#include <mocks.h>

Inheritance diagram for qb_device_hardware_interface::qbDeviceHWMock:

Public Member Functions
	MOCK_METHOD0 (activate, int())

	MOCK_METHOD0 (close, int())

	MOCK_METHOD0 (deactivate, int())

	MOCK_METHOD0 (getInfo, std::string())

	MOCK_METHOD0 (isActive, bool())

	MOCK_METHOD0 (isOpen, bool())

	MOCK_METHOD0 (open, int())

	MOCK_METHOD0 (retrieveSerialPort, int())

	MOCK_METHOD1 (open, int(const std::string &serial_port))

	MOCK_METHOD1 (set, int(const std::vector< double > &commands))

	MOCK_METHOD2 (get, int(std::vector< double > &positions, std::vector< double > &currents))

	MOCK_METHOD2 (retrieveDeviceParameters, int(std::vector< int > &limits, std::vector< int > &resolutions))

	qbDeviceHWMock (qb_device_driver::qbDeviceAPIPtr api_mock)

int	realActivate ()

int	realClose ()

int	realDeactivate ()

int	realGet (std::vector< double > &positions, std::vector< double > &currents)

std::string	realGetInfo ()

bool	realIsActive ()

bool	realIsOpen ()

int	realOpen ()

int	realOpen (const std::string &serial_port)

int	realRetrieveDeviceParameters (std::vector< int > &limits, std::vector< int > &resolutions)

int	realRetrieveSerialPort ()

int	realSet (const std::vector< double > &commands)

Public Member Functions inherited from qb_device_hardware_interface::qbDeviceHW
int	getDeviceId ()

std::string	getDeviceNamespace ()

virtual std::vector< std::string >	getJoints ()=0
	This pure virtual method has to be redefined by derived classes to return the controlled joint names vector. More...

bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override
	The init function is called to initialize the RobotHW from a non-realtime thread. More...

	qbDeviceHW (qb_device_transmission_interface::TransmissionPtr transmission, const std::vector< std::string > &actuators, const std::vector< std::string > &joints)
	Initialize HW resources and interfaces, and wait until it is initialized from the Communication Handler. More...

void	read (const ros::Time &time, const ros::Duration &period) override
	Read actuator state from the hardware, propagate it to joint states and publish the whole device state to a namespaced `"~state"` topic (each instance of qbDeviceHW should publish on its own topic). More...

void	write (const ros::Time &time, const ros::Duration &period) override
	Enforce joint limits for all registered joint limit interfaces, propagate joint commands to actuators, and send actuator commands to the hardware. More...

	~qbDeviceHW () override
	Deactivate motors and stop the async spinner. 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 void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

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

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

	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)

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 Member Functions inherited from qb_device_hardware_interface::qbDeviceHW
virtual int	activateMotors ()
	Call the service to activate the device motors and wait for the response. More...

virtual int	deactivateMotors ()
	Call the service to deactivate the device motors and wait for the response. More...

virtual std::string	getInfo ()
	Call the service to retrieve the printable configuration setup of the device and wait for the response. More...

virtual int	getMeasurements (std::vector< double > &positions, std::vector< double > &currents, ros::Time &stamp)
	Call the service to retrieve device measurements (both positions and currents) and wait for the response. More...

virtual int	initializeDevice ()
	Call the service to initialize the device with parameters from the Communication Handler and wait for the response. More...

virtual int	setCommands (const std::vector< double > &commands)
	Call the service to send reference commands to the device and wait for the response. More...

Protected Attributes inherited from qb_device_hardware_interface::qbDeviceHW
qb_device_hardware_interface::qbDeviceHWResources	actuators_

qb_device_hardware_interface::qbDeviceResources	device_

qb_device_msgs::Info	device_info_

qb_device_hardware_interface::qbDeviceHWInterfaces	interfaces_

qb_device_joint_limits_interface::qbDeviceJointLimitsResources	joint_limits_

qb_device_hardware_interface::qbDeviceHWResources	joints_

ros::NodeHandle	node_handle_

std::map< std::string, ros::ServiceClient >	services_

ros::AsyncSpinner	spinner_

ros::Publisher	state_publisher_

qb_device_transmission_interface::qbDeviceTransmissionResources	transmission_

urdf::Model	urdf_model_

bool	use_simulator_mode_

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 120 of file mocks.h.

Constructor & Destructor Documentation

qb_device_hardware_interface::qbDeviceHWMock::qbDeviceHWMock ( qb_device_driver::qbDeviceAPIPtr api_mock )

inline

Definition at line 122 of file mocks.h.

Member Function Documentation

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD0	(	activate	,
		int()
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD0	(	close	,
		int()
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD0	(	deactivate	,
		int()
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD0	(	getInfo	,
		std::string()
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD0	(	isActive	,
		bool()
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD0	(	isOpen	,
		bool()
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD0	(	open	,
		int()
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD0	(	retrieveSerialPort	,
		int()
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD1	(	open	,
		int(const std::string &serial_port)
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD1	(	set	,
		int(const std::vector< double > &commands)
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD2	(	get	,
		int(std::vector< double > &positions, std::vector< double > &currents)
	)

qb_device_hardware_interface::qbDeviceHWMock::MOCK_METHOD2	(	retrieveDeviceParameters	,
		int(std::vector< int > &limits, std::vector< int > &resolutions)
	)

int qb_device_hardware_interface::qbDeviceHWMock::realActivate ( )

inline

Definition at line 163 of file mocks.h.

int qb_device_hardware_interface::qbDeviceHWMock::realClose ( )

inline

Definition at line 166 of file mocks.h.

int qb_device_hardware_interface::qbDeviceHWMock::realDeactivate ( )

inline

Definition at line 169 of file mocks.h.

int qb_device_hardware_interface::qbDeviceHWMock::realGet	(	std::vector< double > &	positions,
		std::vector< double > &	currents
	)

inline

Definition at line 172 of file mocks.h.

std::string qb_device_hardware_interface::qbDeviceHWMock::realGetInfo ( )

inline

Definition at line 175 of file mocks.h.

bool qb_device_hardware_interface::qbDeviceHWMock::realIsActive ( )

inline

Definition at line 178 of file mocks.h.

bool qb_device_hardware_interface::qbDeviceHWMock::realIsOpen ( )

inline

Definition at line 181 of file mocks.h.

int qb_device_hardware_interface::qbDeviceHWMock::realOpen ( )

inline

Definition at line 184 of file mocks.h.

int qb_device_hardware_interface::qbDeviceHWMock::realOpen ( const std::string & serial_port )

inline

Definition at line 187 of file mocks.h.

int qb_device_hardware_interface::qbDeviceHWMock::realRetrieveDeviceParameters	(	std::vector< int > &	limits,
		std::vector< int > &	resolutions
	)

inline

Definition at line 190 of file mocks.h.

int qb_device_hardware_interface::qbDeviceHWMock::realRetrieveSerialPort ( )

inline

Definition at line 193 of file mocks.h.

int qb_device_hardware_interface::qbDeviceHWMock::realSet ( const std::vector< double > & commands )

inline

Definition at line 196 of file mocks.h.

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

mocks.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation