#include <state_machine.h>

Public Member Functions
bool	init ()
	Initializes statemachine, ros node, servers, and clients.
void	run ()
	Execute state machine (blocks permanently)
void	runOnce ()
	Execute state machine once.
	StateMachine ()
	Default constructor (must call init function)
	~StateMachine ()
	Deconstructor.
Protected Member Functions
void	abortActionServers ()
	Aborts any server with active client requests.
bool	areActionsReady ()
	Checks remote action servers to see if they are ready.
bool	areServicesReady ()
	Checks remote services to see if they are ready.
void	callPublishers ()
void	cancelActionClients ()
	Cancels any requests to action servers.
void	closeChuck ()
void	closeDoor ()
void	closeGripper ()
void	errorChecks ()
bool	externalCommandCB (mtconnect_example_msgs::StateMachineCmd::Request &req, mtconnect_example_msgs::StateMachineCmd::Response &res)
StateType	getState ()
bool	isActionComplete (int action_state)
bool	isChuckClosed ()
bool	isChuckOpened ()
bool	isDoorClosed ()
bool	isDoorOpened ()
bool	isGripperClosed ()
bool	isGripperOpened ()
bool	isHome ()
bool	isMoveDone ()
void	jointStatesCB (const sensor_msgs::JointStateConstPtr &msg)
void	materialLoadGoalCB ()
void	materialUnloadGoalCB ()
bool	moveArm (const std::string &move_name)
void	openChuck ()
void	openDoor ()
void	openGripper ()
void	overrideChecks ()
void	robotSpindlePublisher ()
void	robotStatusCB (const industrial_msgs::RobotStatusConstPtr &msg)
void	robotStatusPublisher ()
bool	setMatActionsNotReady ()
	Checks remote services to see if they are ready.
bool	setMatActionsReady ()
	Checks remote services to see if they are ready.
bool	setMatLoad (int state)
	Checks remote services to see if they are ready.
bool	setMatUnload (int state)
void	setState (StateType state)
void	stateMachineStatusPublisher ()
Protected Attributes
ros::NodeHandle	nh_
	Internal node handle.
Private Attributes
CncCloseChuckClientPtr	close_chuck_client_ptr_
CncCloseDoorClientPtr	close_door_client_ptr_
bool	cycle_stop_req_
	cycle stop request flat
ros::ServiceServer	external_command_srv_
GraspActionClientPtr	grasp_action_client_ptr_
boost::shared_ptr < mtconnect::JointPoint >	home_
bool	home_check_
	enables/disables home checking
double	home_tol_
	home position tolerance
std::map< std::string, trajectory_msgs::JointTrajectoryPtr >	joint_paths_
sensor_msgs::JointState	joint_state_msg_
ros::Subscriber	joint_states_sub_
JointTractoryClientPtr	joint_traj_client_ptr_
control_msgs::FollowJointTrajectoryGoal	joint_traj_goal_
int	loop_rate_
	Main loop rate.
mtconnect_msgs::SetMTConnectState	mat_load_set_state_
mtconnect_msgs::SetMTConnectState	mat_unload_set_state_
MaterialLoadServerPtr	material_load_server_ptr_
ros::ServiceClient	material_load_set_state_client_
int	material_load_state_
	internal flag to track material load state (should be encapsulated in material load)
bool	material_state_
	material state (true if material is present)
MaterialUnloadServerPtr	material_unload_server_ptr_
ros::ServiceClient	material_unload_set_state_client_
CncOpenChuckClientPtr	open_chuck_client_ptr_
CncOpenDoorClientPtr	open_door_client_ptr_
mtconnect_msgs::RobotSpindle	robot_spindle_msg_
ros::Publisher	robot_spindle_pub_
mtconnect_msgs::RobotStates	robot_state_msg_
ros::Publisher	robot_states_pub_
industrial_msgs::RobotStatus	robot_status_msg_
ros::Subscriber	robot_status_sub_
StateType	state_
	Holds current state.
ros::Publisher	state_machine_pub_
mtconnect_example_msgs::StateMachineStatus	state_machine_stat_msg_
arm_navigation_msgs::FilterJointTrajectoryWithConstraints	trajectory_filter_
ros::ServiceClient	trajectory_filter_client_
GraspActionClientPtr	vise_action_client_ptr_

Detailed Description

Definition at line 182 of file state_machine.h.

Constructor & Destructor Documentation

StateMachine::StateMachine ( )

Default constructor (must call init function)

Definition at line 69 of file state_machine.cpp.

StateMachine::~StateMachine ( )

Deconstructor.

Definition at line 82 of file state_machine.cpp.

Member Function Documentation

void StateMachine::abortActionServers ( ) [protected]

Aborts any server with active client requests.

Definition at line 586 of file state_machine.cpp.

bool StateMachine::areActionsReady ( ) [protected]

Checks remote action servers to see if they are ready.

Returns:: true if all ready, otherwise false

Definition at line 572 of file state_machine.cpp.

bool StateMachine::areServicesReady ( ) [protected]

Checks remote services to see if they are ready.

Returns:: true if all ready, otherwise false

Definition at line 580 of file state_machine.cpp.

void StateMachine::callPublishers ( ) [protected]

Definition at line 745 of file state_machine.cpp.

void StateMachine::cancelActionClients ( ) [protected]

Cancels any requests to action servers.

Definition at line 607 of file state_machine.cpp.

void StateMachine::closeChuck ( ) [protected]

Definition at line 1033 of file state_machine.cpp.

void StateMachine::closeDoor ( ) [protected]

Definition at line 1001 of file state_machine.cpp.

void StateMachine::closeGripper ( ) [protected]

Definition at line 1066 of file state_machine.cpp.

void StateMachine::errorChecks ( ) [protected]

Definition at line 688 of file state_machine.cpp.

bool StateMachine::externalCommandCB	(	mtconnect_example_msgs::StateMachineCmd::Request &	req,
		mtconnect_example_msgs::StateMachineCmd::Response &	res
	)		`[protected]`

Definition at line 853 of file state_machine.cpp.

StateType mtconnect_state_machine::StateMachine::getState ( ) [inline, protected]

Definition at line 233 of file state_machine.h.

bool StateMachine::init ( )

Initializes statemachine, ros node, servers, and clients.

Returns:: true on success, false otherwise.

Definition at line 87 of file state_machine.cpp.

bool StateMachine::isActionComplete ( int action_state ) [protected]

Definition at line 909 of file state_machine.cpp.

bool StateMachine::isChuckClosed ( ) [protected]

Definition at line 1047 of file state_machine.cpp.

bool StateMachine::isChuckOpened ( ) [protected]

Definition at line 1028 of file state_machine.cpp.

bool StateMachine::isDoorClosed ( ) [protected]

Definition at line 1009 of file state_machine.cpp.

bool StateMachine::isDoorOpened ( ) [protected]

Definition at line 996 of file state_machine.cpp.

bool StateMachine::isGripperClosed ( ) [protected]

Definition at line 1074 of file state_machine.cpp.

bool StateMachine::isGripperOpened ( ) [protected]

Definition at line 1061 of file state_machine.cpp.

bool StateMachine::isHome ( ) [protected]

Definition at line 1079 of file state_machine.cpp.

bool StateMachine::isMoveDone ( ) [protected]

Definition at line 983 of file state_machine.cpp.

void StateMachine::jointStatesCB ( const sensor_msgs::JointStateConstPtr & msg ) [protected]

Definition at line 848 of file state_machine.cpp.

void StateMachine::materialLoadGoalCB ( ) [protected]

Definition at line 805 of file state_machine.cpp.

void StateMachine::materialUnloadGoalCB ( ) [protected]

Definition at line 824 of file state_machine.cpp.

bool StateMachine::moveArm ( const std::string & move_name ) [protected]

Definition at line 944 of file state_machine.cpp.

void StateMachine::openChuck ( ) [protected]

Definition at line 1014 of file state_machine.cpp.

void StateMachine::openDoor ( ) [protected]

Definition at line 988 of file state_machine.cpp.

void StateMachine::openGripper ( ) [protected]

Definition at line 1053 of file state_machine.cpp.

void StateMachine::overrideChecks ( ) [protected]

Definition at line 711 of file state_machine.cpp.

void StateMachine::robotSpindlePublisher ( ) [protected]

Definition at line 781 of file state_machine.cpp.

void StateMachine::robotStatusCB ( const industrial_msgs::RobotStatusConstPtr & msg ) [protected]

Definition at line 843 of file state_machine.cpp.

void StateMachine::robotStatusPublisher ( ) [protected]

Definition at line 751 of file state_machine.cpp.

void StateMachine::run ( void )

Execute state machine (blocks permanently)

Executes the state machine. Handles all transitions

Definition at line 182 of file state_machine.cpp.

void StateMachine::runOnce ( )

Execute state machine once.

Definition at line 200 of file state_machine.cpp.

bool StateMachine::setMatActionsNotReady ( ) [protected]

Checks remote services to see if they are ready.

Returns:: true if all ready, otherwise false

Definition at line 627 of file state_machine.cpp.

bool StateMachine::setMatActionsReady ( ) [protected]

Checks remote services to see if they are ready.

Returns:: true if all ready, otherwise false

Definition at line 621 of file state_machine.cpp.

bool StateMachine::setMatLoad ( int state ) [protected]

Checks remote services to see if they are ready.

Returns:: true if all ready, otherwise false

Definition at line 633 of file state_machine.cpp.

bool StateMachine::setMatUnload ( int state ) [protected]

Definition at line 661 of file state_machine.cpp.

void mtconnect_state_machine::StateMachine::setState ( StateType state ) [inline, protected]

Definition at line 225 of file state_machine.h.

void StateMachine::stateMachineStatusPublisher ( ) [protected]

Definition at line 794 of file state_machine.cpp.

Member Data Documentation

CncCloseChuckClientPtr mtconnect_state_machine::StateMachine::close_chuck_client_ptr_ [private]

Definition at line 399 of file state_machine.h.

CncCloseDoorClientPtr mtconnect_state_machine::StateMachine::close_door_client_ptr_ [private]

Definition at line 397 of file state_machine.h.

bool mtconnect_state_machine::StateMachine::cycle_stop_req_ [private]

cycle stop request flat

Definition at line 373 of file state_machine.h.

ros::ServiceServer mtconnect_state_machine::StateMachine::external_command_srv_ [private]

Definition at line 414 of file state_machine.h.

GraspActionClientPtr mtconnect_state_machine::StateMachine::grasp_action_client_ptr_ [private]

Definition at line 400 of file state_machine.h.

boost::shared_ptr<mtconnect::JointPoint> mtconnect_state_machine::StateMachine::home_ [private]

Definition at line 389 of file state_machine.h.

bool mtconnect_state_machine::StateMachine::home_check_ [private]

enables/disables home checking

Definition at line 362 of file state_machine.h.

double mtconnect_state_machine::StateMachine::home_tol_ [private]

home position tolerance

Definition at line 368 of file state_machine.h.

std::map<std::string, trajectory_msgs::JointTrajectoryPtr> mtconnect_state_machine::StateMachine::joint_paths_ [private]

Definition at line 388 of file state_machine.h.

sensor_msgs::JointState mtconnect_state_machine::StateMachine::joint_state_msg_ [private]

Definition at line 427 of file state_machine.h.

ros::Subscriber mtconnect_state_machine::StateMachine::joint_states_sub_ [private]

Definition at line 411 of file state_machine.h.

JointTractoryClientPtr mtconnect_state_machine::StateMachine::joint_traj_client_ptr_ [private]

Definition at line 402 of file state_machine.h.

control_msgs::FollowJointTrajectoryGoal mtconnect_state_machine::StateMachine::joint_traj_goal_ [private]

Definition at line 437 of file state_machine.h.

int mtconnect_state_machine::StateMachine::loop_rate_ [private]

Main loop rate.

Definition at line 356 of file state_machine.h.

mtconnect_msgs::SetMTConnectState mtconnect_state_machine::StateMachine::mat_load_set_state_ [private]

Definition at line 432 of file state_machine.h.

mtconnect_msgs::SetMTConnectState mtconnect_state_machine::StateMachine::mat_unload_set_state_ [private]

Definition at line 433 of file state_machine.h.

MaterialLoadServerPtr mtconnect_state_machine::StateMachine::material_load_server_ptr_ [private]

Definition at line 392 of file state_machine.h.

ros::ServiceClient mtconnect_state_machine::StateMachine::material_load_set_state_client_ [private]

Definition at line 417 of file state_machine.h.

int mtconnect_state_machine::StateMachine::material_load_state_ [private]

internal flag to track material load state (should be encapsulated in material load)

Definition at line 385 of file state_machine.h.

bool mtconnect_state_machine::StateMachine::material_state_ [private]

material state (true if material is present)

Definition at line 379 of file state_machine.h.

MaterialUnloadServerPtr mtconnect_state_machine::StateMachine::material_unload_server_ptr_ [private]

Definition at line 393 of file state_machine.h.

ros::ServiceClient mtconnect_state_machine::StateMachine::material_unload_set_state_client_ [private]

Definition at line 418 of file state_machine.h.

ros::NodeHandle mtconnect_state_machine::StateMachine::nh_ [protected]

Internal node handle.

Definition at line 237 of file state_machine.h.

CncOpenChuckClientPtr mtconnect_state_machine::StateMachine::open_chuck_client_ptr_ [private]

Definition at line 398 of file state_machine.h.

CncOpenDoorClientPtr mtconnect_state_machine::StateMachine::open_door_client_ptr_ [private]

Definition at line 396 of file state_machine.h.

mtconnect_msgs::RobotSpindle mtconnect_state_machine::StateMachine::robot_spindle_msg_ [private]

Definition at line 423 of file state_machine.h.

ros::Publisher mtconnect_state_machine::StateMachine::robot_spindle_pub_ [private]

Definition at line 406 of file state_machine.h.

mtconnect_msgs::RobotStates mtconnect_state_machine::StateMachine::robot_state_msg_ [private]

Definition at line 422 of file state_machine.h.

ros::Publisher mtconnect_state_machine::StateMachine::robot_states_pub_ [private]

Definition at line 405 of file state_machine.h.

industrial_msgs::RobotStatus mtconnect_state_machine::StateMachine::robot_status_msg_ [private]

Definition at line 428 of file state_machine.h.

ros::Subscriber mtconnect_state_machine::StateMachine::robot_status_sub_ [private]

Definition at line 410 of file state_machine.h.

StateType mtconnect_state_machine::StateMachine::state_ [private]

Holds current state.

Definition at line 350 of file state_machine.h.

ros::Publisher mtconnect_state_machine::StateMachine::state_machine_pub_ [private]

Definition at line 407 of file state_machine.h.

mtconnect_example_msgs::StateMachineStatus mtconnect_state_machine::StateMachine::state_machine_stat_msg_ [private]

Definition at line 424 of file state_machine.h.

arm_navigation_msgs::FilterJointTrajectoryWithConstraints mtconnect_state_machine::StateMachine::trajectory_filter_ [private]

Definition at line 434 of file state_machine.h.

ros::ServiceClient mtconnect_state_machine::StateMachine::trajectory_filter_client_ [private]

Definition at line 419 of file state_machine.h.

GraspActionClientPtr mtconnect_state_machine::StateMachine::vise_action_client_ptr_ [private]

Definition at line 401 of file state_machine.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation