IRI ROS Specific Driver Class. More...

#include <bhand_driver.h>

Inheritance diagram for BhandDriver:

Public Types
typedef iri_bhand::BhandConfig	Config
	define config type
Public Member Functions
	BhandDriver ()
	constructor
bool	closeDriver (void)
	close driver
void	config_update (const Config &new_cfg, uint32_t level=0)
	config update
bool	openDriver (void)
	open driver
int	rawCommand (std::string data)
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	stop driver
	~BhandDriver ()
	Destructor.
Public Attributes
Config	config_
	config variable
Private Attributes
BarrettHand *	bhand
std::string	bhserver_ip
int	server_port
int	state_refresh_rate

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 BhandDriver 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 BhandConfig.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 53 of file bhand_driver.h.

Member Typedef Documentation

typedef iri_bhand::BhandConfig BhandDriver::Config

define config type

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

Definition at line 69 of file bhand_driver.h.

Constructor & Destructor Documentation

BhandDriver::BhandDriver ( )

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 5 of file bhand_driver.cpp.

BhandDriver::~BhandDriver ( )

Destructor.

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

Definition at line 90 of file bhand_driver.cpp.

Member Function Documentation

bool BhandDriver::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 33 of file bhand_driver.cpp.

void BhandDriver::config_update	(	const 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 60 of file bhand_driver.cpp.

bool BhandDriver::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 12 of file bhand_driver.cpp.

int BhandDriver::rawCommand ( std::string data )

Definition at line 84 of file bhand_driver.cpp.

bool BhandDriver::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 41 of file bhand_driver.cpp.

bool BhandDriver::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.