gpio_controller::Controller Class Reference

#include <gpio_controller.h>

Inheritance diagram for gpio_controller::Controller:

Public Member Functions
	Controller ()=default
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
void	update (const ros::Time &time, const ros::Duration &period) override
Public Member Functions inherited from controller_interface::MultiInterfaceController< rm_control::GpioStateInterface, rm_control::GpioCommandInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)
	MultiInterfaceController (bool allow_optional_interfaces=false)
Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)
virtual void	aborting (const ros::Time &)
bool	abortRequest (const ros::Time &time)
bool	abortRequest (const ros::Time &time)
	ControllerBase ()=default
	ControllerBase (const ControllerBase &)=delete
	ControllerBase (ControllerBase &&)=delete
bool	isAborted () const
bool	isAborted () const
bool	isInitialized () const
bool	isInitialized () const
bool	isRunning () const
bool	isRunning () const
bool	isStopped () const
bool	isStopped () const
bool	isWaiting () const
bool	isWaiting () const
ControllerBase &	operator= (const ControllerBase &)=delete
ControllerBase &	operator= (ControllerBase &&)=delete
virtual void	starting (const ros::Time &)
virtual void	starting (const ros::Time &)
bool	startRequest (const ros::Time &time)
bool	startRequest (const ros::Time &time)
virtual void	stopping (const ros::Time &)
virtual void	stopping (const ros::Time &)
bool	stopRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
virtual void	waiting (const ros::Time &)
virtual void	waiting (const ros::Time &)
bool	waitRequest (const ros::Time &time)
bool	waitRequest (const ros::Time &time)
virtual	~ControllerBase ()=default

Private Types
typedef std::shared_ptr< realtime_tools::RealtimePublisher< rm_msgs::GpioData > >	RtpublisherPtr

Private Member Functions
void	setGpioCmd (const rm_msgs::GpioDataConstPtr &msg)

Private Attributes
ros::Subscriber	cmd_subscriber_
std::vector< rm_control::GpioCommandHandle >	gpio_command_handles_
std::vector< rm_control::GpioStateHandle >	gpio_state_handles_
RtpublisherPtr	gpio_state_pub_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
enum	ControllerState {   ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED,   ControllerState::WAITING, ControllerState::ABORTED }
Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_
Protected Member Functions inherited from controller_interface::MultiInterfaceController< rm_control::GpioStateInterface, rm_control::GpioCommandInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override
Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< rm_control::GpioStateInterface, rm_control::GpioCommandInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)
static void	extractInterfaceResources (hardware_interface::RobotHW *robot_hw_in, hardware_interface::RobotHW *robot_hw_out)
static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)
static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)
Protected Attributes inherited from controller_interface::MultiInterfaceController< rm_control::GpioStateInterface, rm_control::GpioCommandInterface >
bool	allow_optional_interfaces_
hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 15 of file gpio_controller.h.

Member Typedef Documentation

RtpublisherPtr

typedef std::shared_ptr<realtime_tools::RealtimePublisher<rm_msgs::GpioData> > gpio_controller::Controller::RtpublisherPtr

private

Definition at line 32 of file gpio_controller.h.

Constructor & Destructor Documentation

Controller()

gpio_controller::Controller::Controller ( )

default

Member Function Documentation

init()

bool gpio_controller::Controller::init ( hardware_interface::RobotHW *  robot_hw, ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh  )

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< rm_control::GpioStateInterface, rm_control::GpioCommandInterface >.

Definition at line 11 of file gpio_controller.cpp.

setGpioCmd()

void gpio_controller::Controller::setGpioCmd ( const rm_msgs::GpioDataConstPtr &  msg )

private

Definition at line 63 of file gpio_controller.cpp.

update()

void gpio_controller::Controller::update ( const ros::Time &  time, const ros::Duration &  period  )

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 50 of file gpio_controller.cpp.

Member Data Documentation

cmd_subscriber_

ros::Subscriber gpio_controller::Controller::cmd_subscriber_

private

Definition at line 31 of file gpio_controller.h.

gpio_command_handles_

std::vector<rm_control::GpioCommandHandle> gpio_controller::Controller::gpio_command_handles_

private

Definition at line 29 of file gpio_controller.h.

gpio_state_handles_

std::vector<rm_control::GpioStateHandle> gpio_controller::Controller::gpio_state_handles_

private

Definition at line 28 of file gpio_controller.h.

gpio_state_pub_

RtpublisherPtr gpio_controller::Controller::gpio_state_pub_

private

Definition at line 33 of file gpio_controller.h.

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

• gpio_controller.h
• gpio_controller.cpp