#include <generic_updater.hpp>

Inheritance diagram for generic_updater::GenericUpdater:

Public Member Functions
virtual operation_mode::device_update_state::DeviceUpdateState	build_command (ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND *command)=0
	GenericUpdater (std::vector< UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
void	timer_callback (const ros::TimerEvent &event, FROM_MOTOR_DATA_TYPE data_type)
	~GenericUpdater ()
Public Attributes
std::vector< UpdateConfig >	initialization_configs_vector
	Contains all the initialization data types.
operation_mode::device_update_state::DeviceUpdateState	update_state
Protected Attributes
std::vector< UpdateConfig >	important_update_configs_vector
	Contains all the important data types.
boost::shared_ptr< boost::mutex >	mutex
ros::NodeHandle	nh_tilde
std::vector< ros::Timer >	timers
	All the timers for the unimportant data types.
std::queue< int32u, std::list < int32u > >	unimportant_data_queue
	A queue containing the unimportant data types we want to ask for next time (empty most of the time).
std::vector< UpdateConfig >	update_configs_vector
	Contains the vector with the update configs for every command. We store it to be able to reinitialize.
int	which_data_to_request
	iterate through the important or initialization data types.

Detailed Description

The Generic Updater builds the next command we want to send to the hand. We can ask for different types of data at different rates. The data and their rates are defined in the sr_ethercat_hand_config/rates/xxxxx.yaml The important data are refreshed as often as possible (they have a -1. refresh rate in the config file).

The unimportant data are refreshed at their given rate (the value is defined in the config in seconds).

Definition at line 74 of file generic_updater.hpp.

Constructor & Destructor Documentation

generic_updater::GenericUpdater::GenericUpdater	(	std::vector< UpdateConfig >	update_configs_vector,
		operation_mode::device_update_state::DeviceUpdateState	update_state
	)

Definition at line 35 of file generic_updater.cpp.

generic_updater::GenericUpdater::~GenericUpdater ( )

Definition at line 73 of file generic_updater.cpp.

Member Function Documentation

virtual operation_mode::device_update_state::DeviceUpdateState generic_updater::GenericUpdater::build_command ( ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND * command ) [pure virtual]

Building the motor command. This function is called at each packCommand() call. If an unimportant data is waiting then we send it, otherwise, we send the next important data.

Parameters:

command The command which will be sent to the motor.