#include <SVHWrapper.h>

Public Member Functions
bool	channelsEnabled ()

std::shared_ptr< driver_svh::SVHFingerManager >	getFingerManager () const

std::string	getNamePrefix () const

	SVHWrapper (const ros::NodeHandle &nh)

	~SVHWrapper ()

Private Member Functions
bool	connect ()
	load parameters and try connecting More...

void	connectCallback (const std_msgs::Empty &)
	Callback function for connecting to SCHUNK five finger hand. More...

void	enableChannelCallback (const std_msgs::Int8ConstPtr &channel)
	Callback function to enable channels of SCHUNK five finger hand. More...

bool	homeAllNodes (schunk_svh_msgs::HomeAllRequest &req, schunk_svh_msgs::HomeAllResponse &resp)

bool	homeNodesChannelIds (schunk_svh_msgs::HomeWithChannelsRequest &req, schunk_svh_msgs::HomeWithChannelsResponse &resp)

void	initControllerParameters (const uint16_t manual_major_version, const uint16_t manual_minor_version)

void	resetChannelCallback (const std_msgs::Int8ConstPtr &channel)
	Callback function to reset/home channels of SCHUNK five finger hand. More...

bool	setAllForceLimits (schunk_svh_msgs::SetAllChannelForceLimits::Request &req, schunk_svh_msgs::SetAllChannelForceLimits::Response &res)

float	setChannelForceLimit (size_t channel, float force_limit)

bool	setForceLimitById (schunk_svh_msgs::SetChannelForceLimit::Request &req, schunk_svh_msgs::SetChannelForceLimit::Response &res)

void	setRosControlEnable (bool enable)
	function to set the ros-control-loop enabling flag from the diagnostics class More...

Private Attributes
ros::Subscriber	connect_sub

ros::Subscriber	enable_sub

bool	m_channels_enabled
	m_channels_enabled enables the ros-control-loop in the hw interface More...

int	m_connect_retry_count

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

int	m_firmware_major_version

int	m_firmware_minor_version

ros::ServiceServer	m_home_service_all

ros::ServiceServer	m_home_service_joint_names

std::string	m_name_prefix

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

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

ros::ServiceServer	m_setAllForceLimits_srv

ros::ServiceServer	m_setForceLimitById_srv

std::shared_ptr< SVHDiagnostics >	m_svh_diagnostics
	Handle to the diagnostics test class creating a test protocol with the web gui package. More...

Detailed Description

Definition at line 53 of file SVHWrapper.h.

Constructor & Destructor Documentation

◆ SVHWrapper()

SVHWrapper::SVHWrapper ( const ros::NodeHandle & nh )

Definition at line 39 of file SVHWrapper.cpp.

◆ ~SVHWrapper()

SVHWrapper::~SVHWrapper ( )

Definition at line 201 of file SVHWrapper.cpp.

Member Function Documentation

◆ channelsEnabled()

bool SVHWrapper::channelsEnabled ( )

inline

Definition at line 66 of file SVHWrapper.h.

◆ connect()

bool SVHWrapper::connect ( )

private

load parameters and try connecting

Definition at line 207 of file SVHWrapper.cpp.

◆ connectCallback()

void SVHWrapper::connectCallback ( const std_msgs::Empty & )

private

Callback function for connecting to SCHUNK five finger hand.

Definition at line 256 of file SVHWrapper.cpp.

◆ enableChannelCallback()

void SVHWrapper::enableChannelCallback ( const std_msgs::Int8ConstPtr & channel )

private

Callback function to enable channels of SCHUNK five finger hand.

Definition at line 263 of file SVHWrapper.cpp.

◆ getFingerManager()

std::shared_ptr<driver_svh::SVHFingerManager> SVHWrapper::getFingerManager ( ) const

inline

Definition at line 59 of file SVHWrapper.h.

◆ getNamePrefix()

std::string SVHWrapper::getNamePrefix ( ) const

inline

Definition at line 64 of file SVHWrapper.h.

◆ homeAllNodes()

bool SVHWrapper::homeAllNodes	(	schunk_svh_msgs::HomeAllRequest &	req,
		schunk_svh_msgs::HomeAllResponse &	resp
	)

private

Definition at line 268 of file SVHWrapper.cpp.

◆ homeNodesChannelIds()

bool SVHWrapper::homeNodesChannelIds	(	schunk_svh_msgs::HomeWithChannelsRequest &	req,
		schunk_svh_msgs::HomeWithChannelsResponse &	resp
	)

private

Definition at line 286 of file SVHWrapper.cpp.

◆ initControllerParameters()

void SVHWrapper::initControllerParameters	(	const uint16_t	manual_major_version,
		const uint16_t	manual_minor_version
	)

private

Definition at line 141 of file SVHWrapper.cpp.

◆ resetChannelCallback()

void SVHWrapper::resetChannelCallback ( const std_msgs::Int8ConstPtr & channel )

private

Callback function to reset/home channels of SCHUNK five finger hand.

◆ setAllForceLimits()

bool SVHWrapper::setAllForceLimits	(	schunk_svh_msgs::SetAllChannelForceLimits::Request &	req,
		schunk_svh_msgs::SetAllChannelForceLimits::Response &	res
	)

private

Definition at line 323 of file SVHWrapper.cpp.

◆ setChannelForceLimit()

float SVHWrapper::setChannelForceLimit	(	size_t	channel,
		float	force_limit
	)

private

Definition at line 341 of file SVHWrapper.cpp.

◆ setForceLimitById()

bool SVHWrapper::setForceLimitById	(	schunk_svh_msgs::SetChannelForceLimit::Request &	req,
		schunk_svh_msgs::SetChannelForceLimit::Response &	res
	)

private

Definition at line 333 of file SVHWrapper.cpp.

◆ setRosControlEnable()

void SVHWrapper::setRosControlEnable ( bool enable )

private

function to set the ros-control-loop enabling flag from the diagnostics class

Definition at line 136 of file SVHWrapper.cpp.

Member Data Documentation

◆ connect_sub

ros::Subscriber SVHWrapper::connect_sub

private

Definition at line 128 of file SVHWrapper.h.

◆ enable_sub

ros::Subscriber SVHWrapper::enable_sub

private

Definition at line 129 of file SVHWrapper.h.

◆ m_channels_enabled

bool SVHWrapper::m_channels_enabled

private

m_channels_enabled enables the ros-control-loop in the hw interface

Definition at line 126 of file SVHWrapper.h.

◆ m_connect_retry_count

int SVHWrapper::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 114 of file SVHWrapper.h.

◆ m_finger_manager

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

private

Handle to the SVH finger manager for library access.

Definition at line 85 of file SVHWrapper.h.

◆ m_firmware_major_version

int SVHWrapper::m_firmware_major_version

private

firmware version, as read from the firmware or set by config. If version is 0, it hasn't been read yet.

Definition at line 122 of file SVHWrapper.h.

◆ m_firmware_minor_version

int SVHWrapper::m_firmware_minor_version

private

Definition at line 123 of file SVHWrapper.h.

◆ m_home_service_all

ros::ServiceServer SVHWrapper::m_home_service_all

private

Definition at line 131 of file SVHWrapper.h.

◆ m_home_service_joint_names

ros::ServiceServer SVHWrapper::m_home_service_joint_names

private

Definition at line 132 of file SVHWrapper.h.

◆ m_name_prefix

std::string SVHWrapper::m_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 118 of file SVHWrapper.h.

◆ m_priv_nh

ros::NodeHandle SVHWrapper::m_priv_nh

private

private node handle

Definition at line 82 of file SVHWrapper.h.

◆ m_serial_device_name

std::string SVHWrapper::m_serial_device_name

private

Serial device to use for communication with hardware.

Definition at line 91 of file SVHWrapper.h.

◆ m_setAllForceLimits_srv

ros::ServiceServer SVHWrapper::m_setAllForceLimits_srv

private

Definition at line 133 of file SVHWrapper.h.

◆ m_setForceLimitById_srv

ros::ServiceServer SVHWrapper::m_setForceLimitById_srv

private

Definition at line 134 of file SVHWrapper.h.

◆ m_svh_diagnostics

std::shared_ptr<SVHDiagnostics> SVHWrapper::m_svh_diagnostics

private

Handle to the diagnostics test class creating a test protocol with the web gui package.

Definition at line 88 of file SVHWrapper.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SVHWrapper()

◆ ~SVHWrapper()

Member Function Documentation

◆ channelsEnabled()

◆ connect()

◆ connectCallback()

◆ enableChannelCallback()

◆ getFingerManager()

◆ getNamePrefix()

◆ homeAllNodes()

◆ homeNodesChannelIds()

◆ initControllerParameters()

◆ resetChannelCallback()

◆ setAllForceLimits()

◆ setChannelForceLimit()

◆ setForceLimitById()

◆ setRosControlEnable()

Member Data Documentation

◆ connect_sub

◆ enable_sub

◆ m_channels_enabled

◆ m_connect_retry_count

◆ m_finger_manager

◆ m_firmware_major_version

◆ m_firmware_minor_version

◆ m_home_service_all

◆ m_home_service_joint_names

◆ m_name_prefix

◆ m_priv_nh

◆ m_serial_device_name

◆ m_setAllForceLimits_srv

◆ m_setForceLimitById_srv

◆ m_svh_diagnostics