IRI ROS Specific Driver Class. More...

#include <teo_battery_monitor_driver.h>

Inheritance diagram for TeoBatteryMonitorDriver:

Public Types
typedef teo_battery_monitor::TeoBatteryMonitorConfig	Config
	define config type
Public Member Functions
bool	check_alarms (void)
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	get_battery_info (TBatteryInfo *info)
bool	openDriver (void)
	open driver
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	stop driver
	TeoBatteryMonitorDriver (void)
	constructor
	~TeoBatteryMonitorDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Static Protected Member Functions
static bool	low_capacity_condition (TBatteryInfo *info)
Private Attributes
CSegway_Battery *	battery
std::string	low_capacity
std::string	low_capacity_event_id
std::string	serial_num

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The TeoBatteryMonitorDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The TeoBatteryMonitorConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 53 of file teo_battery_monitor_driver.h.

Member Typedef Documentation

typedef teo_battery_monitor::TeoBatteryMonitorConfig TeoBatteryMonitorDriver::Config

define config type

Define a Config type with the TeoBatteryMonitorConfig. All driver implementations will then use the same variable type Config.

Definition at line 71 of file teo_battery_monitor_driver.h.

Constructor & Destructor Documentation

TeoBatteryMonitorDriver::TeoBatteryMonitorDriver ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 4 of file teo_battery_monitor_driver.cpp.

TeoBatteryMonitorDriver::~TeoBatteryMonitorDriver ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 101 of file teo_battery_monitor_driver.cpp.

Member Function Documentation

bool TeoBatteryMonitorDriver::check_alarms ( void )

Definition at line 78 of file teo_battery_monitor_driver.cpp.

bool TeoBatteryMonitorDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 32 of file teo_battery_monitor_driver.cpp.

void TeoBatteryMonitorDriver::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 53 of file teo_battery_monitor_driver.cpp.

void TeoBatteryMonitorDriver::get_battery_info ( TBatteryInfo * info )

Definition at line 88 of file teo_battery_monitor_driver.cpp.

bool TeoBatteryMonitorDriver::low_capacity_condition ( TBatteryInfo * info ) [static, protected]

Definition at line 93 of file teo_battery_monitor_driver.cpp.

bool TeoBatteryMonitorDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 11 of file teo_battery_monitor_driver.cpp.

bool TeoBatteryMonitorDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 43 of file teo_battery_monitor_driver.cpp.

bool TeoBatteryMonitorDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.