DxlROSConsole Class Reference

Console appliation example for CDynamixel and CDynamixelROS. More...

#include <console.h>

Inheritance diagram for DxlROSConsole:

List of all members.

Public Types
typedef std::vector < DxlROSCommand >	CommandList
typedef std::vector < CDxlGeneric * >	MotorList
Public Member Functions
CDxlGeneric *	createMotor ()
	Create new uninitialized motor object.
	DxlROSConsole ()
	> Heartbeat interval
void	execute (std::string cmd)
	Execute console command.
CDxlGeneric *	getMotor ()
	Get current motor.
MotorList &	getMotors ()
	Get motor list.
void	init (char *path)
	Initialize node.
void	setHeartbeatInterval (double interval)
	Set heartbeat interval.
void	setMotor (int id)
	Switch motor.
void	spin ()
	Spin.
	~DxlROSConsole ()
	Destructor.
Static Public Member Functions
static void *	spin_hb (void *obj)
	Heartbeat thread main function.
Protected Attributes
CommandList	commands_
	Available commands.
double	hb_interval_
pthread_t	hb_thread_
	Heartbeat thread handle.
CDxlGeneric *	motor_
	Current motor interface.
MotorList	motors_
	Motor interface list.
ros::NodeHandle	nh_
	ROS node handle.
char *	path_
	Path to shared_serial node.
LxSerial	serial_port_
	Serial port interface.

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Detailed Description

Console appliation example for CDynamixel and CDynamixelROS.

Definition at line 88 of file console.h.

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Member Typedef Documentation

typedef std::vector<DxlROSCommand> DxlROSConsole::CommandList

Definition at line 91 of file console.h.

typedef std::vector<CDxlGeneric*> DxlROSConsole::MotorList

Definition at line 92 of file console.h.

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Constructor & Destructor Documentation

DxlROSConsole::DxlROSConsole

(

)

[inline]

> Heartbeat interval

Constructor

Definition at line 106 of file console.h.

DxlROSConsole::~DxlROSConsole

(

)

[inline]

Destructor.

Delete motor interface, close serial port, and shut down node handle

Definition at line 114 of file console.h.

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Member Function Documentation

CDxlGeneric * DxlROSConsole::createMotor

(

)

Create new uninitialized motor object.

Definition at line 453 of file console.cpp.

void DxlROSConsole::execute

(

std::string

cmd

)

Execute console command.

Parameters:

cmd	Command to execute

Note:

Console must be locked.

Definition at line 565 of file console.cpp.

CDxlGeneric* DxlROSConsole::getMotor

(

)

[inline]

Get current motor.

Definition at line 134 of file console.h.

MotorList& DxlROSConsole::getMotors

(

)

[inline]

Get motor list.

Definition at line 147 of file console.h.

void DxlROSConsole::init

(

char *

path

)

Initialize node.

Parameters:

path	path to shared_serial node

Definition at line 490 of file console.cpp.

void DxlROSConsole::setHeartbeatInterval

(

double

interval

)

Set heartbeat interval.

Parameters:

interval

Interval in [s].

Note:

Console must be locked.

Definition at line 691 of file console.cpp.

void DxlROSConsole::setMotor

(

int

id

)

Switch motor.

Parameters:

id	Motor identifier

Note:

Creates new object if none of the current motors has this identifier.

Definition at line 470 of file console.cpp.

void DxlROSConsole::spin

(

)

Spin.

Alternatively drives the motor clockwise and counterclockwise

Definition at line 623 of file console.cpp.

void * DxlROSConsole::spin_hb

(

void *

obj

)

[static]

Heartbeat thread main function.

Parameters:

obj	pointer to DxlROSConsole

Definition at line 700 of file console.cpp.

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Member Data Documentation

CommandList DxlROSConsole::commands_ [protected]

Available commands.

Definition at line 99 of file console.h.

double DxlROSConsole::hb_interval_ [protected]

Definition at line 102 of file console.h.

pthread_t DxlROSConsole::hb_thread_ [protected]

Heartbeat thread handle.

Definition at line 101 of file console.h.

CDxlGeneric* DxlROSConsole::motor_ [protected]

Current motor interface.

Definition at line 96 of file console.h.

MotorList DxlROSConsole::motors_ [protected]

Motor interface list.

Definition at line 97 of file console.h.

ros::NodeHandle DxlROSConsole::nh_ [protected]

ROS node handle.

Definition at line 95 of file console.h.

char* DxlROSConsole::path_ [protected]

Path to shared_serial node.

Definition at line 100 of file console.h.

LxSerial DxlROSConsole::serial_port_ [protected]

Serial port interface.

Definition at line 98 of file console.h.

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

• console.h
• console.cpp