#include <labjack_node.h>

Public Member Functions
int	clearStateD (long stateD)
	Function which assign a value of 0 to the D line specified in the parameter.
int	clearStateIO (long stateIO)
	Function which clear the state of one IO line.
int	clearWatchdog ()
	Function which clear the watchog.
int	enableBase (bool enable)
	Function which enable the base to move.
int	enableBody (bool enable)
	Function which enable the body to move.
float	getAI (long channel)
	Function which get the value of one AI line.
float8	getAIs ()
	Function which get the value of the AI lines.
t_ljdata	getAll ()
	Function which return all data relative to the labjack. Digital and analog lines. These lines have connected: touch sensors, batteries, state of the emergency button RF, state of the emergency button of Maggie, control signal of motor in the base and control signal of the other motors.
long	getDsDirection ()
	Function which return the directions of the D lines: 0 is an input and 1 an output.
bool	getIsPlugged (batteries_skill_msgs::LabjackPlugInfo::Request &req, batteries_skill_msgs::LabjackPlugInfo::Response &resp)
	Callback to get the information of the batteries.
bool	getPower (batteries_skill_msgs::LabjackBatteryInfo::Request &req, batteries_skill_msgs::LabjackBatteryInfo::Response &resp)
	Callback to get the information of the batteries.
int	getState ()
	Function which get the current state.
int	getStateD (long stateD)
	Function which return the state of a specific D line.
float	getStateDs ()
	Function which return the state of all D lines.
int	getStateIO (long stateIO)
	Function which get the state of one IO line.
float	getStateIOs ()
	Function which get the state of the IO lines.
bool	getStates (basic_states_skill_msgs::GetLabjackState::Request &req, basic_states_skill_msgs::GetLabjackState::Response &resp)
	Callback to get the information of the states.
touch	getTouch ()
	Function which get the value of the touch sensors.
bool	getTouchSensors (touch_skill_msgs::LabjackTouchInfo::Request &req, touch_skill_msgs::LabjackTouchInfo::Response &resp)
	Callback to get the information of the touch sensors.
float	getVoltage ()
	Function which return the value in volts of the battery.
void	init ()
	Initialize the labjack node.
int	isEmergency ()
	Function which get if the labjack is in emergency state.
bool	isPlugged ()
	Function which return the state of the robot connection.
	LabjackNode (LabjackDriverInterface *ljdriver)
	Empty constructor.
void	publish_battery ()
	Publish information from the battery.
void	publish_state ()
	Publish information from the states.
void	publish_touch ()
	Publish information from the touch sensors.
int	setAOs (float2 voltageAO)
	Function which assign a voltage. If only one parameter desire, pass negative value to the other.
int	setEmergency ()
	Function which emergency by software.
int	setPulseD (t_pulseData data)
	Function which write a pulse in a D line.
int	setPulseIO (t_pulseData data)
	Function which write a pulse in a IO line.
int	setState (int state)
	Function which set the state.
int	setStateD (long stateD)
	Function which assign a value of 1 to the D line specified in the parameter.
int	setStateDs (long stateD)
	Function which assing a new state to all D lines.
int	setStateIO (long stateIO)
	Function which set the state of one IO line.
int	setStateIOs (long stateIO)
	Function which set the state of the IO lines.
bool	setStates (basic_states_skill_msgs::SetLabjackState::Request &req, basic_states_skill_msgs::SetLabjackState::Response &resp)
	Callback to set a state.
int	setWatchdog ()
	Function which set the watchdog.
void	spin ()
	Spin the node.
	~LabjackNode ()
	Destructor.
Private Attributes
ros::ServiceServer	_get_is_plugged_srv
ros::ServiceServer	_get_state_srv
ros::ServiceServer	_get_voltage_srv
t_ljdata	_labjack_data
LabjackDriverInterface *	_ljdriver
ros::NodeHandle	_nh
ros::NodeHandle	_nh_private
ros::Rate	_publish_rate
ros::ServiceServer	_set_state_srv
ros::ServiceServer	_touch_srv

Detailed Description

Definition at line 40 of file labjack_node.h.

Constructor & Destructor Documentation

LabjackNode::LabjackNode ( LabjackDriverInterface * ljdriver )

Empty constructor.

Definition at line 30 of file labjack_node.cpp.

LabjackNode::~LabjackNode ( )

Destructor.

Definition at line 56 of file labjack_node.cpp.

Member Function Documentation

int LabjackNode::clearStateD ( long stateD )

Function which assign a value of 0 to the D line specified in the parameter.

Parameters:

stateD the state of the line to clear.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 270 of file labjack_node.cpp.

int LabjackNode::clearStateIO ( long stateIO )

Function which clear the state of one IO line.

Parameters:

stateIO the state of the line to clear.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 368 of file labjack_node.cpp.

int LabjackNode::clearWatchdog ( )

Function which clear the watchog.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 620 of file labjack_node.cpp.

int LabjackNode::enableBase ( bool enable )

Function which enable the base to move.

Parameters:

enable true or false depending on the case.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 582 of file labjack_node.cpp.

int LabjackNode::enableBody ( bool enable )

Function which enable the body to move.

Parameters:

enable true or false depending on the case.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 594 of file labjack_node.cpp.

float LabjackNode::getAI ( long channel )

Function which get the value of one AI line.

Parameters:

channel the channel of the line to clear.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 422 of file labjack_node.cpp.

float8 LabjackNode::getAIs ( )

Function which get the value of the AI lines.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 379 of file labjack_node.cpp.

t_ljdata LabjackNode::getAll ( )

Function which return all data relative to the labjack. Digital and analog lines. These lines have connected: touch sensors, batteries, state of the emergency button RF, state of the emergency button of Maggie, control signal of motor in the base and control signal of the other motors.

Returns:: if no error, return all data, if error, NULL

Definition at line 140 of file labjack_node.cpp.

long LabjackNode::getDsDirection ( )

Function which return the directions of the D lines: 0 is an input and 1 an output.

Returns:: if error, return negative values.

Definition at line 281 of file labjack_node.cpp.

bool LabjackNode::getIsPlugged	(	batteries_skill_msgs::LabjackPlugInfo::Request &	req,
		batteries_skill_msgs::LabjackPlugInfo::Response &	resp
	)

Callback to get the information of the batteries.

Parameters:

req	LabjackBatteryInfo type request.
resp	LabjackBatteryInfo type response.

Returns:: true if there are no errors.

Definition at line 107 of file labjack_node.cpp.

bool LabjackNode::getPower	(	batteries_skill_msgs::LabjackBatteryInfo::Request &	req,
		batteries_skill_msgs::LabjackBatteryInfo::Response &	resp
	)

Callback to get the information of the batteries.

Parameters:

req	LabjackBatteryInfo type request.
resp	LabjackBatteryInfo type response.

Returns:: true if there are no errors.

Definition at line 97 of file labjack_node.cpp.

int LabjackNode::getState ( )

Function which get the current state.

Returns:: the current state of the labjack.

Definition at line 508 of file labjack_node.cpp.

int LabjackNode::getStateD ( long stateD )

Function which return the state of a specific D line.

Parameters:

stateD the line specified.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 228 of file labjack_node.cpp.

float LabjackNode::getStateDs ( )

Function which return the state of all D lines.

Returns:: if error, return negative values.

Definition at line 200 of file labjack_node.cpp.

int LabjackNode::getStateIO ( long stateIO )

Function which get the state of one IO line.

Parameters:

stateIO the state of the IO line.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 327 of file labjack_node.cpp.

float LabjackNode::getStateIOs ( )

Function which get the state of the IO lines.

Returns:: the state of the IOs.

Definition at line 297 of file labjack_node.cpp.

bool LabjackNode::getStates	(	basic_states_skill_msgs::GetLabjackState::Request &	req,
		basic_states_skill_msgs::GetLabjackState::Response &	resp
	)

Callback to get the information of the states.

Parameters:

req	GetLabjackState type request.
resp	GetLabjackState type response.

Returns:: true if there are no errors.

Definition at line 117 of file labjack_node.cpp.

touch LabjackNode::getTouch ( )

Function which get the value of the touch sensors.

Returns:: the current value of the touch sensors.

Definition at line 704 of file labjack_node.cpp.

bool LabjackNode::getTouchSensors	(	touch_skill_msgs::LabjackTouchInfo::Request &	req,
		touch_skill_msgs::LabjackTouchInfo::Response &	resp
	)

Callback to get the information of the touch sensors.

Parameters:

req	LabjackTouchInfo type request.
resp	LabjackTouchInfo type response.

Returns:: true if there are no errors.

Definition at line 83 of file labjack_node.cpp.

float LabjackNode::getVoltage ( )

Function which return the value in volts of the battery.

Returns:: the voltage of the battery.

Definition at line 664 of file labjack_node.cpp.

void LabjackNode::init ( )

Initialize the labjack node.

Definition at line 62 of file labjack_node.cpp.

int LabjackNode::isEmergency ( )

Function which get if the labjack is in emergency state.

Returns:: true or false depending on the state of the IO line.

Definition at line 631 of file labjack_node.cpp.

bool LabjackNode::isPlugged ( )

Function which return the state of the robot connection.

Returns:: true if robot is plugged, false in other case.

Definition at line 684 of file labjack_node.cpp.

void LabjackNode::publish_battery ( )

Publish information from the battery.

void LabjackNode::publish_state ( )

Publish information from the states.

void LabjackNode::publish_touch ( )

Publish information from the touch sensors.

int LabjackNode::setAOs ( float2 voltageAO )

Function which assign a voltage. If only one parameter desire, pass negative value to the other.

Parameters:

voltageAO the voltage to set.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 443 of file labjack_node.cpp.

int LabjackNode::setEmergency ( )

Function which emergency by software.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 643 of file labjack_node.cpp.

int LabjackNode::setPulseD ( t_pulseData data )

Function which write a pulse in a D line.

Parameters:

data	the data to set.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 454 of file labjack_node.cpp.

int LabjackNode::setPulseIO ( t_pulseData data )

Function which write a pulse in a IO line.

Parameters:

data	the data to set.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 481 of file labjack_node.cpp.

int LabjackNode::setState ( int state )

Function which set the state.

Parameters:

state the new state.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 537 of file labjack_node.cpp.

int LabjackNode::setStateD ( long stateD )

Function which assign a value of 1 to the D line specified in the parameter.

Parameters:

stateD the state of the line to set.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 258 of file labjack_node.cpp.

int LabjackNode::setStateDs ( long stateD )

Function which assing a new state to all D lines.

Parameters:

stateD new state to set.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 215 of file labjack_node.cpp.

int LabjackNode::setStateIO ( long stateIO )

Function which set the state of one IO line.

Parameters:

stateIO the of the line to set.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 357 of file labjack_node.cpp.

int LabjackNode::setStateIOs ( long stateIO )

Function which set the state of the IO lines.

Parameters:

stateIO the new state of IO line.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 313 of file labjack_node.cpp.

bool LabjackNode::setStates	(	basic_states_skill_msgs::SetLabjackState::Request &	req,
		basic_states_skill_msgs::SetLabjackState::Response &	resp
	)

Callback to set a state.

Parameters:

req	SetLabjackState type request.
resp	SetLabjackState type response.

Returns:: true if there are no errors.

Definition at line 127 of file labjack_node.cpp.

int LabjackNode::setWatchdog ( )

Function which set the watchdog.

Returns:: return 0 if no error, other thing if something happen.

Definition at line 606 of file labjack_node.cpp.

void LabjackNode::spin ( )

Spin the node.

Definition at line 73 of file labjack_node.cpp.

Member Data Documentation

ros::ServiceServer LabjackNode::_get_is_plugged_srv [private]

Definition at line 334 of file labjack_node.h.

ros::ServiceServer LabjackNode::_get_state_srv [private]

Definition at line 335 of file labjack_node.h.

ros::ServiceServer LabjackNode::_get_voltage_srv [private]

Definition at line 333 of file labjack_node.h.

t_ljdata LabjackNode::_labjack_data [private]

Definition at line 341 of file labjack_node.h.

LabjackDriverInterface* LabjackNode::_ljdriver [private]

Definition at line 342 of file labjack_node.h.

ros::NodeHandle LabjackNode::_nh [private]

Definition at line 328 of file labjack_node.h.

ros::NodeHandle LabjackNode::_nh_private [private]

Definition at line 329 of file labjack_node.h.

ros::Rate LabjackNode::_publish_rate [private]

Definition at line 339 of file labjack_node.h.

ros::ServiceServer LabjackNode::_set_state_srv [private]

Definition at line 336 of file labjack_node.h.

ros::ServiceServer LabjackNode::_touch_srv [private]

Definition at line 332 of file labjack_node.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation