dbw_fca_can::DbwNode Class Reference

#include <DbwNode.h>

List of all members.

Public Member Functions
	DbwNode (ros::NodeHandle &node, ros::NodeHandle &priv_nh)
	~DbwNode ()
Private Types
enum	{   JOINT_FL = 0, JOINT_FR, JOINT_RL, JOINT_RR,   JOINT_SL, JOINT_SR, JOINT_COUNT }
Private Member Functions
void	buttonCancel ()
bool	clear ()
void	disableSystem ()
bool	enabled ()
void	enableSystem ()
bool	fault ()
void	faultBrakes (bool fault)
void	faultSteering (bool fault)
void	faultSteeringCal (bool fault)
void	faultThrottle (bool fault)
void	faultWatchdog (bool fault, uint8_t src, bool braking)
void	faultWatchdog (bool fault, uint8_t src=0)
bool	override ()
void	overrideBrake (bool override, bool timeout)
void	overrideGear (bool override)
void	overrideSteering (bool override, bool timeout)
void	overrideThrottle (bool override, bool timeout)
bool	publishDbwEnabled ()
void	publishJointStates (const ros::Time &stamp, const dbw_fca_msgs::SteeringReport *steering)
void	recvBrakeCmd (const dbw_fca_msgs::BrakeCmd::ConstPtr &msg)
void	recvCAN (const can_msgs::Frame::ConstPtr &msg)
void	recvDisable (const std_msgs::Empty::ConstPtr &msg)
void	recvEnable (const std_msgs::Empty::ConstPtr &msg)
void	recvGearCmd (const dbw_fca_msgs::GearCmd::ConstPtr &msg)
void	recvSteeringCmd (const dbw_fca_msgs::SteeringCmd::ConstPtr &msg)
void	recvThrottleCmd (const dbw_fca_msgs::ThrottleCmd::ConstPtr &msg)
void	recvTurnSignalCmd (const dbw_fca_msgs::TurnSignalCmd::ConstPtr &msg)
float	speedSign () const
void	timeoutBrake (bool timeout, bool enabled)
void	timeoutSteering (bool timeout, bool enabled)
void	timeoutThrottle (bool timeout, bool enabled)
void	timerCallback (const ros::TimerEvent &event)
Static Private Member Functions
template<typename T >
static int	sgn (T val)
Private Attributes
double	acker_track_
double	acker_wheelbase_
bool	buttons_
std::string	date_
bool	enable_
bool	enabled_brakes_
bool	enabled_steering_
bool	enabled_throttle_
bool	fault_brakes_
bool	fault_steering_
bool	fault_steering_cal_
bool	fault_throttle_
bool	fault_watchdog_
bool	fault_watchdog_using_brakes_
bool	fault_watchdog_warned_
PlatformMap	firmware_
std::string	frame_id_
bool	gear_warned_
sensor_msgs::JointState	joint_state_
bool	override_brake_
bool	override_gear_
bool	override_steering_
bool	override_throttle_
bool	pedal_luts_
bool	prev_enable_
ros::Publisher	pub_brake_
ros::Publisher	pub_brake_info_
ros::Publisher	pub_can_
ros::Publisher	pub_fuel_level_
ros::Publisher	pub_gear_
ros::Publisher	pub_joint_states_
ros::Publisher	pub_misc_1_
ros::Publisher	pub_steering_
ros::Publisher	pub_sys_enable_
ros::Publisher	pub_throttle_
ros::Publisher	pub_throttle_info_
ros::Publisher	pub_twist_
ros::Publisher	pub_vin_
ros::Publisher	pub_wheel_positions_
ros::Publisher	pub_wheel_speeds_
double	steering_ratio_
ros::Subscriber	sub_brake_
ros::Subscriber	sub_can_
ros::Subscriber	sub_disable_
ros::Subscriber	sub_enable_
ros::Subscriber	sub_gear_
ros::Subscriber	sub_steering_
ros::Subscriber	sub_throttle_
ros::Subscriber	sub_turn_signal_
bool	timeout_brakes_
bool	timeout_steering_
bool	timeout_throttle_
ros::Timer	timer_
std::string	vin_
bool	warn_cmds_
double	wheel_radius_

---

Detailed Description

Definition at line 69 of file DbwNode.h.

---

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

JOINT_FL
JOINT_FR
JOINT_RL
JOINT_RR
JOINT_SL
JOINT_SR
JOINT_COUNT

Definition at line 129 of file DbwNode.h.

---

Constructor & Destructor Documentation

dbw_fca_can::DbwNode::DbwNode	(	ros::NodeHandle &	node,
		ros::NodeHandle &	priv_nh
	)

Definition at line 60 of file DbwNode.cpp.

dbw_fca_can::DbwNode::~DbwNode

(

)

Definition at line 154 of file DbwNode.cpp.

---

Member Function Documentation

void dbw_fca_can::DbwNode::buttonCancel

(

)

[private]

Definition at line 848 of file DbwNode.cpp.

bool dbw_fca_can::DbwNode::clear

(

)

[inline, private]

Definition at line 109 of file DbwNode.h.

void dbw_fca_can::DbwNode::disableSystem

(

)

[private]

Definition at line 839 of file DbwNode.cpp.

bool dbw_fca_can::DbwNode::enabled

(

)

[inline, private]

Definition at line 110 of file DbwNode.h.

void dbw_fca_can::DbwNode::enableSystem

(

)

[private]

Definition at line 809 of file DbwNode.cpp.

bool dbw_fca_can::DbwNode::fault

(

)

[inline, private]

Definition at line 107 of file DbwNode.h.

void dbw_fca_can::DbwNode::faultBrakes

(

bool

fault

)

[private]

Definition at line 957 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::faultSteering

(

bool

fault

)

[private]

Definition at line 989 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::faultSteeringCal

(

bool

fault

)

[private]

Definition at line 1005 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::faultThrottle

(

bool

fault

)

[private]

Definition at line 973 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::faultWatchdog	(	bool	fault,
		uint8_t	src,
		bool	braking
	)		[private]

Definition at line 1021 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::faultWatchdog	(	bool	fault,
		uint8_t	src = 0
	)		[private]

Definition at line 1098 of file DbwNode.cpp.

bool dbw_fca_can::DbwNode::override

(

)

[inline, private]

Definition at line 108 of file DbwNode.h.

void dbw_fca_can::DbwNode::overrideBrake	(	bool	override,
		bool	timeout
	)		[private]

Definition at line 857 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::overrideGear

(

bool

override

)

[private]

Definition at line 914 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::overrideSteering	(	bool	override,
		bool	timeout
	)		[private]

Definition at line 895 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::overrideThrottle	(	bool	override,
		bool	timeout
	)		[private]

Definition at line 876 of file DbwNode.cpp.

bool dbw_fca_can::DbwNode::publishDbwEnabled

(

)

[private]

Definition at line 755 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::publishJointStates	(	const ros::Time &	stamp,
		const dbw_fca_msgs::SteeringReport *	steering
	)		[private]

Definition at line 1102 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::recvBrakeCmd

(

const dbw_fca_msgs::BrakeCmd::ConstPtr &

msg

)

[private]

Definition at line 555 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::recvCAN

(

const can_msgs::Frame::ConstPtr &

msg

)

[private]

: Multiplex PI/PC/PO types

Definition at line 168 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::recvDisable

(

const std_msgs::Empty::ConstPtr &

msg

)

[private]

Definition at line 163 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::recvEnable

(

const std_msgs::Empty::ConstPtr &

msg

)

[private]

Definition at line 158 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::recvGearCmd

(

const dbw_fca_msgs::GearCmd::ConstPtr &

msg

)

[private]

Definition at line 724 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::recvSteeringCmd

(

const dbw_fca_msgs::SteeringCmd::ConstPtr &

msg

)

[private]

Definition at line 678 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::recvThrottleCmd

(

const dbw_fca_msgs::ThrottleCmd::ConstPtr &

msg

)

[private]

Definition at line 632 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::recvTurnSignalCmd

(

const dbw_fca_msgs::TurnSignalCmd::ConstPtr &

msg

)

[private]

Definition at line 741 of file DbwNode.cpp.

template<typename T >

static int dbw_fca_can::DbwNode::sgn

(

T

val

)

[inline, static, private]

Definition at line 142 of file DbwNode.h.

float dbw_fca_can::DbwNode::speedSign

(

)

const [inline, private]

Definition at line 147 of file DbwNode.h.

void dbw_fca_can::DbwNode::timeoutBrake	(	bool	timeout,
		bool	enabled
	)		[private]

Definition at line 930 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::timeoutSteering	(	bool	timeout,
		bool	enabled
	)		[private]

Definition at line 948 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::timeoutThrottle	(	bool	timeout,
		bool	enabled
	)		[private]

Definition at line 939 of file DbwNode.cpp.

void dbw_fca_can::DbwNode::timerCallback

(

const ros::TimerEvent &

event

)

[private]

Definition at line 769 of file DbwNode.cpp.

---

Member Data Documentation

double dbw_fca_can::DbwNode::acker_track_ [private]

Definition at line 173 of file DbwNode.h.

double dbw_fca_can::DbwNode::acker_wheelbase_ [private]

Definition at line 172 of file DbwNode.h.

bool dbw_fca_can::DbwNode::buttons_ [private]

Definition at line 166 of file DbwNode.h.

std::string dbw_fca_can::DbwNode::date_ [private]

Definition at line 154 of file DbwNode.h.

bool dbw_fca_can::DbwNode::enable_ [private]

Definition at line 88 of file DbwNode.h.

bool dbw_fca_can::DbwNode::enabled_brakes_ [private]

Definition at line 103 of file DbwNode.h.

bool dbw_fca_can::DbwNode::enabled_steering_ [private]

Definition at line 105 of file DbwNode.h.

bool dbw_fca_can::DbwNode::enabled_throttle_ [private]

Definition at line 104 of file DbwNode.h.

bool dbw_fca_can::DbwNode::fault_brakes_ [private]

Definition at line 93 of file DbwNode.h.

bool dbw_fca_can::DbwNode::fault_steering_ [private]

Definition at line 95 of file DbwNode.h.

bool dbw_fca_can::DbwNode::fault_steering_cal_ [private]

Definition at line 96 of file DbwNode.h.

bool dbw_fca_can::DbwNode::fault_throttle_ [private]

Definition at line 94 of file DbwNode.h.

bool dbw_fca_can::DbwNode::fault_watchdog_ [private]

Definition at line 97 of file DbwNode.h.

bool dbw_fca_can::DbwNode::fault_watchdog_using_brakes_ [private]

Definition at line 98 of file DbwNode.h.

bool dbw_fca_can::DbwNode::fault_watchdog_warned_ [private]

Definition at line 99 of file DbwNode.h.

PlatformMap dbw_fca_can::DbwNode::firmware_ [private]

Definition at line 157 of file DbwNode.h.

std::string dbw_fca_can::DbwNode::frame_id_ [private]

Definition at line 160 of file DbwNode.h.

bool dbw_fca_can::DbwNode::gear_warned_ [private]

Definition at line 106 of file DbwNode.h.

sensor_msgs::JointState dbw_fca_can::DbwNode::joint_state_ [private]

Definition at line 138 of file DbwNode.h.

bool dbw_fca_can::DbwNode::override_brake_ [private]

Definition at line 89 of file DbwNode.h.

bool dbw_fca_can::DbwNode::override_gear_ [private]

Definition at line 92 of file DbwNode.h.

bool dbw_fca_can::DbwNode::override_steering_ [private]

Definition at line 91 of file DbwNode.h.

bool dbw_fca_can::DbwNode::override_throttle_ [private]

Definition at line 90 of file DbwNode.h.

bool dbw_fca_can::DbwNode::pedal_luts_ [private]

Definition at line 169 of file DbwNode.h.

bool dbw_fca_can::DbwNode::prev_enable_ [private]

Definition at line 87 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_brake_ [private]

Definition at line 189 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_brake_info_ [private]

Definition at line 197 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_can_ [private]

Definition at line 188 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_fuel_level_ [private]

Definition at line 196 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_gear_ [private]

Definition at line 192 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_joint_states_ [private]

Definition at line 199 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_misc_1_ [private]

Definition at line 193 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_steering_ [private]

Definition at line 191 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_sys_enable_ [private]

Definition at line 202 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_throttle_ [private]

Definition at line 190 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_throttle_info_ [private]

Definition at line 198 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_twist_ [private]

Definition at line 200 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_vin_ [private]

Definition at line 201 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_wheel_positions_ [private]

Definition at line 195 of file DbwNode.h.

ros::Publisher dbw_fca_can::DbwNode::pub_wheel_speeds_ [private]

Definition at line 194 of file DbwNode.h.

double dbw_fca_can::DbwNode::steering_ratio_ [private]

Definition at line 174 of file DbwNode.h.

ros::Subscriber dbw_fca_can::DbwNode::sub_brake_ [private]

Definition at line 181 of file DbwNode.h.

ros::Subscriber dbw_fca_can::DbwNode::sub_can_ [private]

Definition at line 180 of file DbwNode.h.

ros::Subscriber dbw_fca_can::DbwNode::sub_disable_ [private]

Definition at line 179 of file DbwNode.h.

ros::Subscriber dbw_fca_can::DbwNode::sub_enable_ [private]

Definition at line 178 of file DbwNode.h.

ros::Subscriber dbw_fca_can::DbwNode::sub_gear_ [private]

Definition at line 184 of file DbwNode.h.

ros::Subscriber dbw_fca_can::DbwNode::sub_steering_ [private]

Definition at line 183 of file DbwNode.h.

ros::Subscriber dbw_fca_can::DbwNode::sub_throttle_ [private]

Definition at line 182 of file DbwNode.h.

ros::Subscriber dbw_fca_can::DbwNode::sub_turn_signal_ [private]

Definition at line 185 of file DbwNode.h.

bool dbw_fca_can::DbwNode::timeout_brakes_ [private]

Definition at line 100 of file DbwNode.h.

bool dbw_fca_can::DbwNode::timeout_steering_ [private]

Definition at line 102 of file DbwNode.h.

bool dbw_fca_can::DbwNode::timeout_throttle_ [private]

Definition at line 101 of file DbwNode.h.

ros::Timer dbw_fca_can::DbwNode::timer_ [private]

Definition at line 86 of file DbwNode.h.

std::string dbw_fca_can::DbwNode::vin_ [private]

Definition at line 153 of file DbwNode.h.

bool dbw_fca_can::DbwNode::warn_cmds_ [private]

Definition at line 163 of file DbwNode.h.

double dbw_fca_can::DbwNode::wheel_radius_ [private]

Definition at line 175 of file DbwNode.h.

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

• DbwNode.h
• DbwNode.cpp