IRI ROS Specific Driver Class. More...

#include <tibi_arm_node_driver.h>

Inheritance diagram for TibiArmNodeDriver:

Public Types
typedef tibi_arm_node::TibiArmNodeConfig	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
std::string	get_config_file (unsigned int index)
int	get_feedback_rate (void)
std::string	get_motion_seq_file (unsigned int index)
std::string	get_motion_sequence_complete_event_id (void)
float	get_motion_sequence_completed_percentage (void)
std::string	get_motion_sequence_error_event_id (void)
std::string	get_motion_sequence_error_message (void)
unsigned int	get_num_config_files (void)
unsigned int	get_num_motion_seq_files (void)
void	get_position (std::vector< double > &position)
	function to get the current position of all motors
void	get_velocity (std::vector< double > &velocity)
	function to get the current velocity of all motors
void	move_absolute_angle (std::vector< double > &position, std::vector< double > &velocity)
	functions to move the group of motors in position control
void	move_relative_angle (std::vector< double > &position, std::vector< double > &velocity)
	functions to move the group of motors in position control
bool	openDriver (void)
	open driver
void	pause_motion_sequence (void)
void	resume_motion_sequence (void)
void	start_motion_sequence (std::string &filename)
void	start_motion_sequence (std::vector< TPTUD46MotionStep > &seq)
bool	startDriver (void)
	start driver
void	stop (void)
	function to stop all motors
void	stop_motion_sequence (void)
bool	stopDriver (void)
	stop driver
	TibiArmNodeDriver (void)
	constructor
	~TibiArmNodeDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Member Functions
void	scan_XML_files (void)
Private Attributes
std::string	arm_config_file
CPTUD46 *	arm_driver
std::vector< std::string >	config_files
int	feedback_rate
std::vector< std::string >	motion_seq_files
std::string	xml_path

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 TibiArmNodeDriver 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 TibiArmNodeConfig.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 56 of file tibi_arm_node_driver.h.

Member Typedef Documentation

typedef tibi_arm_node::TibiArmNodeConfig TibiArmNodeDriver::Config

define config type

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

Definition at line 79 of file tibi_arm_node_driver.h.

Constructor & Destructor Documentation

TibiArmNodeDriver::TibiArmNodeDriver ( 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 17 of file tibi_arm_node_driver.cpp.

TibiArmNodeDriver::~TibiArmNodeDriver ( void )

Destructor.

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

Definition at line 303 of file tibi_arm_node_driver.cpp.

Member Function Documentation

bool TibiArmNodeDriver::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 91 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::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 112 of file tibi_arm_node_driver.cpp.

std::string TibiArmNodeDriver::get_config_file ( unsigned int index )

Definition at line 275 of file tibi_arm_node_driver.cpp.

int TibiArmNodeDriver::get_feedback_rate ( void )

Definition at line 298 of file tibi_arm_node_driver.cpp.

std::string TibiArmNodeDriver::get_motion_seq_file ( unsigned int index )

Definition at line 289 of file tibi_arm_node_driver.cpp.

std::string TibiArmNodeDriver::get_motion_sequence_complete_event_id ( void )

Definition at line 197 of file tibi_arm_node_driver.cpp.

float TibiArmNodeDriver::get_motion_sequence_completed_percentage ( void )

Definition at line 221 of file tibi_arm_node_driver.cpp.

std::string TibiArmNodeDriver::get_motion_sequence_error_event_id ( void )

Definition at line 205 of file tibi_arm_node_driver.cpp.

std::string TibiArmNodeDriver::get_motion_sequence_error_message ( void )

Definition at line 213 of file tibi_arm_node_driver.cpp.

unsigned int TibiArmNodeDriver::get_num_config_files ( void )

Definition at line 270 of file tibi_arm_node_driver.cpp.

unsigned int TibiArmNodeDriver::get_num_motion_seq_files ( void )

Definition at line 284 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::get_position ( std::vector< double > & position )

function to get the current position of all motors

Definition at line 258 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::get_velocity ( std::vector< double > & velocity )

function to get the current velocity of all motors

Definition at line 264 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::move_absolute_angle	(	std::vector< double > &	position,
		std::vector< double > &	velocity
	)

functions to move the group of motors in position control

Definition at line 230 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::move_relative_angle	(	std::vector< double > &	position,
		std::vector< double > &	velocity
	)

functions to move the group of motors in position control

Definition at line 241 of file tibi_arm_node_driver.cpp.

bool TibiArmNodeDriver::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 64 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::pause_motion_sequence ( void )

Definition at line 179 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::resume_motion_sequence ( void )

Definition at line 185 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::scan_XML_files ( void ) [protected]

Definition at line 27 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::start_motion_sequence ( std::string & filename )

Definition at line 151 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::start_motion_sequence ( std::vector< TPTUD46MotionStep > & seq )

Definition at line 165 of file tibi_arm_node_driver.cpp.

bool TibiArmNodeDriver::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 102 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::stop ( void )

function to stop all motors

Reimplemented from driver_base::Driver.

Definition at line 252 of file tibi_arm_node_driver.cpp.

void TibiArmNodeDriver::stop_motion_sequence ( void )

Definition at line 191 of file tibi_arm_node_driver.cpp.

bool TibiArmNodeDriver::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.