ronex::SPIBaseController Class Reference

#include <spi_base_controller.hpp>

Inheritance diagram for ronex::SPIBaseController:

List of all members.

Public Member Functions
virtual bool	init (ros_ethercat_model::RobotState *robot, ros::NodeHandle &n)
	SPIBaseController ()
virtual void	starting (const ros::Time &)
virtual void	update (const ros::Time &, const ros::Duration &)
	Issues commands to the joint. Should be called at regular intervals.
Protected Member Functions
void	copy_splitted_to_cmd_ (uint16_t spi_index)
bool	pre_init_ (ros_ethercat_model::RobotState *robot, ros::NodeHandle &n)
Protected Attributes
uint16_t	cmd_pin_output_states_post_
uint16_t	cmd_pin_output_states_pre_
std::vector< std::queue < SplittedSPICommand * > >	command_queue_
int	loop_count_
ros::NodeHandle	node_
ronex::SPI *	spi_
std::vector< std::queue < std::pair < SplittedSPICommand *, SPI_PACKET_IN * > > >	status_queue_
std::string	topic_prefix_
	prefix used for creating topics / services
Private Attributes
bool	new_command

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Detailed Description

Definition at line 51 of file spi_base_controller.hpp.

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Constructor & Destructor Documentation

ronex::SPIBaseController::SPIBaseController

(

)

Definition at line 29 of file spi_base_controller.cpp.

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Member Function Documentation

void ronex::SPIBaseController::copy_splitted_to_cmd_

(

uint16_t

spi_index

)

[protected]

Definition at line 138 of file spi_base_controller.cpp.

bool ronex::SPIBaseController::init	(	ros_ethercat_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Reimplemented from controller_interface::Controller< ros_ethercat_model::RobotState >.

Reimplemented in ronex::SPIPassthroughController.

Definition at line 33 of file spi_base_controller.cpp.

bool ronex::SPIBaseController::pre_init_	(	ros_ethercat_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[protected]

Definition at line 38 of file spi_base_controller.cpp.

void ronex::SPIBaseController::starting

(

const ros::Time &

)

[virtual]

Reimplemented from controller_interface::ControllerBase.

Definition at line 81 of file spi_base_controller.cpp.

void ronex::SPIBaseController::update	(	const ros::Time &	,
		const ros::Duration &
	)		[virtual]

Issues commands to the joint. Should be called at regular intervals.

Implements controller_interface::ControllerBase.

Definition at line 89 of file spi_base_controller.cpp.

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Member Data Documentation

uint16_t ronex::SPIBaseController::cmd_pin_output_states_post_ [protected]

Definition at line 80 of file spi_base_controller.hpp.

uint16_t ronex::SPIBaseController::cmd_pin_output_states_pre_ [protected]

Definition at line 79 of file spi_base_controller.hpp.

std::vector<std::queue<SplittedSPICommand*> > ronex::SPIBaseController::command_queue_ [protected]

Definition at line 76 of file spi_base_controller.hpp.

int ronex::SPIBaseController::loop_count_ [protected]

Definition at line 72 of file spi_base_controller.hpp.

bool ronex::SPIBaseController::new_command [private]

Definition at line 86 of file spi_base_controller.hpp.

ros::NodeHandle ronex::SPIBaseController::node_ [protected]

Definition at line 67 of file spi_base_controller.hpp.

ronex::SPI* ronex::SPIBaseController::spi_ [protected]

Definition at line 74 of file spi_base_controller.hpp.

std::vector<std::queue<std::pair<SplittedSPICommand*, SPI_PACKET_IN* > > > ronex::SPIBaseController::status_queue_ [protected]

Definition at line 77 of file spi_base_controller.hpp.

std::string ronex::SPIBaseController::topic_prefix_ [protected]

prefix used for creating topics / services

Definition at line 70 of file spi_base_controller.hpp.

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

• spi_base_controller.hpp
• spi_base_controller.cpp