#include <GripperStatusChecker.h>
Classes | |
struct | GripperStatusCheckInfo |
Public Member Functions | |
void | createEngineerCheckMsg (r2_msgs::StringArray &engineerCheck) |
create messages from data | |
void | createSweStopMessage (diagnostic_msgs::DiagnosticArray &sweStopMsg) |
bool | getMapEntry (const std::string &name, GripperStatusCheckInfo &info) |
for unit testing | |
int | getState (const std::string &name) |
GripperStatusChecker () | |
void | initializeMap (const std::vector< std::string > &grippers) |
intitialize | |
void | populateCaptainRequestInfo (const r2_msgs::StringArray &captainRequest) |
void | populateJointControlCaptainInfo (const r2_msgs::JointControlDataArray &jointControlMsg) |
void | populateJointControlPilotInfo (const r2_msgs::JointControlDataArray &jointControlMsg) |
put data into maps | |
void | populatePilotRequestInfo (const r2_msgs::StringArray &pilotRequest) |
void | setTimingParameters (const double &rTimeOut, const double &gTimeOut) |
void | update () |
do the work | |
~GripperStatusChecker () | |
Private Member Functions | |
void | clearRequestsAndChecks (const std::string &gripper) |
Private Attributes | |
ros::Duration | grantTimeOut |
std::map< std::string, GripperStatusCheckInfo > | gripperInfoMap |
ros::Duration | requestTimeOut |
ros::Time | startTime |
diagnostic_msgs::DiagnosticArray | sweStopCollection |
ros::Duration | timer |
Definition at line 25 of file GripperStatusChecker.h.
Definition at line 3 of file GripperStatusChecker.cpp.
Definition at line 10 of file GripperStatusChecker.cpp.
void GripperStatusChecker::clearRequestsAndChecks | ( | const std::string & | gripper | ) | [private] |
Definition at line 290 of file GripperStatusChecker.cpp.
void GripperStatusChecker::createEngineerCheckMsg | ( | r2_msgs::StringArray & | engineerCheck | ) |
create messages from data
Definition at line 130 of file GripperStatusChecker.cpp.
void GripperStatusChecker::createSweStopMessage | ( | diagnostic_msgs::DiagnosticArray & | sweStopMsg | ) |
Definition at line 148 of file GripperStatusChecker.cpp.
bool GripperStatusChecker::getMapEntry | ( | const std::string & | name, |
GripperStatusCheckInfo & | info | ||
) |
for unit testing
Definition at line 39 of file GripperStatusChecker.cpp.
int GripperStatusChecker::getState | ( | const std::string & | name | ) |
Definition at line 52 of file GripperStatusChecker.cpp.
void GripperStatusChecker::initializeMap | ( | const std::vector< std::string > & | grippers | ) |
intitialize
Definition at line 14 of file GripperStatusChecker.cpp.
void GripperStatusChecker::populateCaptainRequestInfo | ( | const r2_msgs::StringArray & | captainRequest | ) |
Definition at line 115 of file GripperStatusChecker.cpp.
void GripperStatusChecker::populateJointControlCaptainInfo | ( | const r2_msgs::JointControlDataArray & | jointControlMsg | ) |
Definition at line 82 of file GripperStatusChecker.cpp.
void GripperStatusChecker::populateJointControlPilotInfo | ( | const r2_msgs::JointControlDataArray & | jointControlMsg | ) |
put data into maps
Definition at line 64 of file GripperStatusChecker.cpp.
void GripperStatusChecker::populatePilotRequestInfo | ( | const r2_msgs::StringArray & | pilotRequest | ) |
Definition at line 100 of file GripperStatusChecker.cpp.
void GripperStatusChecker::setTimingParameters | ( | const double & | rTimeOut, |
const double & | gTimeOut | ||
) |
Definition at line 33 of file GripperStatusChecker.cpp.
void GripperStatusChecker::update | ( | ) |
do the work
check for bad configurations
throw a swestop
go back to IDLE
and, do state machine stuff
else, stay here and do nothing
return to idle; request canceled
check the timeout
return to idle; request canceled
check the timeout
Definition at line 159 of file GripperStatusChecker.cpp.
Definition at line 67 of file GripperStatusChecker.h.
std::map<std::string, GripperStatusCheckInfo> GripperStatusChecker::gripperInfoMap [private] |
Definition at line 65 of file GripperStatusChecker.h.
Definition at line 67 of file GripperStatusChecker.h.
ros::Time GripperStatusChecker::startTime [private] |
Definition at line 66 of file GripperStatusChecker.h.
diagnostic_msgs::DiagnosticArray GripperStatusChecker::sweStopCollection [private] |
Definition at line 68 of file GripperStatusChecker.h.
ros::Duration GripperStatusChecker::timer [private] |
Definition at line 67 of file GripperStatusChecker.h.