#include <roboteq.h>

Inheritance diagram for roboteq::Roboteq:

Public Member Functions
void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

void	initialize ()
	initialize the roboteq controller More...

void	initializeDiagnostic ()

void	initializeInterfaces (hardware_interface::JointStateInterface &joint_state_interface, hardware_interface::VelocityJointInterface &velocity_joint_interface)
	initializeInterfaces Initialize all motors. Add all Control Interface availbles and add in diagnostic task More...

bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

void	read (const ros::Time &time, const ros::Duration &period)

	Roboteq (const ros::NodeHandle &nh, const ros::NodeHandle &private_nh, serial_controller *serial)
	Roboteq The Roboteq board controller write and read messages about the motor state. More...

void	run (diagnostic_updater::DiagnosticStatusWrapper &stat)
	run Diagnostic thread called every request More...

void	updateDiagnostics ()
	updateDiagnostics More...

void	write (const ros::Time &time, const ros::Duration &period)

	~Roboteq ()
	The deconstructor. More...

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

	RobotHW ()

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Public Member Functions inherited from diagnostic_updater::DiagnosticTask
	DiagnosticTask (const std::string name)

const std::string &	getName ()

virtual	~DiagnosticTask ()

Private Member Functions
void	connectionCallback (const ros::SingleSubscriberPublisher &pub)
	connectionCallback Check how many subscribers are connected More...

void	getControllerFromRoboteq ()
	getPIDFromRoboteq Load PID parameters from Roboteq board More...

void	getRoboteqInformation ()
	getRoboteqInformation Load basic information from roboteq board More...

void	reconfigureCBController (roboteq_control::RoboteqControllerConfig &config, uint32_t level)
	reconfigureCBEncoder when the dynamic reconfigurator change some values start this method More...

bool	service_Callback (roboteq_control::Service::Request &req, roboteq_control::Service::Response &msg_system)
	service_Callback Internal service to require information from the board connected More...

void	stop_Callback (const std_msgs::Bool::ConstPtr &msg)

Private Attributes
status_fault_t	_fault

bool	_first
	ROS Control interfaces. More...

status_flag_t	_flag

bool	_isGPIOreading

roboteq_control::RoboteqControllerConfig	_last_controller_config

string	_model

std::vector< GPIOAnalogConfigurator * >	_param_analog

std::vector< GPIOEncoderConfigurator * >	_param_encoder

std::vector< GPIOPulseConfigurator * >	_param_pulse

double	_temp_bridge

double	_temp_mcu

string	_type

string	_uid

string	_version

double	_volts_five

double	_volts_internal

roboteq_control::RoboteqControllerConfig	default_controller_config

diagnostic_updater::Updater	diagnostic_updater

dynamic_reconfigure::Server< roboteq_control::RoboteqControllerConfig > *	ds_controller
	Dynamic reconfigure PID. More...

bool	first_read_ = true

double	first_read_pos_ [2]

std::vector< Motor * >	mMotor

ros::NodeHandle	mNh

urdf::Model	model
	URDF information about robot. More...

serial_controller *	mSerial

roboteq_control::Peripheral	msg_peripheral

ros::NodeHandle	private_mNh

ros::Publisher	pub_peripheral

bool	setup_controller
	Setup variable. More...

ros::ServiceServer	srv_board

ros::Subscriber	sub_stop

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Detailed Description

Definition at line 89 of file roboteq.h.

Constructor & Destructor Documentation

roboteq::Roboteq::Roboteq	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	private_nh,
		serial_controller *	serial
	)

Roboteq The Roboteq board controller write and read messages about the motor state.

Parameters

nh	The ROS public node handle
private_nh	the ROS private node handle
serial	The serial controller

Definition at line 37 of file roboteq.cpp.

roboteq::Roboteq::~Roboteq ( )

The deconstructor.

Definition at line 160 of file roboteq.cpp.

Member Function Documentation

void roboteq::Roboteq::connectionCallback ( const ros::SingleSubscriberPublisher & pub )

private

connectionCallback Check how many subscribers are connected

Parameters

pub	The information about the subscriber

Definition at line 121 of file roboteq.cpp.

void roboteq::Roboteq::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 491 of file roboteq.cpp.

void roboteq::Roboteq::getControllerFromRoboteq ( )

private

getPIDFromRoboteq Load PID parameters from Roboteq board

Definition at line 622 of file roboteq.cpp.

void roboteq::Roboteq::getRoboteqInformation ( )

private

getRoboteqInformation Load basic information from roboteq board

Definition at line 145 of file roboteq.cpp.

void roboteq::Roboteq::initialize ( )

initialize the roboteq controller

Definition at line 165 of file roboteq.cpp.

void roboteq::Roboteq::initializeDiagnostic ( )

Definition at line 254 of file roboteq.cpp.

void roboteq::Roboteq::initializeInterfaces	(	hardware_interface::JointStateInterface &	joint_state_interface,
		hardware_interface::VelocityJointInterface &	velocity_joint_interface
	)

initializeInterfaces Initialize all motors. Add all Control Interface availbles and add in diagnostic task

State interface

Velocity interface

Register interfaces

Definition at line 203 of file roboteq.cpp.

bool roboteq::Roboteq::prepareSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 485 of file roboteq.cpp.

void roboteq::Roboteq::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 301 of file roboteq.cpp.

void roboteq::Roboteq::reconfigureCBController	(	roboteq_control::RoboteqControllerConfig &	config,
		uint32_t	level
	)

private

reconfigureCBEncoder when the dynamic reconfigurator change some values start this method

Parameters

config	variable with all configuration from dynamic reconfigurator
level

Definition at line 673 of file roboteq.cpp.

void roboteq::Roboteq::run ( diagnostic_updater::DiagnosticStatusWrapper & stat )

virtual

run Diagnostic thread called every request

Parameters

stat	the status of diagnostic updater

Implements diagnostic_updater::DiagnosticTask.

Definition at line 541 of file roboteq.cpp.

bool roboteq::Roboteq::service_Callback	(	roboteq_control::Service::Request &	req,
		roboteq_control::Service::Response &	msg_system
	)

private

service_Callback Internal service to require information from the board connected

Parameters

req
msg

Returns

Definition at line 775 of file roboteq.cpp.

void roboteq::Roboteq::stop_Callback ( const std_msgs::Bool::ConstPtr & msg )

private

Definition at line 128 of file roboteq.cpp.

void roboteq::Roboteq::updateDiagnostics ( )

updateDiagnostics

Definition at line 264 of file roboteq.cpp.

void roboteq::Roboteq::write	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 473 of file roboteq.cpp.

Member Data Documentation

status_fault_t roboteq::Roboteq::_fault

private

Definition at line 168 of file roboteq.h.

bool roboteq::Roboteq::_first

private

ROS Control interfaces.

Definition at line 157 of file roboteq.h.

status_flag_t roboteq::Roboteq::_flag

private

Definition at line 166 of file roboteq.h.

bool roboteq::Roboteq::_isGPIOreading

private

Definition at line 178 of file roboteq.h.

roboteq_control::RoboteqControllerConfig roboteq::Roboteq::_last_controller_config

private

Definition at line 206 of file roboteq.h.

string roboteq::Roboteq::_model

private

Definition at line 162 of file roboteq.h.

std::vector<GPIOAnalogConfigurator*> roboteq::Roboteq::_param_analog

private

Definition at line 180 of file roboteq.h.

std::vector<GPIOEncoderConfigurator*> roboteq::Roboteq::_param_encoder

private

Definition at line 183 of file roboteq.h.

std::vector<GPIOPulseConfigurator*> roboteq::Roboteq::_param_pulse

private

Definition at line 181 of file roboteq.h.

double roboteq::Roboteq::_temp_bridge

private

Definition at line 172 of file roboteq.h.

double roboteq::Roboteq::_temp_mcu

private

Definition at line 172 of file roboteq.h.

string roboteq::Roboteq::_type

private

Definition at line 162 of file roboteq.h.

string roboteq::Roboteq::_uid

private

Definition at line 164 of file roboteq.h.

string roboteq::Roboteq::_version

private

Definition at line 163 of file roboteq.h.

double roboteq::Roboteq::_volts_five

private

Definition at line 170 of file roboteq.h.

double roboteq::Roboteq::_volts_internal

private

Definition at line 170 of file roboteq.h.

roboteq_control::RoboteqControllerConfig roboteq::Roboteq::default_controller_config

private

Definition at line 206 of file roboteq.h.

diagnostic_updater::Updater roboteq::Roboteq::diagnostic_updater

private

Definition at line 141 of file roboteq.h.

dynamic_reconfigure::Server<roboteq_control::RoboteqControllerConfig>* roboteq::Roboteq::ds_controller

private

Dynamic reconfigure PID.

Definition at line 197 of file roboteq.h.

bool roboteq::Roboteq::first_read_ = true

private

Definition at line 174 of file roboteq.h.

double roboteq::Roboteq::first_read_pos_[2]

private

Definition at line 175 of file roboteq.h.

std::vector<Motor*> roboteq::Roboteq::mMotor

private

Definition at line 160 of file roboteq.h.

ros::NodeHandle roboteq::Roboteq::mNh

private

Definition at line 136 of file roboteq.h.

urdf::Model roboteq::Roboteq::model

private

URDF information about robot.

Definition at line 150 of file roboteq.h.

serial_controller* roboteq::Roboteq::mSerial

private

Definition at line 139 of file roboteq.h.

roboteq_control::Peripheral roboteq::Roboteq::msg_peripheral

private

Definition at line 179 of file roboteq.h.

ros::NodeHandle roboteq::Roboteq::private_mNh

private

Definition at line 137 of file roboteq.h.

ros::Publisher roboteq::Roboteq::pub_peripheral

private

Definition at line 143 of file roboteq.h.

bool roboteq::Roboteq::setup_controller

private

Setup variable.

Definition at line 194 of file roboteq.h.

ros::ServiceServer roboteq::Roboteq::srv_board

private

Definition at line 147 of file roboteq.h.

ros::Subscriber roboteq::Roboteq::sub_stop

private

Definition at line 145 of file roboteq.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation