power_monitor::PowerMonitor Class Reference

#include <power_monitor.h>

Public Member Functions
void	batteryServerUpdate (const boost::shared_ptr< const pr2_msgs::BatteryServer2 > &battery_server)
void	configCallback (power_monitor::PowerMonitorConfig &config, uint32_t level)
	PowerMonitor ()
void	powerNodeUpdate (const boost::shared_ptr< const pr2_msgs::PowerBoardState > &power_board_state)
bool	setActiveEstimator (PowerStateEstimator::Type estimator_type)

Private Member Functions
void	addEstimator (PowerStateEstimator *estimator)
PowerObservation	extractObservation ()
ros::Time	getLastBatteryUpdate () const
std::string	masterStateToString (int8_t master_state) const
void	onPublishTimer (const ros::TimerEvent &e)
void	publishPowerState ()

Private Attributes
boost::shared_ptr< PowerStateEstimator >	active_estimator_
ros::Subscriber	battery_server_sub_
std::map< int, boost::shared_ptr< const pr2_msgs::BatteryServer2 > >	battery_servers_
double	battery_update_timeout_
dynamic_reconfigure::Server< power_monitor::PowerMonitorConfig >	config_server_
std::map< std::string, PowerStateEstimator::Type >	estimator_types_
std::map< PowerStateEstimator::Type, boost::shared_ptr< PowerStateEstimator > >	estimators_
int8_t	master_state_
PowerObservation	observation_
ros::Subscriber	power_node_sub_
ros::Publisher	power_state_pub_
ros::Timer	power_state_pub_timer_
boost::mutex	publish_mutex_
boost::mutex	update_mutex_

Detailed Description

This class listens to BatteryServer2 and PowerBoardState messages and publishes PowerState messages with estimates of the time remaining until the robot switches off (if discharging) or until the robot is fully charged (if charging).

Definition at line 59 of file power_monitor.h.

Constructor & Destructor Documentation

PowerMonitor::PowerMonitor

(

)

Definition at line 40 of file power_monitor.cpp.

Member Function Documentation

void PowerMonitor::addEstimator ( PowerStateEstimator *  estimator )

private

Definition at line 88 of file power_monitor.cpp.

void PowerMonitor::batteryServerUpdate

(

const boost::shared_ptr< const pr2_msgs::BatteryServer2 > &

battery_server

)

Definition at line 117 of file power_monitor.cpp.

void PowerMonitor::configCallback	(	power_monitor::PowerMonitorConfig &	config,
		uint32_t	level
	)

Definition at line 94 of file power_monitor.cpp.

PowerObservation PowerMonitor::extractObservation ( )

private

Definition at line 155 of file power_monitor.cpp.

ros::Time PowerMonitor::getLastBatteryUpdate ( ) const

private

Definition at line 202 of file power_monitor.cpp.

string PowerMonitor::masterStateToString ( int8_t  master_state ) const

private

Definition at line 142 of file power_monitor.cpp.

void PowerMonitor::onPublishTimer ( const ros::TimerEvent &  e )

private

Definition at line 215 of file power_monitor.cpp.

void PowerMonitor::powerNodeUpdate

(

const boost::shared_ptr< const pr2_msgs::PowerBoardState > &

power_board_state

)

Definition at line 126 of file power_monitor.cpp.

void PowerMonitor::publishPowerState ( )

private

Definition at line 227 of file power_monitor.cpp.

bool PowerMonitor::setActiveEstimator

(

PowerStateEstimator::Type

estimator_type

)

Definition at line 99 of file power_monitor.cpp.

Member Data Documentation

boost::shared_ptr<PowerStateEstimator> power_monitor::PowerMonitor::active_estimator_

private

Definition at line 95 of file power_monitor.h.

ros::Subscriber power_monitor::PowerMonitor::battery_server_sub_

private

Definition at line 99 of file power_monitor.h.

std::map<int, boost::shared_ptr<const pr2_msgs::BatteryServer2> > power_monitor::PowerMonitor::battery_servers_

private

Definition at line 90 of file power_monitor.h.

double power_monitor::PowerMonitor::battery_update_timeout_

private

Definition at line 104 of file power_monitor.h.

dynamic_reconfigure::Server<power_monitor::PowerMonitorConfig> power_monitor::PowerMonitor::config_server_

private

Definition at line 84 of file power_monitor.h.

std::map<std::string, PowerStateEstimator::Type> power_monitor::PowerMonitor::estimator_types_

private

Definition at line 92 of file power_monitor.h.

std::map<PowerStateEstimator::Type, boost::shared_ptr<PowerStateEstimator> > power_monitor::PowerMonitor::estimators_

private

Definition at line 93 of file power_monitor.h.

int8_t power_monitor::PowerMonitor::master_state_

private

Definition at line 89 of file power_monitor.h.

PowerObservation power_monitor::PowerMonitor::observation_

private

Definition at line 102 of file power_monitor.h.

ros::Subscriber power_monitor::PowerMonitor::power_node_sub_

private

Definition at line 100 of file power_monitor.h.

ros::Publisher power_monitor::PowerMonitor::power_state_pub_

private

Definition at line 98 of file power_monitor.h.

ros::Timer power_monitor::PowerMonitor::power_state_pub_timer_

private

Definition at line 97 of file power_monitor.h.

boost::mutex power_monitor::PowerMonitor::publish_mutex_

private

Definition at line 87 of file power_monitor.h.

boost::mutex power_monitor::PowerMonitor::update_mutex_

private

Definition at line 86 of file power_monitor.h.

---

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

• power_monitor.h
• power_monitor.cpp