IRI ROS Base Node Class. More...

#include <iri_base_driver_node.h>

Inheritance diagram for iri_base_driver::IriBaseNodeDriver< Driver >:

Public Member Functions
void	addDiagnostics (void)
	main node add diagnostics
void	addOpenedTests (void)
	open status driver main node tests
void	addRunningTests (void)
	run status driver main node tests
void	addStoppedTests (void)
	stop status driver main node tests
	IriBaseNodeDriver (ros::NodeHandle &nh)
	constructor
void	reconfigureHook (int level)
	main node dynamic reconfigure
	~IriBaseNodeDriver ()
	destructor
Protected Member Functions
virtual void	addNodeDiagnostics (void)=0
	node add diagnostics
virtual void	addNodeOpenedTests (void)=0
	open status driver specific node tests
virtual void	addNodeRunningTests (void)=0
	run status driver specific node tests
virtual void	addNodeStoppedTests (void)=0
	stop status driver specific node tests
virtual void	mainNodeThread (void)=0
	specific node thread
virtual void	postNodeOpenHook (void)=0
	node implementation post open hook
void	postOpenHook (void)
	main node post open hook
void	preCloseHook (void)
	main node pre close hook
virtual void	preNodeCloseHook (void)
	node implementation pre close hook
virtual void	reconfigureNodeHook (int level)=0
	specific node dynamic reconfigure
Static Protected Member Functions
static void *	mainThread (void *param)
	main node thread
Protected Attributes
ros::Rate	loop_rate_
	main thread loop rate
ros::NodeHandle	public_node_handle_
	public node handle communication object
pthread_t	thread
	Thread information structure.
Static Protected Attributes
static const unsigned int	DEFAULT_RATE = 10
	default main thread frequency

Detailed Description

template<class Driver>
class iri_base_driver::IriBaseNodeDriver< Driver >

IRI ROS Base Node Class.

This class inherits from the ROS class driver_base::DriverNode<TemplateDriver> to provide an execution thread to the driver object. The TemplateDriver object must be an implementation of the IriBaseDriver class. The inherit template design form allows complete access to the driver object while manteining flexibility to instantiate any object inherit from IriBaseDriver.

A shared library is generated together with IriBaseDriver class to force implementation of virtual methods to final user. Functions from ROS driver base class to perform tests, add diagnostics or hooks, are mainteined to implement common purpose behaviours and forwarded to the final user node class for specification.

Threads are implemented using iri_utils software utilities. The mainThread() function loops in a defined loop_rate_. In each iteration, the abstract mainNodeThread() function defined in the inherit node class is called.

Similarly, functions such as addDiagnostics() or addRunningTests() are prepared for detailing common features for all driver nodes while executing specific commands for each specification by calling the respective functions addNodeDiagnostics() and addNodeRunningTests() from the inherit node implementation.

Instances of both IriBaseDriver and IriBaseNodeDriver can be easly generated with the iri_ros_scripts package. Similarly, data can be sent and read through ROS topics by using those scripts. The scripts can be downloaded from the iri_stack SVN.

Definition at line 61 of file iri_base_driver_node.h.

Constructor & Destructor Documentation

template<class Driver >

iri_base_driver::IriBaseNodeDriver< Driver >::IriBaseNodeDriver ( ros::NodeHandle & nh )

constructor

This constructor creates and initializes the main thread of the class. It also sets the driver_base::postOpenHook thread. NodeHandle and loop_rate_ variables are also initialized.

Parameters:

nh	a reference to the node handle object to manage all ROS topics.

Definition at line 255 of file iri_base_driver_node.h.

template<class Driver >

iri_base_driver::IriBaseNodeDriver< Driver >::~IriBaseNodeDriver ( )

destructor

This destructor closes the driver object and kills the main thread.

Definition at line 352 of file iri_base_driver_node.h.

Member Function Documentation

template<class Driver >

void iri_base_driver::IriBaseNodeDriver< Driver >::addDiagnostics ( void ) [virtual]

main node add diagnostics

In this function ROS diagnostics applied to all node may be added.

Implements driver_base::DriverNode< Driver >.

Definition at line 317 of file iri_base_driver_node.h.

template<class Driver>

virtual void iri_base_driver::IriBaseNodeDriver< Driver >::addNodeDiagnostics ( void ) [protected, pure virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific node may be added.

template<class Driver>

virtual void iri_base_driver::IriBaseNodeDriver< Driver >::addNodeOpenedTests ( void ) [protected, pure virtual]

open status driver specific node tests

In this abstract function tests checking driver's functionallity in driver_base status=open can be added.

template<class Driver>

virtual void iri_base_driver::IriBaseNodeDriver< Driver >::addNodeRunningTests ( void ) [protected, pure virtual]

run status driver specific node tests

In this abstract function tests checking driver's functionallity in driver_base status=run can be added.

template<class Driver>

virtual void iri_base_driver::IriBaseNodeDriver< Driver >::addNodeStoppedTests ( void ) [protected, pure virtual]

stop status driver specific node tests

In this abstract function tests checking driver's functionallity in driver_base status=stop can be added.

template<class Driver >

void iri_base_driver::IriBaseNodeDriver< Driver >::addOpenedTests ( void ) [virtual]

open status driver main node tests

In this function tests checking driver's functionallity in driver_base status=open can be added.

Implements driver_base::DriverNode< Driver >.

Definition at line 324 of file iri_base_driver_node.h.

template<class Driver >

void iri_base_driver::IriBaseNodeDriver< Driver >::addRunningTests ( void ) [virtual]

run status driver main node tests

In this function tests checking driver's functionallity in driver_base status=run can be added.

Implements driver_base::DriverNode< Driver >.

Definition at line 338 of file iri_base_driver_node.h.

template<class Driver >

void iri_base_driver::IriBaseNodeDriver< Driver >::addStoppedTests ( void ) [virtual]

stop status driver main node tests

In this function tests checking driver's functionallity in driver_base status=stop can be added.

Implements driver_base::DriverNode< Driver >.

Definition at line 331 of file iri_base_driver_node.h.

template<class Driver>

virtual void iri_base_driver::IriBaseNodeDriver< Driver >::mainNodeThread ( void ) [protected, pure virtual]

specific node thread

In this abstract function specific commands for the driver base node have to be detailed.

template<class Driver >

void * iri_base_driver::IriBaseNodeDriver< Driver >::mainThread ( void * param ) [static, protected]

main node thread

This is the main thread node function. Code written here will be executed in every inherit driver node object. The loop won't exit until driver node finish its execution. The commands implemented in the abstract function mainNodeThread() will be executed in every iteration.

Loop frequency can be tuned my modifying loop_rate_ attribute.

Parameters:

param is a pointer to a IriBaseDriver object class. It is used to access to the object attributes and methods.

Definition at line 271 of file iri_base_driver_node.h.

template<class Driver>

virtual void iri_base_driver::IriBaseNodeDriver< Driver >::postNodeOpenHook ( void ) [protected, pure virtual]

node implementation post open hook

Abstrac function called by postOpenHook() that adds the specific driver node parameters to the dynamic reconfigure application.

template<class Driver >

void iri_base_driver::IriBaseNodeDriver< Driver >::postOpenHook ( void ) [protected]

main node post open hook

This function sets the common parameters for all drivers which might be tuned for the ROS dynamic reconfigure application.

Definition at line 294 of file iri_base_driver_node.h.

template<class Driver >

void iri_base_driver::IriBaseNodeDriver< Driver >::preCloseHook ( void ) [protected]

main node pre close hook

Definition at line 305 of file iri_base_driver_node.h.

template<class Driver >

void iri_base_driver::IriBaseNodeDriver< Driver >::preNodeCloseHook ( void ) [protected, virtual]

node implementation pre close hook

Definition at line 312 of file iri_base_driver_node.h.

template<class Driver >

void iri_base_driver::IriBaseNodeDriver< Driver >::reconfigureHook ( int level ) [virtual]

main node dynamic reconfigure

Parameters:

level integer

Implements driver_base::DriverNode< Driver >.

Definition at line 345 of file iri_base_driver_node.h.

template<class Driver>

virtual void iri_base_driver::IriBaseNodeDriver< Driver >::reconfigureNodeHook ( int level ) [protected, pure virtual]

specific node dynamic reconfigure

This function is called reconfigureHook()

Parameters:

level integer

Member Data Documentation

template<class Driver>

const unsigned int iri_base_driver::IriBaseNodeDriver< Driver >::DEFAULT_RATE = 10 [static, protected]

default main thread frequency

This constant determines the default frequency of the mainThread() in HZ. All nodes will loop at this rate if loop_rate_ variable is not modified.

Definition at line 127 of file iri_base_driver_node.h.

template<class Driver>

ros::Rate iri_base_driver::IriBaseNodeDriver< Driver >::loop_rate_ [protected]

main thread loop rate

This value determines the loop frequency of the node main thread function mainThread() in HZ. It is initialized at construction time. This variable may be modified in the node implementation constructor if a desired frequency is required.

Definition at line 119 of file iri_base_driver_node.h.

template<class Driver>

ros::NodeHandle iri_base_driver::IriBaseNodeDriver< Driver >::public_node_handle_ [protected]

public node handle communication object

This node handle is going to be used to create topics and services within the node namespace. Additional node handles can be instantatied if additional namespaces are needed.

Definition at line 109 of file iri_base_driver_node.h.

template<class Driver>

pthread_t iri_base_driver::IriBaseNodeDriver< Driver >::thread [protected]

Thread information structure.

This structure hold system level information of the thread and it is initialized when the thread is first created. This information can not be modified at any time and it is not accessible from outside the class.

Definition at line 72 of file iri_base_driver_node.h.

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

iri_base_driver_node.h

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

template<class Driver> class iri_base_driver::IriBaseNodeDriver< Driver >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class Driver>
class iri_base_driver::IriBaseNodeDriver< Driver >