#include <GripperSupervisor.h>
Public Member Functions | |
| void | checkTransitions (int baseOverride) |
| int | getState (const std::string &name) |
| GripperSupervisor () | |
| void | initializeMaps (const std::vector< std::string > &grippers) |
| void | populateBaseFrameInfo (const r2_msgs::StringArray &baseFrames) |
| void | populateCheckedGrippers (const bool override) |
| void | populateCheckedGrippers (const r2_msgs::StringArray &grippers) |
| void | populateDriveRequestMsg (r2_msgs::StringArray &requestOut) |
| void | populateGoalStatus (const actionlib_msgs::GoalStatusArray &goalStats) |
| void | populateGoalStatusMsg (actionlib_msgs::GoalStatusArray &statusOut) |
| void | populateGripperCommandMsg (r2_msgs::GripperPositionCommand &cmdOut) |
| void | populateGripperCommandsIn (const r2_msgs::GripperPositionCommand &gripCmd) |
| void | populateGripperStateInfo (const r2_msgs::GripperPositionState &eefState) |
| void | populateJointControlCommandMsg (r2_msgs::JointControlDataArray &modeCmdOut) |
| void | populateJointControlMode (const r2_msgs::JointControlDataArray &jntMode) |
| void | setLimits (const int &highDuty, const int &time) |
| ~GripperSupervisor () | |
Public Attributes | |
| std::vector< std::string > | baseFrameList |
| r2_msgs::StringArray | driveRequest |
| std::map< std::string, EndEffectorData > | endEffectorMap |
| actionlib_msgs::GoalStatusArray | goalStatuses |
| r2_msgs::GripperPositionCommand | gripperCmds |
| std::map< std::string, bool > | gripperDriveApprovedMap |
| std::map< std::string, GripperControlModes > | gripperJointModeMap |
Private Member Functions | |
| int | detectChangeInErrorState (const std::string &name) |
| bool | isLocked (const std::string &name) |
| bool | isReleaseValid (const std::string &name) |
| int | runStateMachine (const std::string &name) |
| bool | transToFailure (const std::string &name) |
| bool | transToFault (const std::string &name) |
| bool | transToIdle (const std::string &name) |
| bool | transToLock (const std::string &name) |
| bool | transToRelease (const std::string &name) |
| bool | transToSet (const std::string &name) |
| int | updateErrorState (const std::string &name) |
Private Attributes | |
| std::map< std::string, EndEffectorData >::iterator | eefIt |
| std::map< std::string, bool > ::iterator | errIt |
| std::map< std::string, bool > | errorStates |
| actionlib_msgs::GoalStatusArray | goalStatusesOut |
| r2_msgs::GripperPositionCommand | gripperCmdOut |
| int | hiDutyCycleLimit |
| std::map< std::string, GripperControlModes > ::iterator | intIt |
| r2_msgs::JointControlDataArray | jointModeCommands |
| int | motcomLimit |
| GripperSupervisorStates | nextState |
| int | pendingTimer |
| std::map< std::string, bool > ::iterator | reqIt |
| std::string | setpoint |
| std::map< std::string, GripperSupervisorStates > ::iterator | stateIt |
| std::map< std::string, GripperSupervisorStates > | stateMap |
| int | timeLimit |
Definition at line 42 of file GripperSupervisor.h.
Definition at line 4 of file GripperSupervisor.cpp.
Definition at line 8 of file GripperSupervisor.cpp.
| void GripperSupervisor::checkTransitions | ( | int | baseOverride | ) |
first, check to see if there are changes in fault bits
next, add transitions for goal statuses
finally, run through all gripper commands
Definition at line 180 of file GripperSupervisor.cpp.
| int GripperSupervisor::detectChangeInErrorState | ( | const std::string & | name | ) | [private] |
Definition at line 372 of file GripperSupervisor.cpp.
| int GripperSupervisor::getState | ( | const std::string & | name | ) |
Definition at line 900 of file GripperSupervisor.cpp.
| void GripperSupervisor::initializeMaps | ( | const std::vector< std::string > & | grippers | ) |
Definition at line 12 of file GripperSupervisor.cpp.
| bool GripperSupervisor::isLocked | ( | const std::string & | name | ) | [private] |
Definition at line 464 of file GripperSupervisor.cpp.
| bool GripperSupervisor::isReleaseValid | ( | const std::string & | name | ) | [private] |
check base frames
Check if there is a command pending on the opposite gripper
Check if other base frame is not in drive or faulted
Definition at line 408 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateBaseFrameInfo | ( | const r2_msgs::StringArray & | baseFrames | ) |
Definition at line 56 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateCheckedGrippers | ( | const bool | override | ) |
Definition at line 154 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateCheckedGrippers | ( | const r2_msgs::StringArray & | grippers | ) |
Definition at line 162 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateDriveRequestMsg | ( | r2_msgs::StringArray & | requestOut | ) |
Definition at line 114 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateGoalStatus | ( | const actionlib_msgs::GoalStatusArray & | goalStats | ) |
Definition at line 63 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateGoalStatusMsg | ( | actionlib_msgs::GoalStatusArray & | statusOut | ) |
Definition at line 133 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateGripperCommandMsg | ( | r2_msgs::GripperPositionCommand & | cmdOut | ) |
Definition at line 140 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateGripperCommandsIn | ( | const r2_msgs::GripperPositionCommand & | gripCmd | ) |
Definition at line 78 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateGripperStateInfo | ( | const r2_msgs::GripperPositionState & | eefState | ) |
Definition at line 37 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateJointControlCommandMsg | ( | r2_msgs::JointControlDataArray & | modeCmdOut | ) |
Definition at line 123 of file GripperSupervisor.cpp.
| void GripperSupervisor::populateJointControlMode | ( | const r2_msgs::JointControlDataArray & | jntMode | ) |
Definition at line 97 of file GripperSupervisor.cpp.
| int GripperSupervisor::runStateMachine | ( | const std::string & | name | ) | [private] |
Definition at line 705 of file GripperSupervisor.cpp.
| void GripperSupervisor::setLimits | ( | const int & | highDuty, |
| const int & | time | ||
| ) |
Definition at line 910 of file GripperSupervisor.cpp.
| bool GripperSupervisor::transToFailure | ( | const std::string & | name | ) | [private] |
Definition at line 555 of file GripperSupervisor.cpp.
| bool GripperSupervisor::transToFault | ( | const std::string & | name | ) | [private] |
Definition at line 477 of file GripperSupervisor.cpp.
| bool GripperSupervisor::transToIdle | ( | const std::string & | name | ) | [private] |
Definition at line 517 of file GripperSupervisor.cpp.
| bool GripperSupervisor::transToLock | ( | const std::string & | name | ) | [private] |
Definition at line 582 of file GripperSupervisor.cpp.
| bool GripperSupervisor::transToRelease | ( | const std::string & | name | ) | [private] |
Definition at line 623 of file GripperSupervisor.cpp.
| bool GripperSupervisor::transToSet | ( | const std::string & | name | ) | [private] |
Definition at line 664 of file GripperSupervisor.cpp.
| int GripperSupervisor::updateErrorState | ( | const std::string & | name | ) | [private] |
Definition at line 389 of file GripperSupervisor.cpp.
| std::vector<std::string> GripperSupervisor::baseFrameList |
Definition at line 76 of file GripperSupervisor.h.
| r2_msgs::StringArray GripperSupervisor::driveRequest |
Definition at line 81 of file GripperSupervisor.h.
std::map<std::string, EndEffectorData>::iterator GripperSupervisor::eefIt [private] |
Definition at line 91 of file GripperSupervisor.h.
| std::map<std::string, EndEffectorData> GripperSupervisor::endEffectorMap |
Definition at line 75 of file GripperSupervisor.h.
std::map<std::string, bool>::iterator GripperSupervisor::errIt [private] |
Definition at line 94 of file GripperSupervisor.h.
std::map<std::string, bool> GripperSupervisor::errorStates [private] |
Definition at line 89 of file GripperSupervisor.h.
| actionlib_msgs::GoalStatusArray GripperSupervisor::goalStatuses |
Definition at line 80 of file GripperSupervisor.h.
actionlib_msgs::GoalStatusArray GripperSupervisor::goalStatusesOut [private] |
Definition at line 85 of file GripperSupervisor.h.
r2_msgs::GripperPositionCommand GripperSupervisor::gripperCmdOut [private] |
Definition at line 86 of file GripperSupervisor.h.
| r2_msgs::GripperPositionCommand GripperSupervisor::gripperCmds |
Definition at line 79 of file GripperSupervisor.h.
| std::map<std::string, bool> GripperSupervisor::gripperDriveApprovedMap |
Definition at line 78 of file GripperSupervisor.h.
| std::map<std::string, GripperControlModes> GripperSupervisor::gripperJointModeMap |
Definition at line 77 of file GripperSupervisor.h.
int GripperSupervisor::hiDutyCycleLimit [private] |
Definition at line 98 of file GripperSupervisor.h.
std::map<std::string, GripperControlModes>::iterator GripperSupervisor::intIt [private] |
Definition at line 92 of file GripperSupervisor.h.
r2_msgs::JointControlDataArray GripperSupervisor::jointModeCommands [private] |
Definition at line 87 of file GripperSupervisor.h.
int GripperSupervisor::motcomLimit [private] |
Definition at line 97 of file GripperSupervisor.h.
Definition at line 100 of file GripperSupervisor.h.
int GripperSupervisor::pendingTimer [private] |
Definition at line 99 of file GripperSupervisor.h.
std::map<std::string, bool>::iterator GripperSupervisor::reqIt [private] |
Definition at line 94 of file GripperSupervisor.h.
std::string GripperSupervisor::setpoint [private] |
Definition at line 96 of file GripperSupervisor.h.
std::map<std::string, GripperSupervisorStates>::iterator GripperSupervisor::stateIt [private] |
Definition at line 93 of file GripperSupervisor.h.
std::map<std::string, GripperSupervisorStates> GripperSupervisor::stateMap [private] |
Definition at line 90 of file GripperSupervisor.h.
int GripperSupervisor::timeLimit [private] |
Definition at line 99 of file GripperSupervisor.h.