IRI ROS Specific Driver Class. More...

#include <dabo_arm_node_driver.h>

Inheritance diagram for DaboArmNodeDriver:

Public Types
typedef dabo_arm_node::DaboArmNodeConfig	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	DaboArmNodeDriver (void)
	constructor
std::string	get_config_file (unsigned int index)
int	get_feedback_rate (void)
std::string	get_motion_seq_file (unsigned int index)
std::string	get_motion_sequence_complete_event_id (void)
float	get_motion_sequence_completed_percentage (void)
std::string	get_motion_sequence_error_event_id (void)
std::string	get_motion_sequence_error_message (void)
unsigned int	get_num_config_files (void)
unsigned int	get_num_motion_seq_files (void)
void	get_position (std::vector< double > &position)
	function to get the current position of all motors
void	get_velocity (std::vector< double > &velocity)
	function to get the current velocity of all motors
void	move_absolute_angle (std::vector< double > &position, std::vector< double > &velocity)
	functions to move the group of motors in position control
void	move_relative_angle (std::vector< double > &position, std::vector< double > &velocity)
	functions to move the group of motors in position control
bool	openDriver (void)
	open driver
void	pause_motion_sequence (void)
void	resume_motion_sequence (void)
void	start_motion_sequence (std::string &filename)
void	start_motion_sequence (std::vector< TDynamixelMotionStep > &seq)
bool	startDriver (void)
	start driver
void	stop (void)
	function to stop all motors
void	stop_motion_sequence (void)
bool	stopDriver (void)
	stop driver
	~DaboArmNodeDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Member Functions
void	scan_XML_files (void)
Private Attributes
std::string	arm_config_file
CSegwayDynArm *	arm_driver
std::vector< std::string >	config_files
int	feedback_rate
std::vector< std::string >	motion_seq_files
std::string	xml_path

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The DaboArmNodeDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The DaboArmNodeConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 56 of file dabo_arm_node_driver.h.

Member Typedef Documentation

typedef dabo_arm_node::DaboArmNodeConfig DaboArmNodeDriver::Config

define config type

Define a Config type with the DaboArmNodeConfig. All driver implementations will then use the same variable type Config.

Definition at line 79 of file dabo_arm_node_driver.h.

Constructor & Destructor Documentation

DaboArmNodeDriver::DaboArmNodeDriver ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 18 of file dabo_arm_node_driver.cpp.

DaboArmNodeDriver::~DaboArmNodeDriver ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 300 of file dabo_arm_node_driver.cpp.

Member Function Documentation

bool DaboArmNodeDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 89 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 110 of file dabo_arm_node_driver.cpp.

std::string DaboArmNodeDriver::get_config_file ( unsigned int index )

Definition at line 272 of file dabo_arm_node_driver.cpp.

int DaboArmNodeDriver::get_feedback_rate ( void )

Definition at line 295 of file dabo_arm_node_driver.cpp.

std::string DaboArmNodeDriver::get_motion_seq_file ( unsigned int index )

Definition at line 286 of file dabo_arm_node_driver.cpp.

std::string DaboArmNodeDriver::get_motion_sequence_complete_event_id ( void )

Definition at line 194 of file dabo_arm_node_driver.cpp.

float DaboArmNodeDriver::get_motion_sequence_completed_percentage ( void )

Definition at line 218 of file dabo_arm_node_driver.cpp.

std::string DaboArmNodeDriver::get_motion_sequence_error_event_id ( void )

Definition at line 202 of file dabo_arm_node_driver.cpp.

std::string DaboArmNodeDriver::get_motion_sequence_error_message ( void )

Definition at line 210 of file dabo_arm_node_driver.cpp.

unsigned int DaboArmNodeDriver::get_num_config_files ( void )

Definition at line 267 of file dabo_arm_node_driver.cpp.

unsigned int DaboArmNodeDriver::get_num_motion_seq_files ( void )

Definition at line 281 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::get_position ( std::vector< double > & position )

function to get the current position of all motors

Definition at line 255 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::get_velocity ( std::vector< double > & velocity )

function to get the current velocity of all motors

Definition at line 261 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::move_absolute_angle	(	std::vector< double > &	position,
		std::vector< double > &	velocity
	)

functions to move the group of motors in position control

Definition at line 227 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::move_relative_angle	(	std::vector< double > &	position,
		std::vector< double > &	velocity
	)

functions to move the group of motors in position control

Definition at line 238 of file dabo_arm_node_driver.cpp.

bool DaboArmNodeDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 64 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::pause_motion_sequence ( void )

Definition at line 176 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::resume_motion_sequence ( void )

Definition at line 182 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::scan_XML_files ( void ) [protected]

Definition at line 28 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::start_motion_sequence ( std::string & filename )

Definition at line 149 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::start_motion_sequence ( std::vector< TDynamixelMotionStep > & seq )

Definition at line 162 of file dabo_arm_node_driver.cpp.

bool DaboArmNodeDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 100 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::stop ( void )

function to stop all motors

Reimplemented from driver_base::Driver.

Definition at line 249 of file dabo_arm_node_driver.cpp.

void DaboArmNodeDriver::stop_motion_sequence ( void )

Definition at line 188 of file dabo_arm_node_driver.cpp.

bool DaboArmNodeDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.