

◆ ~SVHDiagnostics()

SVHDiagnostics::~SVHDiagnostics ( )

Default DTOR.

Definition at line 63 of file SVHDiagnostics.cpp.

Member Function Documentation

◆ basicTestCallback()

void SVHDiagnostics::basicTestCallback ( const schunk_svh_msgs::SVHDiagnosticsGoalConstPtr & goal )

Callback function to conduct the basic test for the SCHUNK five finger hand (msg defined in schunk_web_gui/msg/DiagnosticsMsg.msg)

Definition at line 115 of file SVHDiagnostics.cpp.

◆ debugOuput()

void SVHDiagnostics::debugOuput ( )

private

debugOutput prints the diagnostic data of all finger

Definition at line 401 of file SVHDiagnostics.cpp.

◆ evaluateBasicTest()

schunk_svh_msgs::SVHDiagnosticsResult SVHDiagnostics::evaluateBasicTest ( )

private

evaluateBasicTest evaluates the diagnostics status of the basic test to send the hint informations to the webside

Returns: std_msgs::UInt8MultiArray mesg with the test results

Definition at line 230 of file SVHDiagnostics.cpp.

◆ initializeProtocolMessage()

void SVHDiagnostics::initializeProtocolMessage ( )

private

initialize the protocol variables

Definition at line 473 of file SVHDiagnostics.cpp.

◆ initTest()

void SVHDiagnostics::initTest ( )

private

initialize the protocol variables

Definition at line 68 of file SVHDiagnostics.cpp.

◆ qualityProtocolWritting()

void SVHDiagnostics::qualityProtocolWritting ( )

private

set the protocol variables

Definition at line 445 of file SVHDiagnostics.cpp.

◆ resetDiagnosticStatus()

void SVHDiagnostics::resetDiagnosticStatus ( )

private

resetDiagnosticStatus resets the finger vector with the diagnostic data

Definition at line 386 of file SVHDiagnostics.cpp.

◆ testCallback()

void SVHDiagnostics::testCallback ( const std_msgs::String & )

Callback function to test the subfunctions of SVHDiagnostics.

Member Data Documentation

◆ channel_currents

std_msgs::Float64MultiArray SVHDiagnostics::channel_currents

private

Current Value message template.

Definition at line 164 of file SVHDiagnostics.h.

◆ channel_pos_

sensor_msgs::JointState SVHDiagnostics::channel_pos_

private

joint state message template

Definition at line 161 of file SVHDiagnostics.h.

◆ m_action_feedback

schunk_svh_msgs::SVHDiagnosticsFeedback SVHDiagnostics::m_action_feedback

private

Definition at line 195 of file SVHDiagnostics.h.

◆ m_action_name

std::string SVHDiagnostics::m_action_name

private

Definition at line 201 of file SVHDiagnostics.h.

◆ m_action_result

schunk_svh_msgs::SVHDiagnosticsResult SVHDiagnostics::m_action_result

private

Action result.

Definition at line 198 of file SVHDiagnostics.h.

◆ m_assembly_of

std::string SVHDiagnostics::m_assembly_of

private

Name of the testing person.

Definition at line 173 of file SVHDiagnostics.h.

◆ m_basic_test_running

bool SVHDiagnostics::m_basic_test_running

private

To catch multiple bastic test starts.

Definition at line 183 of file SVHDiagnostics.h.

◆ m_communication

bool SVHDiagnostics::m_communication

private

Type of onnection.

Definition at line 180 of file SVHDiagnostics.h.

◆ m_connect_retry_count

int SVHDiagnostics::m_connect_retry_count

private

Number of times the connect routine tries to connect in case that we receive at least one package

Definition at line 154 of file SVHDiagnostics.h.

◆ m_diagnostics_action_server

actionlib::SimpleActionServer<schunk_svh_msgs::SVHDiagnosticsAction> SVHDiagnostics::m_diagnostics_action_server

private

Action Server.

Definition at line 192 of file SVHDiagnostics.h.

◆ m_enable_ros_contol_loop

std::function<void(bool)> SVHDiagnostics::m_enable_ros_contol_loop

private

function handle to set the ros-control-loop enabling flag in the SVHWrapper

Definition at line 141 of file SVHDiagnostics.h.

◆ m_execution_L

bool SVHDiagnostics::m_execution_L

private

Definition at line 177 of file SVHDiagnostics.h.

◆ m_execution_R

bool SVHDiagnostics::m_execution_R

private

Type of the Hand, No/ L / R.

Definition at line 176 of file SVHDiagnostics.h.

◆ m_finger_manager

std::shared_ptr<driver_svh::SVHFingerManager> SVHDiagnostics::m_finger_manager

private

Handle to the SVH finger manager for library access.

Definition at line 136 of file SVHDiagnostics.h.

◆ m_init_controller_parameters

std::function<void(uint16_t, uint16_t)> SVHDiagnostics::m_init_controller_parameters

private

function handle to get the hand parameters from ros-param-server and set them to the finger_manager to have cleared parameter set

Definition at line 147 of file SVHDiagnostics.h.

◆ m_msg_protocol_variable

schunk_svh_msgs::SVHDiagnosticsToProtocol SVHDiagnostics::m_msg_protocol_variable

private

Message for the Protocol variable.

Definition at line 189 of file SVHDiagnostics.h.

◆ m_priv_nh

ros::NodeHandle SVHDiagnostics::m_priv_nh

private

private node handle

Definition at line 102 of file SVHDiagnostics.h.

◆ m_pub_protocol_variables

ros::Publisher SVHDiagnostics::m_pub_protocol_variables

private

publisher to the protocol variables

Definition at line 186 of file SVHDiagnostics.h.

◆ m_serial_device_name

std::string SVHDiagnostics::m_serial_device_name

private

Serial device to use for communication with hardware.

Definition at line 150 of file SVHDiagnostics.h.

◆ m_serial_no

std::string SVHDiagnostics::m_serial_no

private

Serial No of the tested Hand.

Definition at line 170 of file SVHDiagnostics.h.

◆ name_prefix

std::string SVHDiagnostics::name_prefix

private

Prefix for the driver to identify joint names if the Driver should expext "left_hand_Pinky" than the prefix is left_hand

Definition at line 158 of file SVHDiagnostics.h.

◆ reset_success

std::vector<bool> SVHDiagnostics::reset_success

private

Reset successed vector.

Definition at line 167 of file SVHDiagnostics.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ diag_information

Constructor & Destructor Documentation

◆ SVHDiagnostics()

◆ ~SVHDiagnostics()

Member Function Documentation

◆ basicTestCallback()

◆ debugOuput()

◆ evaluateBasicTest()

◆ initializeProtocolMessage()

◆ initTest()

◆ qualityProtocolWritting()

◆ resetDiagnosticStatus()

◆ testCallback()

Member Data Documentation

◆ channel_currents

◆ channel_pos_

◆ m_action_feedback

◆ m_action_name

◆ m_action_result

◆ m_assembly_of

◆ m_basic_test_running

◆ m_communication

◆ m_connect_retry_count

◆ m_diagnostics_action_server

◆ m_enable_ros_contol_loop

◆ m_execution_L

◆ m_execution_R

◆ m_finger_manager

◆ m_init_controller_parameters

◆ m_msg_protocol_variable

◆ m_priv_nh

◆ m_pub_protocol_variables

◆ m_serial_device_name

◆ m_serial_no

◆ name_prefix

◆ reset_success