IRI ROS Specific Driver Class. More...

#include <zyonz_chlorophyll_meter_driver.h>

Inheritance diagram for ZyonzChlorophyllMeterDriver:

Public Types
typedef zyonz_chlorophyll_meter::ZyonzChlorophyllMeterConfig	Config
	define config type
Public Member Functions
bool	close_meter (void)
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
float	get_current_angle (void)
float	get_current_effort (void)
float	get_max_angle ()
float	get_max_effort (void)
float	get_min_angle ()
bool	is_at_max_angle ()
bool	is_at_min_angle ()
bool	open_meter (void)
bool	openDriver (void)
	open driver
void	set_baudrate (int baudrate)
void	set_bus_id (int bus_id)
void	set_effort (double effort)
void	set_max_angle (double max_angle)
void	set_min_angle (double min_angle)
void	set_servo_id (unsigned char servo_id)
bool	startDriver (void)
	start driver
void	stop_meter (void)
bool	stopDriver (void)
	stop driver
	ZyonzChlorophyllMeterDriver (void)
	constructor
	~ZyonzChlorophyllMeterDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Private Member Functions
bool	move_gripper (const double position_in_radians)
Private Attributes
int	baudrate_
int	bus_id_
double	effort_
double	max_angle_
double	min_angle_
boost::shared_ptr < CDynamixelMotor >	motor_
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 ZyonzChlorophyllMeterDriver 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 ZyonzChlorophyllMeterConfig.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 54 of file zyonz_chlorophyll_meter_driver.h.

Member Typedef Documentation

typedef zyonz_chlorophyll_meter::ZyonzChlorophyllMeterConfig ZyonzChlorophyllMeterDriver::Config

define config type

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

Definition at line 73 of file zyonz_chlorophyll_meter_driver.h.

Constructor & Destructor Documentation

ZyonzChlorophyllMeterDriver::ZyonzChlorophyllMeterDriver ( 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 3 of file zyonz_chlorophyll_meter_driver.cpp.

ZyonzChlorophyllMeterDriver::~ZyonzChlorophyllMeterDriver ( void )

Destructor.

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

Definition at line 239 of file zyonz_chlorophyll_meter_driver.cpp.

Member Function Documentation

bool ZyonzChlorophyllMeterDriver::close_meter ( void )

Definition at line 127 of file zyonz_chlorophyll_meter_driver.cpp.

bool ZyonzChlorophyllMeterDriver::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 60 of file zyonz_chlorophyll_meter_driver.cpp.

void ZyonzChlorophyllMeterDriver::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 78 of file zyonz_chlorophyll_meter_driver.cpp.

float ZyonzChlorophyllMeterDriver::get_current_angle ( void )

Definition at line 158 of file zyonz_chlorophyll_meter_driver.cpp.

float ZyonzChlorophyllMeterDriver::get_current_effort ( void )

Definition at line 148 of file zyonz_chlorophyll_meter_driver.cpp.

float ZyonzChlorophyllMeterDriver::get_max_angle ( )

Definition at line 163 of file zyonz_chlorophyll_meter_driver.cpp.

float ZyonzChlorophyllMeterDriver::get_max_effort ( void )

Definition at line 153 of file zyonz_chlorophyll_meter_driver.cpp.

float ZyonzChlorophyllMeterDriver::get_min_angle ( )

Definition at line 168 of file zyonz_chlorophyll_meter_driver.cpp.

bool ZyonzChlorophyllMeterDriver::is_at_max_angle ( )

Definition at line 173 of file zyonz_chlorophyll_meter_driver.cpp.

bool ZyonzChlorophyllMeterDriver::is_at_min_angle ( )

Definition at line 180 of file zyonz_chlorophyll_meter_driver.cpp.

bool ZyonzChlorophyllMeterDriver::move_gripper ( const double position_in_radians ) [private]

Definition at line 217 of file zyonz_chlorophyll_meter_driver.cpp.

bool ZyonzChlorophyllMeterDriver::open_meter ( void )

Definition at line 122 of file zyonz_chlorophyll_meter_driver.cpp.

bool ZyonzChlorophyllMeterDriver::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 14 of file zyonz_chlorophyll_meter_driver.cpp.

void ZyonzChlorophyllMeterDriver::set_baudrate ( int baudrate )

Definition at line 187 of file zyonz_chlorophyll_meter_driver.cpp.

void ZyonzChlorophyllMeterDriver::set_bus_id ( int bus_id )

Definition at line 192 of file zyonz_chlorophyll_meter_driver.cpp.

void ZyonzChlorophyllMeterDriver::set_effort ( double effort )

Definition at line 212 of file zyonz_chlorophyll_meter_driver.cpp.

void ZyonzChlorophyllMeterDriver::set_max_angle ( double max_angle )

Definition at line 202 of file zyonz_chlorophyll_meter_driver.cpp.

void ZyonzChlorophyllMeterDriver::set_min_angle ( double min_angle )

Definition at line 207 of file zyonz_chlorophyll_meter_driver.cpp.

void ZyonzChlorophyllMeterDriver::set_servo_id ( unsigned char servo_id )

Definition at line 197 of file zyonz_chlorophyll_meter_driver.cpp.

bool ZyonzChlorophyllMeterDriver::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 66 of file zyonz_chlorophyll_meter_driver.cpp.

void ZyonzChlorophyllMeterDriver::stop_meter ( void )

Definition at line 132 of file zyonz_chlorophyll_meter_driver.cpp.

bool ZyonzChlorophyllMeterDriver::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.