neo_relayboard_node Class Reference

#include <neo_relayboard_node.h>

List of all members.

Public Types
enum	Modules {   DRIVE1 = 0, DRIVE2 = 1, US_BOARD = 2, RADAR_BOARD = 3,   IO_BOARD = 4, GYRO_BOARD = 5, DRIVE3 = 6, DRIVE4 = 7 }
Public Member Functions
void	getIOBoardDigOut (const neo_msgs::IOOut &)
void	getNewDriveStates (const trajectory_msgs::JointTrajectory jt)
void	getNewLCDOutput (const neo_msgs::LCDOutput &)
double	getRequestRate ()
int	init ()
	neo_relayboard_node ()
void	readConfig (int protocol_version_)
int	requestBoardStatus ()
void	sendAnalogIn ()
void	sendDriveStates ()
void	sendEmergencyStopStates ()
void	sendGyroBoard ()
void	sendIOBoardAnalogIn ()
void	sendIOBoardDigIn ()
void	sendIOBoardDigOut ()
void	sendRadarBoard ()
void	sendRelayBoardDigOut ()
void	sendUSBoard ()
void	setRelayBoardDigOut (const neo_msgs::IOOut &)
void	startUSBoard (const std_msgs::Int16 &configuration)
void	stopUSBoard (const std_msgs::Empty &empty)
void	zeroGyro (const std_msgs::Bool &b)
	~neo_relayboard_node ()
Public Attributes
ros::NodeHandle	n
ros::Publisher	topicPub_analogIn
ros::Publisher	topicPub_batVoltage
ros::Publisher	topicPub_boardState
ros::Publisher	topicPub_drives
ros::Publisher	topicPub_gyroBoard
ros::Publisher	topicPub_ioDigIn
ros::Publisher	topicPub_ioDigOut
ros::Publisher	topicPub_IRSensor
ros::Publisher	topicPub_isEmergencyStop
ros::Publisher	topicPub_keypad
ros::Publisher	topicPub_radarBoard
ros::Publisher	topicPub_SendRelayStates
ros::Publisher	topicPub_temperatur
ros::Publisher	topicPub_usBoard
ros::Subscriber	topicSub_drives
ros::Subscriber	topicSub_lcdDisplay
ros::Subscriber	topicSub_setDigOut
ros::Subscriber	topicSub_SetRelayStates
ros::Subscriber	topicSub_startUSBoard
ros::Subscriber	topicSub_stopUSBoard
ros::Subscriber	topicSub_zeroGyro
Private Types
enum	{ ST_EM_FREE = 0, ST_EM_ACTIVE = 1, ST_EM_CONFIRMED = 2 }
Private Attributes
int	activeModule [8]
double	charge_nominal_
double	current_voltage
ros::Duration	duration_for_EM_free_
int	EM_stop_status_
int	hasIRSensors
int	hasKeyPad
int	hasLCDOut
std::string	joint_names [4]
bool	log
SerRelayBoard *	m_SerRelayBoard
int	motorCanIdent [4]
int	protocol_version_
bool	relayboard_available
bool	relayboard_online
double	relayboard_timeout_
double	requestRate
std::string	sComPort
ros::Time	time_last_message_received_
ros::Time	time_of_EM_confirmed_
double	voltage_max_
double	voltage_min_
double	voltage_nominal_

---

Detailed Description

Definition at line 33 of file neo_relayboard_node.h.

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Member Enumeration Documentation

anonymous enum [private]

Enumerator:

ST_EM_FREE
ST_EM_ACTIVE
ST_EM_CONFIRMED

Definition at line 152 of file neo_relayboard_node.h.

enum neo_relayboard_node::Modules

Enumerator:

DRIVE1
DRIVE2
US_BOARD
RADAR_BOARD
IO_BOARD
GYRO_BOARD
DRIVE3
DRIVE4

Definition at line 52 of file neo_relayboard_node.h.

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Constructor & Destructor Documentation

neo_relayboard_node::neo_relayboard_node

(

)

[inline]

Definition at line 82 of file neo_relayboard_node.h.

neo_relayboard_node::~neo_relayboard_node

(

)

[inline]

Definition at line 99 of file neo_relayboard_node.h.

---

Member Function Documentation

void neo_relayboard_node::getIOBoardDigOut

(

const neo_msgs::IOOut &

setOut

)

Definition at line 618 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::getNewDriveStates

(

const trajectory_msgs::JointTrajectory

jt

)

Definition at line 518 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::getNewLCDOutput

(

const neo_msgs::LCDOutput &

msg

)

Definition at line 611 of file neo_relayboard_lib.cpp.

double neo_relayboard_node::getRequestRate

(

)

Definition at line 312 of file neo_relayboard_lib.cpp.

int neo_relayboard_node::init

(

)

Definition at line 6 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::readConfig

(

int

protocol_version_

)

Definition at line 112 of file neo_relayboard_lib.cpp.

int neo_relayboard_node::requestBoardStatus

(

)

Definition at line 282 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendAnalogIn

(

)

Definition at line 399 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendDriveStates

(

)

Definition at line 458 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendEmergencyStopStates

(

)

Definition at line 320 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendGyroBoard

(

)

Definition at line 547 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendIOBoardAnalogIn

(

)

Definition at line 641 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendIOBoardDigIn

(

)

Definition at line 624 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendIOBoardDigOut

(

)

Definition at line 633 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendRadarBoard

(

)

Definition at line 564 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendRelayBoardDigOut

(

)

Definition at line 447 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::sendUSBoard

(

)

Definition at line 581 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::setRelayBoardDigOut

(

const neo_msgs::IOOut &

setOut

)

Definition at line 441 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::startUSBoard

(

const std_msgs::Int16 &

configuration

)

Definition at line 596 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::stopUSBoard

(

const std_msgs::Empty &

empty

)

Definition at line 602 of file neo_relayboard_lib.cpp.

void neo_relayboard_node::zeroGyro

(

const std_msgs::Bool &

b

)

Definition at line 555 of file neo_relayboard_lib.cpp.

---

Member Data Documentation

int neo_relayboard_node::activeModule[8] [private]

Definition at line 133 of file neo_relayboard_node.h.

double neo_relayboard_node::charge_nominal_ [private]

Definition at line 161 of file neo_relayboard_node.h.

double neo_relayboard_node::current_voltage [private]

Definition at line 161 of file neo_relayboard_node.h.

ros::Duration neo_relayboard_node::duration_for_EM_free_ [private]

Definition at line 138 of file neo_relayboard_node.h.

int neo_relayboard_node::EM_stop_status_ [private]

Definition at line 137 of file neo_relayboard_node.h.

int neo_relayboard_node::hasIRSensors [private]

Definition at line 160 of file neo_relayboard_node.h.

int neo_relayboard_node::hasKeyPad [private]

Definition at line 160 of file neo_relayboard_node.h.

int neo_relayboard_node::hasLCDOut [private]

Definition at line 160 of file neo_relayboard_node.h.

std::string neo_relayboard_node::joint_names[4] [private]

Definition at line 159 of file neo_relayboard_node.h.

bool neo_relayboard_node::log [private]

Definition at line 149 of file neo_relayboard_node.h.

SerRelayBoard* neo_relayboard_node::m_SerRelayBoard [private]

Definition at line 135 of file neo_relayboard_node.h.

int neo_relayboard_node::motorCanIdent[4] [private]

Definition at line 158 of file neo_relayboard_node.h.

ros::NodeHandle neo_relayboard_node::n

Definition at line 38 of file neo_relayboard_node.h.

int neo_relayboard_node::protocol_version_ [private]

Definition at line 141 of file neo_relayboard_node.h.

bool neo_relayboard_node::relayboard_available [private]

Definition at line 146 of file neo_relayboard_node.h.

bool neo_relayboard_node::relayboard_online [private]

Definition at line 145 of file neo_relayboard_node.h.

double neo_relayboard_node::relayboard_timeout_ [private]

Definition at line 140 of file neo_relayboard_node.h.

double neo_relayboard_node::requestRate [private]

Definition at line 142 of file neo_relayboard_node.h.

std::string neo_relayboard_node::sComPort [private]

Definition at line 134 of file neo_relayboard_node.h.

ros::Time neo_relayboard_node::time_last_message_received_ [private]

Definition at line 144 of file neo_relayboard_node.h.

ros::Time neo_relayboard_node::time_of_EM_confirmed_ [private]

Definition at line 139 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_analogIn

Definition at line 74 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_batVoltage

Definition at line 43 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_boardState

Definition at line 47 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_drives

Definition at line 63 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_gyroBoard

Definition at line 78 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_ioDigIn

Definition at line 72 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_ioDigOut

Definition at line 73 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_IRSensor

Definition at line 46 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_isEmergencyStop

Definition at line 42 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_keypad

Definition at line 45 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_radarBoard

Definition at line 70 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_SendRelayStates

Definition at line 49 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_temperatur

Definition at line 44 of file neo_relayboard_node.h.

ros::Publisher neo_relayboard_node::topicPub_usBoard

Definition at line 66 of file neo_relayboard_node.h.

ros::Subscriber neo_relayboard_node::topicSub_drives

Definition at line 64 of file neo_relayboard_node.h.

ros::Subscriber neo_relayboard_node::topicSub_lcdDisplay

Definition at line 75 of file neo_relayboard_node.h.

ros::Subscriber neo_relayboard_node::topicSub_setDigOut

Definition at line 76 of file neo_relayboard_node.h.

ros::Subscriber neo_relayboard_node::topicSub_SetRelayStates

Definition at line 50 of file neo_relayboard_node.h.

ros::Subscriber neo_relayboard_node::topicSub_startUSBoard

Definition at line 67 of file neo_relayboard_node.h.

ros::Subscriber neo_relayboard_node::topicSub_stopUSBoard

Definition at line 68 of file neo_relayboard_node.h.

ros::Subscriber neo_relayboard_node::topicSub_zeroGyro

Definition at line 79 of file neo_relayboard_node.h.

double neo_relayboard_node::voltage_max_ [private]

Definition at line 161 of file neo_relayboard_node.h.

double neo_relayboard_node::voltage_min_ [private]

Definition at line 161 of file neo_relayboard_node.h.

double neo_relayboard_node::voltage_nominal_ [private]

Definition at line 161 of file neo_relayboard_node.h.

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The documentation for this class was generated from the following files:

• neo_relayboard_node.h
• neo_relayboard_lib.cpp