canopen::MotorChain Class Reference

#include <motor_chain.h>

Inheritance diagram for canopen::MotorChain:

Public Member Functions
	MotorChain (const ros::NodeHandle &nh, const ros::NodeHandle &nh_priv)
virtual bool	setup_chain ()
Public Member Functions inherited from canopen::RosChain
	RosChain (const ros::NodeHandle &nh, const ros::NodeHandle &nh_priv)
bool	setup ()
virtual	~RosChain ()
Public Member Functions inherited from canopen::LayerStack
	LayerStack (const std::string &n)
Public Member Functions inherited from LayerGroup<>
	LayerGroup (const std::string &n)
Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)
LayerState	getLayerState ()
void	halt (LayerStatus &status)
void	init (LayerStatus &status)
	Layer (const std::string &n)
void	read (LayerStatus &status)
void	recover (LayerStatus &status)
void	shutdown (LayerStatus &status)
void	write (LayerStatus &status)
virtual	~Layer ()
Public Member Functions inherited from VectorHelper< Layer >
virtual void	add (const VectorMemberSharedPtr &l)
bool	callFunc (FuncType func, Data &status)

Private Member Functions
virtual bool	nodeAdded (XmlRpc::XmlRpcValue &params, const canopen::NodeSharedPtr &node, const LoggerSharedPtr &logger)

Private Attributes
boost::shared_ptr< ControllerManagerLayer >	cm_
ClassAllocator< canopen::MotorBase >	motor_allocator_
boost::shared_ptr< canopen::LayerGroupNoDiag< canopen::MotorBase > >	motors_
RobotLayerSharedPtr	robot_layer_

Additional Inherited Members
Public Types inherited from canopen::Layer
enum	LayerState
Public Types inherited from VectorHelper< Layer >
typedef boost::shared_ptr< Layer >	VectorMemberSharedPtr
Public Attributes inherited from canopen::Layer
	Error
	Halt
	Init
const std::string	name
	Off
	Ready
	Recover
	Shutdown
Protected Types inherited from VectorHelper< Layer >
typedef std::vector< VectorMemberSharedPtr >	vector_type
Protected Member Functions inherited from canopen::RosChain
bool	handle_get_object (canopen_chain_node::GetObject::Request &req, canopen_chain_node::GetObject::Response &res)
virtual bool	handle_halt (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual bool	handle_init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual bool	handle_recover (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
bool	handle_set_object (canopen_chain_node::SetObject::Request &req, canopen_chain_node::SetObject::Response &res)
virtual bool	handle_shutdown (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual void	handleShutdown (LayerStatus &status)
virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)
void	logState (const can::State &s)
void	report_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	run ()
bool	setup_bus ()
bool	setup_heartbeat ()
bool	setup_nodes ()
bool	setup_sync ()
Protected Member Functions inherited from LayerGroup<>
void	call_or_fail (FuncType func, FailType fail, Data &status)
void	call_or_fail_rev (FuncType func, FailType fail, Data &status)
virtual void	handleDiag (LayerReport &report)
virtual void	handleHalt (LayerStatus &status)
virtual void	handleInit (LayerStatus &status)
virtual void	handleRead (LayerStatus &status, const LayerState &current_state)
virtual void	handleRecover (LayerStatus &status)
virtual void	handleShutdown (LayerStatus &status)
virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)
Protected Member Functions inherited from canopen::Layer
virtual void	handleDiag (LayerReport &report)=0
virtual void	handleHalt (LayerStatus &status)=0
virtual void	handleInit (LayerStatus &status)=0
virtual void	handleRead (LayerStatus &status, const LayerState &current_state)=0
virtual void	handleRecover (LayerStatus &status)=0
Protected Member Functions inherited from VectorHelper< Layer >
vector_type::iterator	call (FuncType func, Data &status)
vector_type::iterator	call (FuncType func, Data &status)
vector_type::reverse_iterator	call_rev (FuncType func, Data &status)
vector_type::reverse_iterator	call_rev (FuncType func, Data &status)
void	destroy ()
Protected Attributes inherited from canopen::RosChain
boost::mutex	diag_mutex_
ros::Timer	diag_timer_
diagnostic_updater::Updater	diag_updater_
boost::shared_ptr< canopen::LayerGroupNoDiag< canopen::EMCYHandler > >	emcy_handlers_
struct canopen::RosChain::HeartbeatSender	hb_sender_
Timer	heartbeat_timer_
can::DriverInterfaceSharedPtr	interface_
std::vector< LoggerSharedPtr >	loggers_
MasterSharedPtr	master_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::NodeHandle	nh_priv_
boost::shared_ptr< canopen::LayerGroupNoDiag< canopen::Node > >	nodes_
std::map< std::string, canopen::NodeSharedPtr >	nodes_lookup_
std::vector< PublishFunc::FuncType >	publishers_
bool	reset_errors_before_recover_
boost::atomic< bool >	running_
ros::ServiceServer	srv_get_object_
ros::ServiceServer	srv_halt_
ros::ServiceServer	srv_init_
ros::ServiceServer	srv_recover_
ros::ServiceServer	srv_set_object_
ros::ServiceServer	srv_shutdown_
can::StateListenerConstSharedPtr	state_listener_
canopen::SyncLayerSharedPtr	sync_
boost::scoped_ptr< boost::thread >	thread_
time_duration	update_duration_

Detailed Description

Definition at line 15 of file motor_chain.h.

Constructor & Destructor Documentation

MotorChain::MotorChain	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_priv
	)

Definition at line 28 of file motor_chain.cpp.

Member Function Documentation

bool MotorChain::nodeAdded ( XmlRpc::XmlRpcValue &  params, const canopen::NodeSharedPtr &  node, const LoggerSharedPtr &  logger  )

privatevirtual

Reimplemented from canopen::RosChain.

Definition at line 31 of file motor_chain.cpp.

bool MotorChain::setup_chain ( )

virtual

Reimplemented from canopen::RosChain.

Definition at line 82 of file motor_chain.cpp.

Member Data Documentation

boost::shared_ptr<ControllerManagerLayer> canopen::MotorChain::cm_

private

Definition at line 20 of file motor_chain.h.

ClassAllocator<canopen::MotorBase> canopen::MotorChain::motor_allocator_

private

Definition at line 16 of file motor_chain.h.

boost::shared_ptr< canopen::LayerGroupNoDiag<canopen::MotorBase> > canopen::MotorChain::motors_

private

Definition at line 17 of file motor_chain.h.

RobotLayerSharedPtr canopen::MotorChain::robot_layer_

private

Definition at line 18 of file motor_chain.h.

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

• motor_chain.h
• motor_chain.cpp