IRI ROS Specific Driver Class. More...

#include <tibi_dabo_head_driver.h>

Inheritance diagram for TibiDaboHeadDriver:

Public Types
typedef tibi_dabo_head_node::TibiDaboHeadConfig	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
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	set_brightness (float brightness)
void	set_face_expression (std::string &expression)
void	set_face_expression (int index)
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
	TibiDaboHeadDriver ()
	constructor
	~TibiDaboHeadDriver ()
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Member Functions
void	scan_XML_files (void)
Private Attributes
std::vector< std::string >	config_files
int	feedback_rate
std::string	head_config_file
CSegwayHead *	head_driver
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 TibiDaboHeadDriver 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 TibiDaboHeadConfig.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 tibi_dabo_head_driver.h.

Member Typedef Documentation

typedef tibi_dabo_head_node::TibiDaboHeadConfig TibiDaboHeadDriver::Config

define config type

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

Definition at line 78 of file tibi_dabo_head_driver.h.

Constructor & Destructor Documentation

TibiDaboHeadDriver::TibiDaboHeadDriver ( )

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 17 of file tibi_dabo_head_driver.cpp.

TibiDaboHeadDriver::~TibiDaboHeadDriver ( )

Destructor.

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

Definition at line 357 of file tibi_dabo_head_driver.cpp.

Member Function Documentation

bool TibiDaboHeadDriver::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 88 of file tibi_dabo_head_driver.cpp.

void TibiDaboHeadDriver::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 109 of file tibi_dabo_head_driver.cpp.

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

Definition at line 329 of file tibi_dabo_head_driver.cpp.

int TibiDaboHeadDriver::get_feedback_rate ( void )

Definition at line 352 of file tibi_dabo_head_driver.cpp.

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

Definition at line 343 of file tibi_dabo_head_driver.cpp.

std::string TibiDaboHeadDriver::get_motion_sequence_complete_event_id ( void )

Definition at line 193 of file tibi_dabo_head_driver.cpp.

float TibiDaboHeadDriver::get_motion_sequence_completed_percentage ( void )

Definition at line 217 of file tibi_dabo_head_driver.cpp.

std::string TibiDaboHeadDriver::get_motion_sequence_error_event_id ( void )

Definition at line 201 of file tibi_dabo_head_driver.cpp.

std::string TibiDaboHeadDriver::get_motion_sequence_error_message ( void )

Definition at line 209 of file tibi_dabo_head_driver.cpp.

unsigned int TibiDaboHeadDriver::get_num_config_files ( void )

Definition at line 324 of file tibi_dabo_head_driver.cpp.

unsigned int TibiDaboHeadDriver::get_num_motion_seq_files ( void )

Definition at line 338 of file tibi_dabo_head_driver.cpp.

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

function to get the current position of all motors

Definition at line 254 of file tibi_dabo_head_driver.cpp.

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

function to get the current velocity of all motors

Definition at line 260 of file tibi_dabo_head_driver.cpp.

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

functions to move the group of motors in position control

Definition at line 226 of file tibi_dabo_head_driver.cpp.

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

functions to move the group of motors in position control

Definition at line 237 of file tibi_dabo_head_driver.cpp.

bool TibiDaboHeadDriver::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 63 of file tibi_dabo_head_driver.cpp.

void TibiDaboHeadDriver::pause_motion_sequence ( void )

Definition at line 175 of file tibi_dabo_head_driver.cpp.

void TibiDaboHeadDriver::resume_motion_sequence ( void )

Definition at line 181 of file tibi_dabo_head_driver.cpp.

void TibiDaboHeadDriver::scan_XML_files ( void ) [protected]

Definition at line 27 of file tibi_dabo_head_driver.cpp.

void TibiDaboHeadDriver::set_brightness ( float brightness )

Definition at line 318 of file tibi_dabo_head_driver.cpp.

void TibiDaboHeadDriver::set_face_expression ( std::string & expression )

Definition at line 267 of file tibi_dabo_head_driver.cpp.

void TibiDaboHeadDriver::set_face_expression ( int index )

Definition at line 290 of file tibi_dabo_head_driver.cpp.

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

Definition at line 148 of file tibi_dabo_head_driver.cpp.

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

Definition at line 161 of file tibi_dabo_head_driver.cpp.

bool TibiDaboHeadDriver::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 99 of file tibi_dabo_head_driver.cpp.

void TibiDaboHeadDriver::stop ( void )

function to stop all motors

Reimplemented from driver_base::Driver.

Definition at line 248 of file tibi_dabo_head_driver.cpp.

void TibiDaboHeadDriver::stop_motion_sequence ( void )

Definition at line 187 of file tibi_dabo_head_driver.cpp.

bool TibiDaboHeadDriver::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.