hardware.cpp File Reference

#include <signal.h>
#include <ros/ros.h>
#include <ros/console.h>
#include <controller_manager/controller_manager.h>
#include <sciurus17_control/dxlport_control.h>
#include <std_msgs/Int32.h>
#include <std_msgs/Int16.h>
#include <std_msgs/UInt16.h>
#include <std_msgs/Int8.h>
#include <std_msgs/String.h>
#include <std_msgs/Float64.h>
#include <sstream>
#include <queue>
#include <unistd.h>

Include dependency graph for hardware.cpp:

Go to the source code of this file.

Classes
struct	SET_GAIN_QUEUE

Macros
#define	CONTROL_ACTIVE_HZ   (200)
#define	CONTROL_WAIT_HZ   (50)
#define	REACTIVE_RATE_FUNCTION

Typedefs
typedef dynamic_reconfigure::Server< sciurus17_msgs::ServoParameterConfig >	RECONFIG_TYPE
typedef struct SET_GAIN_QUEUE	ST_SET_GAIN_QUEUE

Functions
void	gainCallback (const ros::MessageEvent< std_msgs::UInt16 const > &event)
void	init_reconfigure (DXLPORT_CONTROL *driver)
void	init_topics (DXLPORT_CONTROL *driver, ros::NodeHandle nh)
int	main (int argc, char *argv[])
void	publish_topic_data (DXLPORT_CONTROL *driver, bool temp_flg)
void	reconfigureCallback (sciurus17_msgs::ServoParameterConfig &config, uint32_t level, uint8_t id)
void	SigintHandler (int sig)
std::vector< std::string >	split (const std::string &input, char delimiter)
void	write_joint_param (DXLPORT_CONTROL &driver, ST_JOINT_PARAM set_param)

Variables
static std::vector< ros::Publisher >	current_pub
static DXLPORT_CONTROL *	driver_addr
static std::vector< ros::Publisher >	dxl_position_pub
static std::vector< ros::Subscriber >	gain_sub
static std_msgs::String	lasterror_out
static std::vector< std::unique_ptr< RECONFIG_TYPE > >	reconfig_srv
static std::queue< ST_SET_GAIN_QUEUE >	set_gain_request
static std::queue< ST_JOINT_PARAM >	set_joint_param_request
static std::vector< ros::Publisher >	temp_pub

Macro Definition Documentation

CONTROL_ACTIVE_HZ

#define CONTROL_ACTIVE_HZ   (200)

Definition at line 20 of file hardware.cpp.

CONTROL_WAIT_HZ

#define CONTROL_WAIT_HZ   (50)

Definition at line 19 of file hardware.cpp.

REACTIVE_RATE_FUNCTION

#define REACTIVE_RATE_FUNCTION

Definition at line 17 of file hardware.cpp.

Typedef Documentation

RECONFIG_TYPE

typedef dynamic_reconfigure::Server<sciurus17_msgs::ServoParameterConfig> RECONFIG_TYPE

Definition at line 30 of file hardware.cpp.

ST_SET_GAIN_QUEUE

typedef struct SET_GAIN_QUEUE ST_SET_GAIN_QUEUE

Function Documentation

gainCallback()

void gainCallback

(

const ros::MessageEvent< std_msgs::UInt16 const > &

event

)

Definition at line 65 of file hardware.cpp.

init_reconfigure()

void init_reconfigure

(

DXLPORT_CONTROL *

driver

)

Definition at line 154 of file hardware.cpp.

init_topics()

void init_topics	(	DXLPORT_CONTROL *	driver,
		ros::NodeHandle	nh
	)

Definition at line 133 of file hardware.cpp.

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 217 of file hardware.cpp.

publish_topic_data()

void publish_topic_data	(	DXLPORT_CONTROL *	driver,
		bool	temp_flg
	)

Definition at line 165 of file hardware.cpp.

reconfigureCallback()

void reconfigureCallback	(	sciurus17_msgs::ServoParameterConfig &	config,
		uint32_t	level,
		uint8_t	id
	)

Definition at line 88 of file hardware.cpp.

SigintHandler()

void SigintHandler

(

int

sig

)

Definition at line 212 of file hardware.cpp.

split()

std::vector<std::string> split	(	const std::string &	input,
		char	delimiter
	)

Definition at line 53 of file hardware.cpp.

write_joint_param()

void write_joint_param	(	DXLPORT_CONTROL &	driver,
		ST_JOINT_PARAM	set_param
	)

Definition at line 195 of file hardware.cpp.

Variable Documentation

current_pub

std::vector<ros::Publisher> current_pub

static

Definition at line 26 of file hardware.cpp.

driver_addr

DXLPORT_CONTROL* driver_addr

static

Definition at line 32 of file hardware.cpp.

dxl_position_pub

std::vector<ros::Publisher> dxl_position_pub

static

Definition at line 27 of file hardware.cpp.

gain_sub

std::vector<ros::Subscriber> gain_sub

static

Definition at line 29 of file hardware.cpp.

lasterror_out

std_msgs::String lasterror_out

static

Definition at line 25 of file hardware.cpp.

reconfig_srv

std::vector<std::unique_ptr<RECONFIG_TYPE> > reconfig_srv

static

Definition at line 31 of file hardware.cpp.

set_gain_request

std::queue<ST_SET_GAIN_QUEUE> set_gain_request

static

Definition at line 49 of file hardware.cpp.

set_joint_param_request

std::queue<ST_JOINT_PARAM> set_joint_param_request

static

Definition at line 51 of file hardware.cpp.

temp_pub

std::vector<ros::Publisher> temp_pub

static

Definition at line 28 of file hardware.cpp.