Inherits from RokubiminiBusManager. It's used for managing the serial bus. More...

#include <RokubiminiSerialBusManager.hpp>

Inheritance diagram for rokubimini::serial::RokubiminiSerialBusManager:

Public Member Functions
virtual bool	addRokubiminiToBus (const std::shared_ptr< Rokubimini > &rokubimini) const

bool	addRokubiminiToBus (const std::shared_ptr< RokubiminiSerial > &rokubimini) const
	Creates a RokubiminiSerial Implementation object for the. More...

bool	createRokubimini (const std::string &rokubiminiName) override
	Creates an RokubiminiSerial instance. More...

bool	loadBusParameters () override
	Loads serial bus parameters from parameter server. More...

double	loadTimeStep () override
	Loads the internal timeStep_ variable. More...

void	publishBusManagerRosDiagnostics () override
	Publish the ROS Diagnostics of the Bus Manager. More...

	RokubiminiSerialBusManager ()=delete
	Default constructor of RokubiminiSerialBusManager. More...

	RokubiminiSerialBusManager (const NodeHandlePtr &nh)
	Constructor with initialization list for the NodeHandle. More...

	RokubiminiSerialBusManager (const std::string &busName, NodeHandlePtr nh)
	Constructor with initialization list for the name and NodeHandle. More...

void	setConfigMode () override
	Sets all the serial devices in config mode. More...

void	setRunMode () override
	Sets all the serial devices in run mode. More...

bool	startupCommunication () override
	Initializes the communication with the serial devices. More...

	~RokubiminiSerialBusManager () override=default
	Default Destructor. More...

Public Member Functions inherited from rokubimini::RokubiminiBusManager
virtual bool	addRokubiminiToBus (const std::shared_ptr< Rokubimini > &rokubimini) const

void	cleanup () override

void	createRokubiminiRosDiagnostics () const

void	createRokubiminiRosPublishers () const

void	createRokubiminiRosServices () const

virtual bool	createRokubiminisFromParamServer ()

std::string	getName () const

std::shared_ptr< Rokubimini >	getRokubimini (const std::string &name) const

std::vector< std::shared_ptr< Rokubimini > >	getRokubiminis () const

bool	hasRokubimini (const std::string &name)

bool	init () override

virtual bool	load ()

void	publishRokubiminiRosDiagnostics () const

void	publishRosMessages () const

virtual void	readBus ()

	RokubiminiBusManager ()=delete

	RokubiminiBusManager (const NodeHandlePtr &nh)

	RokubiminiBusManager (const std::string &busName, NodeHandlePtr nh)

void	setNodeHandle (const NodeHandlePtr &nh)

virtual void	shutdown ()

virtual void	shutdownBus ()

void	shutdownWithCommunication () const

void	shutdownWithoutCommunication () const

virtual bool	startup ()

void	startupWithCommunication () const

void	startupWithoutCommunication () const

virtual bool	update (const bota_worker::WorkerEvent &event)

void	updateProcessReading () const

virtual void	writeToBus ()

	~RokubiminiBusManager () override=default

Public Member Functions inherited from bota_node::Node
bool	addWorker (const bota_worker::WorkerOptions &options)

bool	addWorker (const std::string &name, const double timestep, bool(T::fp)(const bota_worker::WorkerEvent &), T obj, const int priority=0)

void	cancelWorker (const std::string &name, const bool wait=true)

ros::NodeHandle &	getNodeHandle () const

bool	hasWorker (const std::string &name)

	Node ()=delete

	Node (NodeHandlePtr nh)

virtual void	preCleanup ()

void	shutdown ()

void	stopAllWorkers ()

void	stopAllWorkers (bool wait)

virtual	~Node ()=default

Protected Attributes
uint32_t	baudRate_
	The baud rate of the bus. More...

std::string	serialPort_
	The name of serial port. More...

double	timeStep_
	The time step of publishing loop. More...

Protected Attributes inherited from rokubimini::RokubiminiBusManager
std::atomic< bool >	isRunning_

std::string	name_

NodeHandlePtr	nh_

std::vector< std::shared_ptr< Rokubimini > >	rokubiminis_

Protected Attributes inherited from bota_node::Node
NodeHandlePtr	nh_

Private Member Functions
void	fetchTimeStep ()
	Fetches the 'time_step' from the Parameter Server and stores it in the protected 'timeStep_' variable. More...

Additional Inherited Members
Public Types inherited from rokubimini::RokubiminiBusManager
typedef std::shared_ptr< diagnostic_updater::Updater >	DiagnosticsUpdaterPtr

typedef std::shared_ptr< ros::NodeHandle >	NodeHandlePtr

Public Types inherited from bota_node::Node
typedef std::shared_ptr< ros::NodeHandle >	NodeHandlePtr

Detailed Description

Inherits from RokubiminiBusManager. It's used for managing the serial bus.

Although there isn't such a thing called "serial bus", it's used for compliance with the inheritance scheme.

Definition at line 25 of file RokubiminiSerialBusManager.hpp.

Constructor & Destructor Documentation

◆ RokubiminiSerialBusManager() [1/3]

rokubimini::serial::RokubiminiSerialBusManager::RokubiminiSerialBusManager ( )

delete

Default constructor of RokubiminiSerialBusManager.

◆ RokubiminiSerialBusManager() [2/3]

rokubimini::serial::RokubiminiSerialBusManager::RokubiminiSerialBusManager	(	const std::string &	busName,
		NodeHandlePtr	nh
	)

inlineexplicit

Constructor with initialization list for the name and NodeHandle.

Definition at line 42 of file RokubiminiSerialBusManager.hpp.

◆ RokubiminiSerialBusManager() [3/3]

rokubimini::serial::RokubiminiSerialBusManager::RokubiminiSerialBusManager ( const NodeHandlePtr & nh )

inlineexplicit

Constructor with initialization list for the NodeHandle.

Definition at line 51 of file RokubiminiSerialBusManager.hpp.

◆ ~RokubiminiSerialBusManager()

rokubimini::serial::RokubiminiSerialBusManager::~RokubiminiSerialBusManager ( )

overridedefault

Default Destructor.

Definition at line 54 of file RokubiminiSerialBusManager.hpp.

Member Function Documentation

◆ addRokubiminiToBus() [1/2]

virtual bool rokubimini::RokubiminiBusManager::addRokubiminiToBus

◆ addRokubiminiToBus() [2/2]

bool rokubimini::serial::RokubiminiSerialBusManager::addRokubiminiToBus ( const std::shared_ptr< RokubiminiSerial > & rokubimini ) const

Creates a RokubiminiSerial Implementation object for the.

Parameters

rokubimini	given.
rokubimini	The Rokubimini Serial instance for which an implementation will be created.

Returns: True if the creation of the RokubiminiSerialImpl object is successful.

Definition at line 50 of file RokubiminiSerialBusManager.cpp.

◆ createRokubimini()

bool rokubimini::serial::RokubiminiSerialBusManager::createRokubimini ( const std::string & rokubiminiName )

overridevirtual

Creates an RokubiminiSerial instance.

This function creates a RokubiminiSerial instance based on a given name and attaches it to the bus.

Parameters

rokubiminiName The name of the Rokubimini.

Returns: True if the operation succeeded.

Implements rokubimini::RokubiminiBusManager.

Definition at line 22 of file RokubiminiSerialBusManager.cpp.

◆ fetchTimeStep()

void rokubimini::serial::RokubiminiSerialBusManager::fetchTimeStep ( )

private

Fetches the 'time_step' from the Parameter Server and stores it in the protected 'timeStep_' variable.

Definition at line 12 of file RokubiminiSerialBusManager.cpp.

◆ loadBusParameters()

bool rokubimini::serial::RokubiminiSerialBusManager::loadBusParameters ( )

overridevirtual

Loads serial bus parameters from parameter server.

Implements rokubimini::RokubiminiBusManager.

Definition at line 35 of file RokubiminiSerialBusManager.cpp.

◆ loadTimeStep()

double rokubimini::serial::RokubiminiSerialBusManager::loadTimeStep ( )

overridevirtual

Loads the internal timeStep_ variable.

Implements rokubimini::RokubiminiBusManager.

Definition at line 8 of file RokubiminiSerialBusManager.cpp.

◆ publishBusManagerRosDiagnostics()

void rokubimini::serial::RokubiminiSerialBusManager::publishBusManagerRosDiagnostics ( )

inlineoverridevirtual

Publish the ROS Diagnostics of the Bus Manager.

Implements rokubimini::RokubiminiBusManager.

Definition at line 141 of file RokubiminiSerialBusManager.hpp.

◆ setConfigMode()

void rokubimini::serial::RokubiminiSerialBusManager::setConfigMode ( )

overridevirtual

Sets all the serial devices in config mode.

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 79 of file RokubiminiSerialBusManager.cpp.

◆ setRunMode()

void rokubimini::serial::RokubiminiSerialBusManager::setRunMode ( )

overridevirtual

Sets all the serial devices in run mode.

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 90 of file RokubiminiSerialBusManager.cpp.

◆ startupCommunication()

bool rokubimini::serial::RokubiminiSerialBusManager::startupCommunication ( )

overridevirtual

Initializes the communication with the serial devices.

Returns: True if the operation was successful.

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 58 of file RokubiminiSerialBusManager.cpp.

Member Data Documentation

◆ baudRate_

uint32_t rokubimini::serial::RokubiminiSerialBusManager::baudRate_

protected

The baud rate of the bus.

Definition at line 156 of file RokubiminiSerialBusManager.hpp.

◆ serialPort_

std::string rokubimini::serial::RokubiminiSerialBusManager::serialPort_

protected

The name of serial port.

Definition at line 149 of file RokubiminiSerialBusManager.hpp.

◆ timeStep_

double rokubimini::serial::RokubiminiSerialBusManager::timeStep_

protected

The time step of publishing loop.

Definition at line 163 of file RokubiminiSerialBusManager.hpp.

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

Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RokubiminiSerialBusManager() [1/3]

◆ RokubiminiSerialBusManager() [2/3]

◆ RokubiminiSerialBusManager() [3/3]

◆ ~RokubiminiSerialBusManager()

Member Function Documentation

◆ addRokubiminiToBus() [1/2]

◆ addRokubiminiToBus() [2/2]

◆ createRokubimini()

◆ fetchTimeStep()

◆ loadBusParameters()

◆ loadTimeStep()

◆ publishBusManagerRosDiagnostics()

◆ setConfigMode()

◆ setRunMode()

◆ startupCommunication()

Member Data Documentation

◆ baudRate_

◆ serialPort_

◆ timeStep_