#include <generic_tactiles.hpp>

Inheritance diagram for tactiles::GenericTactiles:

Public Member Functions
virtual void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)
	GenericTactiles (std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
virtual std::vector < AllTactileData > *	get_tactile_data ()
virtual void	publish ()
bool	reset (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
virtual void	update (ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS *status_data)
	~GenericTactiles ()
Public Attributes
boost::shared_ptr < generic_updater::SensorUpdater >	sensor_updater
boost::shared_ptr< std::vector < GenericTactileData > >	tactiles_vector
	the vector containing the data for the tactiles.
Static Public Attributes
static const unsigned int	nb_tactiles = 5
	Number of tactile sensors (TODO: should probably be defined in the protocol)
Protected Member Functions
void	process_received_data_type (int32u data)
std::string	sanitise_string (const char *raw_string, const unsigned int str_size)
Protected Attributes
boost::shared_ptr< std::vector < AllTactileData > >	all_tactile_data
std::vector< int32u >	initialization_received_data_vector
	Contains the received data types.
ros::NodeHandle	nodehandle_
ros::ServiceServer	reset_service_client_

Detailed Description

Definition at line 53 of file generic_tactiles.hpp.

Constructor & Destructor Documentation

tactiles::GenericTactiles::GenericTactiles	(	std::vector< generic_updater::UpdateConfig >	update_configs_vector,
		operation_mode::device_update_state::DeviceUpdateState	update_state
	)

Definition at line 36 of file generic_tactiles.cpp.

tactiles::GenericTactiles::~GenericTactiles ( ) [inline]

Definition at line 57 of file generic_tactiles.hpp.

Member Function Documentation

void tactiles::GenericTactiles::add_diagnostics	(	std::vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		diagnostic_updater::DiagnosticStatusWrapper &	d
	)		`[virtual]`

This function adds the diagnostics for the tactiles to the multi diagnostic status published by the hand.

Reimplemented in tactiles::Biotac, and tactiles::ShadowPSTs.

Definition at line 149 of file generic_tactiles.cpp.

std::vector< AllTactileData > * tactiles::GenericTactiles::get_tactile_data ( ) [virtual]

Reimplemented in tactiles::Biotac, and tactiles::ShadowPSTs.

Definition at line 193 of file generic_tactiles.cpp.

void tactiles::GenericTactiles::process_received_data_type ( int32u data ) [protected]

Definition at line 133 of file generic_tactiles.cpp.

void tactiles::GenericTactiles::publish ( ) [virtual]

Publish the information to a ROS topic.

Reimplemented in tactiles::Biotac, and tactiles::ShadowPSTs.

Definition at line 144 of file generic_tactiles.cpp.

bool tactiles::GenericTactiles::reset	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

Reset the tactile sensors.

Parameters:

request	empty
response	empty

Returns:: true if success

Definition at line 163 of file generic_tactiles.cpp.

std::string tactiles::GenericTactiles::sanitise_string	(	const char *	raw_string,
		const unsigned int	str_size
	)		`[protected]`

Sanitise a string coming from the palm. Make sure we're not outputting garbage in the diagnostics topic. The acceptable range for the char is [0x20 .. 0x7E]

Parameters:

raw_string	The incoming raw string
str_size	The max size of the string

Returns:: The sanitised string.

Definition at line 172 of file generic_tactiles.cpp.

void tactiles::GenericTactiles::update ( ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS * status_data ) [virtual]

This function is called each time a new etherCAT message is received in the sr06.cpp driver. It updates the tactile sensors values contained in tactiles_vector.

Parameters:

status_data the received etherCAT message

Reimplemented in tactiles::Biotac, and tactiles::ShadowPSTs.

Definition at line 56 of file generic_tactiles.cpp.