epos.cpp File Reference

#include "epos_hardware/epos.h"
#include <boost/foreach.hpp>

Include dependency graph for epos.cpp:

Go to the source code of this file.

Classes
class	epos_hardware::ParameterSetLoader
Namespaces
namespace	epos_hardware
Defines
#define	SET_FAULT_REACTION_OPTION(val)
#define	VCS(func,...)
#define	VCS_FROM_SINGLE_PARAM_OPTIONAL(nh, type, name, func)
#define	VCS_FROM_SINGLE_PARAM_REQUIRED(nh, type, name, func)

---

Define Documentation

#define SET_FAULT_REACTION_OPTION

(

val

)

Value:

do {                                                                    \
    unsigned int length = 2;                                            \
    unsigned int bytes_written;                                         \
    int16_t data = val;                                                 \
    VCS(SetObject, 0x605E, 0x00, &data, length, &bytes_written);        \
  } while(true)

#define VCS	(		func,
			...
	)

Value:

if(!VCS_##func(node_handle_->device_handle->ptr, node_handle_->node_id, __VA_ARGS__, &error_code)) { \
    ROS_ERROR("Failed to "#func);                                       \
    return false;                                                       \
  }

Definition at line 111 of file epos.cpp.

#define VCS_FROM_SINGLE_PARAM_OPTIONAL	(		nh,
			type,
			name,
			func
	)

Value:

bool name##_set;                                                        \
  type name;                                                            \
  if(name##_set = nh.getParam(#name, name)) {                           \
    VCS(func, name);                                                    \
  }                                                                     \

Definition at line 126 of file epos.cpp.

#define VCS_FROM_SINGLE_PARAM_REQUIRED	(		nh,
			type,
			name,
			func
	)

Value:

type name;                                                              \
  if(!nh.getParam(#name, name)) {                                       \
    ROS_ERROR_STREAM(nh.resolveName(#name) << " not specified");        \
    return false;                                                       \
  }                                                                     \
  else {                                                                \
    VCS(func, name);                                                    \
  }

Definition at line 117 of file epos.cpp.