IRI ROS Specific Driver Class. More...

#include <tibi_dabo_battery_monitor_driver.h>

Inheritance diagram for TibiDaboBatteryMonitorDriver:

Public Types
typedef tibi_dabo_battery_monitor::TibiDaboBatteryMonitorConfig	Config
	define config type
Public Member Functions
bool	check_alarm (void)
bool	check_warning (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
	TibiDaboBatteryMonitorDriver (void)
	constructor
	~TibiDaboBatteryMonitorDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Static Protected Member Functions
static bool	alarm_condition (TBatteryInfo *info)
static bool	warning_condition (TBatteryInfo *info)
Private Attributes
std::string	alarm_time_to_discharge
std::string	alarm_time_to_discharge_event_id
CSegway_Battery *	battery
std::string	serial_num
std::string	warning_time_to_discharge
std::string	warning_time_to_discharge_event_id
Static Private Attributes
static int	alarm_threshold = 5
static int	warning_threshold = 15

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 TibiDaboBatteryMonitorDriver 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 TibiDaboBatteryMonitorConfig.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 tibi_dabo_battery_monitor_driver.h.

Member Typedef Documentation

typedef tibi_dabo_battery_monitor::TibiDaboBatteryMonitorConfig TibiDaboBatteryMonitorDriver::Config

define config type

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

Definition at line 77 of file tibi_dabo_battery_monitor_driver.h.

Constructor & Destructor Documentation

TibiDaboBatteryMonitorDriver::TibiDaboBatteryMonitorDriver ( 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 7 of file tibi_dabo_battery_monitor_driver.cpp.

TibiDaboBatteryMonitorDriver::~TibiDaboBatteryMonitorDriver ( void )

Destructor.

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

Definition at line 131 of file tibi_dabo_battery_monitor_driver.cpp.

Member Function Documentation

bool TibiDaboBatteryMonitorDriver::alarm_condition ( TBatteryInfo * info ) [static, protected]

Definition at line 123 of file tibi_dabo_battery_monitor_driver.cpp.

bool TibiDaboBatteryMonitorDriver::check_alarm ( void )

Definition at line 84 of file tibi_dabo_battery_monitor_driver.cpp.

bool TibiDaboBatteryMonitorDriver::check_warning ( void )

Definition at line 97 of file tibi_dabo_battery_monitor_driver.cpp.

bool TibiDaboBatteryMonitorDriver::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 36 of file tibi_dabo_battery_monitor_driver.cpp.

void TibiDaboBatteryMonitorDriver::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 57 of file tibi_dabo_battery_monitor_driver.cpp.

void TibiDaboBatteryMonitorDriver::get_battery_info ( TBatteryInfo * info )

Definition at line 110 of file tibi_dabo_battery_monitor_driver.cpp.

bool TibiDaboBatteryMonitorDriver::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 16 of file tibi_dabo_battery_monitor_driver.cpp.

bool TibiDaboBatteryMonitorDriver::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 47 of file tibi_dabo_battery_monitor_driver.cpp.

bool TibiDaboBatteryMonitorDriver::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.