IRI ROS Specific Driver Class. More...

#include <tibi_dabo_laser_3d_driver.h>

Inheritance diagram for TibiDaboLaser3dDriver:

Public Types
typedef tibi_dabo_laser_3d::TibiDaboLaser3dConfig	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
double	get_current_angle (void)
double	get_current_velocity (void)
double	get_fixed_angle (void)
bool	is_scan_done (void)
bool	is_scan_enabled (void)
void	move_absolute_angle (double angle)
bool	openDriver (void)
	open driver
void	start_scan (void)
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	stop driver
	TibiDaboLaser3dDriver (void)
	constructor
	~TibiDaboLaser3dDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Private Attributes
int	baudrate
double	current_max_angle
double	current_min_angle
double	current_velocity
scan_dir	dir
double	fixed_angle
double	new_max_angle
double	new_min_angle
double	new_velocity
bool	scan_enabled
std::string	serial_number
CDynamixelMotor *	servo
std::string	servo_config_file
unsigned char	servo_id

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 TibiDaboLaser3dDriver 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 TibiDaboLaser3dConfig.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 55 of file tibi_dabo_laser_3d_driver.h.

Member Typedef Documentation

typedef tibi_dabo_laser_3d::TibiDaboLaser3dConfig TibiDaboLaser3dDriver::Config

define config type

Define a Config type with the TibiDaboLaser3dConfig. All driver implementations will then use the same variable type Config.

Definition at line 83 of file tibi_dabo_laser_3d_driver.h.

Constructor & Destructor Documentation

TibiDaboLaser3dDriver::TibiDaboLaser3dDriver ( 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 5 of file tibi_dabo_laser_3d_driver.cpp.

TibiDaboLaser3dDriver::~TibiDaboLaser3dDriver ( void )

Destructor.

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

Definition at line 217 of file tibi_dabo_laser_3d_driver.cpp.

Member Function Documentation

bool TibiDaboLaser3dDriver::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 67 of file tibi_dabo_laser_3d_driver.cpp.

void TibiDaboLaser3dDriver::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 87 of file tibi_dabo_laser_3d_driver.cpp.

double TibiDaboLaser3dDriver::get_current_angle ( void )

Definition at line 174 of file tibi_dabo_laser_3d_driver.cpp.

double TibiDaboLaser3dDriver::get_current_velocity ( void )

Definition at line 187 of file tibi_dabo_laser_3d_driver.cpp.

double TibiDaboLaser3dDriver::get_fixed_angle ( void )

Definition at line 204 of file tibi_dabo_laser_3d_driver.cpp.

bool TibiDaboLaser3dDriver::is_scan_done ( void )

Definition at line 136 of file tibi_dabo_laser_3d_driver.cpp.

bool TibiDaboLaser3dDriver::is_scan_enabled ( void )

Definition at line 199 of file tibi_dabo_laser_3d_driver.cpp.

void TibiDaboLaser3dDriver::move_absolute_angle ( double angle )

Definition at line 209 of file tibi_dabo_laser_3d_driver.cpp.

bool TibiDaboLaser3dDriver::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 24 of file tibi_dabo_laser_3d_driver.cpp.

void TibiDaboLaser3dDriver::start_scan ( void )

Definition at line 122 of file tibi_dabo_laser_3d_driver.cpp.

bool TibiDaboLaser3dDriver::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 77 of file tibi_dabo_laser_3d_driver.cpp.

bool TibiDaboLaser3dDriver::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.