#include <robotis_controller.h>

Inheritance diagram for robotis_framework::RobotisController:

Public Member Functions
int	action (const std::string joint_name)

void	addMotionModule (MotionModule *module)

void	addSensorModule (SensorModule *module)

int	factoryReset (const std::string joint_name, uint8_t option=0, uint8_t *error=0)

void	gazeboJointStatesCallback (const sensor_msgs::JointState::ConstPtr &msg)

bool	getJointCtrlModuleService (robotis_controller_msgs::GetJointModule::Request &req, robotis_controller_msgs::GetJointModule::Response &res)

bool	initialize (const std::string robot_file_path, const std::string init_file_path)

void	initializeDevice (const std::string init_file_path)

bool	isTimerRunning ()

void	loadOffset (const std::string path)

int	ping (const std::string joint_name, uint8_t *error=0)

int	ping (const std::string joint_name, uint16_t model_number, uint8_t error=0)

void	process ()

int	read (const std::string joint_name, uint16_t address, uint16_t length, uint8_t data, uint8_t error=0)

int	read1Byte (const std::string joint_name, uint16_t address, uint8_t data, uint8_t error=0)

int	read2Byte (const std::string joint_name, uint16_t address, uint16_t data, uint8_t error=0)

int	read4Byte (const std::string joint_name, uint16_t address, uint32_t data, uint8_t error=0)

int	readCtrlItem (const std::string joint_name, const std::string item_name, uint32_t data, uint8_t error=0)

int	reboot (const std::string joint_name, uint8_t *error=0)

int	regWrite (const std::string joint_name, uint16_t address, uint16_t length, uint8_t data, uint8_t error=0)

void	removeMotionModule (MotionModule *module)

void	removeSensorModule (SensorModule *module)

	RobotisController ()

void	setControllerModeCallback (const std_msgs::String::ConstPtr &msg)

void	setCtrlModule (std::string module_name)

void	setCtrlModuleCallback (const std_msgs::String::ConstPtr &msg)

bool	setCtrlModuleService (robotis_controller_msgs::SetModule::Request &req, robotis_controller_msgs::SetModule::Response &res)

void	setJointCtrlModuleCallback (const robotis_controller_msgs::JointCtrlModule::ConstPtr &msg)

bool	setJointCtrlModuleService (robotis_controller_msgs::SetJointModule::Request &req, robotis_controller_msgs::SetJointModule::Response &res)

void	setJointStatesCallback (const sensor_msgs::JointState::ConstPtr &msg)

void	startTimer ()

void	stopTimer ()

void	syncWriteItemCallback (const robotis_controller_msgs::SyncWriteItem::ConstPtr &msg)

int	write (const std::string joint_name, uint16_t address, uint16_t length, uint8_t data, uint8_t error=0)

int	write1Byte (const std::string joint_name, uint16_t address, uint8_t data, uint8_t *error=0)

int	write2Byte (const std::string joint_name, uint16_t address, uint16_t data, uint8_t *error=0)

int	write4Byte (const std::string joint_name, uint16_t address, uint32_t data, uint8_t *error=0)

void	writeControlTableCallback (const robotis_controller_msgs::WriteControlTable::ConstPtr &msg)

int	writeCtrlItem (const std::string joint_name, const std::string item_name, uint32_t data, uint8_t *error=0)

Static Public Member Functions
static void *	timerThread (void *param)

Static Public Member Functions inherited from robotis_framework::Singleton< RobotisController >
static void	destroyInstance ()

static T *	getInstance ()

Public Attributes
ros::Publisher	current_module_pub_

bool	DEBUG_PRINT

std::map< std::string, ros::Publisher >	gazebo_joint_effort_pub_

std::map< std::string, ros::Publisher >	gazebo_joint_position_pub_

std::map< std::string, ros::Publisher >	gazebo_joint_velocity_pub_

bool	gazebo_mode_

std::string	gazebo_robot_name_

ros::Publisher	goal_joint_state_pub_

std::map< std::string, dynamixel::GroupBulkRead * >	port_to_bulk_read_

std::map< std::string, dynamixel::GroupSyncWrite * >	port_to_sync_write_current_

std::map< std::string, dynamixel::GroupSyncWrite * >	port_to_sync_write_position_

std::map< std::string, dynamixel::GroupSyncWrite * >	port_to_sync_write_position_d_gain_

std::map< std::string, dynamixel::GroupSyncWrite * >	port_to_sync_write_position_i_gain_

std::map< std::string, dynamixel::GroupSyncWrite * >	port_to_sync_write_position_p_gain_

std::map< std::string, dynamixel::GroupSyncWrite * >	port_to_sync_write_velocity_

std::map< std::string, dynamixel::GroupSyncWrite * >	port_to_sync_write_velocity_d_gain_

std::map< std::string, dynamixel::GroupSyncWrite * >	port_to_sync_write_velocity_i_gain_

std::map< std::string, dynamixel::GroupSyncWrite * >	port_to_sync_write_velocity_p_gain_

ros::Publisher	present_joint_state_pub_

Robot *	robot_

Private Member Functions
void	gazeboTimerThread ()

void	initializeSyncWrite ()

bool	isTimerStopped ()

void	msgQueueThread ()

void	setCtrlModuleThread (std::string ctrl_module)

void	setJointCtrlModuleThread (const robotis_controller_msgs::JointCtrlModule::ConstPtr &msg)

Private Attributes
ControllerMode	controller_mode_

std::vector< dynamixel::GroupSyncWrite * >	direct_sync_write_

boost::thread	gazebo_thread_

bool	init_pose_loaded_

bool	is_timer_running_

std::list< MotionModule * >	motion_modules_

boost::mutex	queue_mutex_

boost::thread	queue_thread_

std::list< SensorModule * >	sensor_modules_

std::map< std::string, double >	sensor_result_

boost::thread	set_module_thread_

bool	stop_timer_

pthread_t	timer_thread_

Additional Inherited Members
Protected Member Functions inherited from robotis_framework::Singleton< RobotisController >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Detailed Description

Definition at line 57 of file robotis_controller.h.

Constructor & Destructor Documentation

RobotisController::RobotisController ( )

Definition at line 31 of file robotis_controller.cpp.

Member Function Documentation

int RobotisController::action ( const std::string joint_name )

Definition at line 2204 of file robotis_controller.cpp.

void RobotisController::addMotionModule ( MotionModule * module )

Definition at line 1429 of file robotis_controller.cpp.

void RobotisController::addSensorModule ( SensorModule * module )

Definition at line 1451 of file robotis_controller.cpp.

int RobotisController::factoryReset	(	const std::string	joint_name,
		uint8_t	option = `0`,
		uint8_t *	error = `0`
	)

Definition at line 2232 of file robotis_controller.cpp.

void RobotisController::gazeboJointStatesCallback ( const sensor_msgs::JointState::ConstPtr & msg )

Definition at line 2149 of file robotis_controller.cpp.

void RobotisController::gazeboTimerThread ( )

private

Definition at line 603 of file robotis_controller.cpp.

bool RobotisController::getJointCtrlModuleService	(	robotis_controller_msgs::GetJointModule::Request &	req,
		robotis_controller_msgs::GetJointModule::Response &	res
	)

Definition at line 1697 of file robotis_controller.cpp.

bool RobotisController::initialize	(	const std::string	robot_file_path,
		const std::string	init_file_path
	)

Definition at line 197 of file robotis_controller.cpp.

void RobotisController::initializeDevice ( const std::string init_file_path )

Definition at line 341 of file robotis_controller.cpp.

void RobotisController::initializeSyncWrite ( )

private

Definition at line 45 of file robotis_controller.cpp.

bool RobotisController::isTimerRunning ( )

Definition at line 840 of file robotis_controller.cpp.

bool RobotisController::isTimerStopped ( )

private

Definition at line 2174 of file robotis_controller.cpp.

void RobotisController::loadOffset ( const std::string path )

Definition at line 845 of file robotis_controller.cpp.

void RobotisController::msgQueueThread ( )

private

Definition at line 615 of file robotis_controller.cpp.

int RobotisController::ping	(	const std::string	joint_name,
		uint8_t *	error = `0`
	)

Definition at line 2185 of file robotis_controller.cpp.

int RobotisController::ping	(	const std::string	joint_name,
		uint16_t *	model_number,
		uint8_t *	error = `0`
	)

Definition at line 2189 of file robotis_controller.cpp.

void RobotisController::process ( )

Definition at line 873 of file robotis_controller.cpp.

int RobotisController::read	(	const std::string	joint_name,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

Definition at line 2247 of file robotis_controller.cpp.

int RobotisController::read1Byte	(	const std::string	joint_name,
		uint16_t	address,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

Definition at line 2311 of file robotis_controller.cpp.

int RobotisController::read2Byte	(	const std::string	joint_name,
		uint16_t	address,
		uint16_t *	data,
		uint8_t *	error = `0`
	)

Definition at line 2326 of file robotis_controller.cpp.

int RobotisController::read4Byte	(	const std::string	joint_name,
		uint16_t	address,
		uint32_t *	data,
		uint8_t *	error = `0`
	)

Definition at line 2341 of file robotis_controller.cpp.

int RobotisController::readCtrlItem	(	const std::string	joint_name,
		const std::string	item_name,
		uint32_t *	data,
		uint8_t *	error = `0`
	)

Definition at line 2262 of file robotis_controller.cpp.

int RobotisController::reboot	(	const std::string	joint_name,
		uint8_t *	error = `0`
	)

Definition at line 2218 of file robotis_controller.cpp.

int RobotisController::regWrite	(	const std::string	joint_name,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

Definition at line 2457 of file robotis_controller.cpp.

void RobotisController::removeMotionModule ( MotionModule * module )

Definition at line 1446 of file robotis_controller.cpp.

void RobotisController::removeSensorModule ( SensorModule * module )

Definition at line 1468 of file robotis_controller.cpp.

void RobotisController::setControllerModeCallback ( const std_msgs::String::ConstPtr & msg )

Definition at line 1617 of file robotis_controller.cpp.

void RobotisController::setCtrlModule ( std::string module_name )

Definition at line 1679 of file robotis_controller.cpp.

void RobotisController::setCtrlModuleCallback ( const std_msgs::String::ConstPtr & msg )

Definition at line 1669 of file robotis_controller.cpp.

bool RobotisController::setCtrlModuleService	(	robotis_controller_msgs::SetModule::Request &	req,
		robotis_controller_msgs::SetModule::Response &	res
	)

Definition at line 1737 of file robotis_controller.cpp.

void RobotisController::setCtrlModuleThread ( std::string ctrl_module )

private

Definition at line 1937 of file robotis_controller.cpp.

void RobotisController::setJointCtrlModuleCallback ( const robotis_controller_msgs::JointCtrlModule::ConstPtr & msg )

Definition at line 1686 of file robotis_controller.cpp.

bool RobotisController::setJointCtrlModuleService	(	robotis_controller_msgs::SetJointModule::Request &	req,
		robotis_controller_msgs::SetJointModule::Response &	res
	)

Definition at line 1716 of file robotis_controller.cpp.

void RobotisController::setJointCtrlModuleThread ( const robotis_controller_msgs::JointCtrlModule::ConstPtr & msg )

private

Definition at line 1751 of file robotis_controller.cpp.

void RobotisController::setJointStatesCallback ( const sensor_msgs::JointState::ConstPtr & msg )

Definition at line 1638 of file robotis_controller.cpp.

void RobotisController::startTimer ( )

Definition at line 711 of file robotis_controller.cpp.

void RobotisController::stopTimer ( )

Definition at line 762 of file robotis_controller.cpp.

void RobotisController::syncWriteItemCallback ( const robotis_controller_msgs::SyncWriteItem::ConstPtr & msg )

Definition at line 1531 of file robotis_controller.cpp.

void * RobotisController::timerThread ( void * param )

static

Definition at line 673 of file robotis_controller.cpp.

int RobotisController::write	(	const std::string	joint_name,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

Definition at line 2356 of file robotis_controller.cpp.

int RobotisController::write1Byte	(	const std::string	joint_name,
		uint16_t	address,
		uint8_t	data,
		uint8_t *	error = `0`
	)

Definition at line 2412 of file robotis_controller.cpp.

int RobotisController::write2Byte	(	const std::string	joint_name,
		uint16_t	address,
		uint16_t	data,
		uint8_t *	error = `0`
	)

Definition at line 2427 of file robotis_controller.cpp.

int RobotisController::write4Byte	(	const std::string	joint_name,
		uint16_t	address,
		uint32_t	data,
		uint8_t *	error = `0`
	)

Definition at line 2442 of file robotis_controller.cpp.

void RobotisController::writeControlTableCallback ( const robotis_controller_msgs::WriteControlTable::ConstPtr & msg )

Definition at line 1473 of file robotis_controller.cpp.

int RobotisController::writeCtrlItem	(	const std::string	joint_name,
		const std::string	item_name,
		uint32_t	data,
		uint8_t *	error = `0`
	)

Definition at line 2371 of file robotis_controller.cpp.

Member Data Documentation

ControllerMode robotis_framework::RobotisController::controller_mode_

private

Definition at line 69 of file robotis_controller.h.

ros::Publisher robotis_framework::RobotisController::current_module_pub_

Definition at line 109 of file robotis_controller.h.

bool robotis_framework::RobotisController::DEBUG_PRINT

Definition at line 86 of file robotis_controller.h.

std::vector<dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::direct_sync_write_

private

Definition at line 73 of file robotis_controller.h.

std::map<std::string, ros::Publisher> robotis_framework::RobotisController::gazebo_joint_effort_pub_

Definition at line 113 of file robotis_controller.h.

std::map<std::string, ros::Publisher> robotis_framework::RobotisController::gazebo_joint_position_pub_

Definition at line 111 of file robotis_controller.h.

std::map<std::string, ros::Publisher> robotis_framework::RobotisController::gazebo_joint_velocity_pub_

Definition at line 112 of file robotis_controller.h.

bool robotis_framework::RobotisController::gazebo_mode_

Definition at line 89 of file robotis_controller.h.

std::string robotis_framework::RobotisController::gazebo_robot_name_

Definition at line 90 of file robotis_controller.h.

boost::thread robotis_framework::RobotisController::gazebo_thread_

private

Definition at line 61 of file robotis_controller.h.

ros::Publisher robotis_framework::RobotisController::goal_joint_state_pub_

Definition at line 107 of file robotis_controller.h.

bool robotis_framework::RobotisController::init_pose_loaded_

private

Definition at line 65 of file robotis_controller.h.

bool robotis_framework::RobotisController::is_timer_running_

private

Definition at line 66 of file robotis_controller.h.

std::list<MotionModule *> robotis_framework::RobotisController::motion_modules_

private

Definition at line 71 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupBulkRead *> robotis_framework::RobotisController::port_to_bulk_read_

Definition at line 93 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::port_to_sync_write_current_

Definition at line 98 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::port_to_sync_write_position_

Definition at line 96 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::port_to_sync_write_position_d_gain_

Definition at line 101 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::port_to_sync_write_position_i_gain_

Definition at line 100 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::port_to_sync_write_position_p_gain_

Definition at line 99 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::port_to_sync_write_velocity_

Definition at line 97 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::port_to_sync_write_velocity_d_gain_

Definition at line 104 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::port_to_sync_write_velocity_i_gain_

Definition at line 103 of file robotis_controller.h.

std::map<std::string, dynamixel::GroupSyncWrite *> robotis_framework::RobotisController::port_to_sync_write_velocity_p_gain_

Definition at line 102 of file robotis_controller.h.

ros::Publisher robotis_framework::RobotisController::present_joint_state_pub_

Definition at line 108 of file robotis_controller.h.

boost::mutex robotis_framework::RobotisController::queue_mutex_

private

Definition at line 63 of file robotis_controller.h.

boost::thread robotis_framework::RobotisController::queue_thread_

private

Definition at line 60 of file robotis_controller.h.

Robot* robotis_framework::RobotisController::robot_

Definition at line 87 of file robotis_controller.h.

std::list<SensorModule *> robotis_framework::RobotisController::sensor_modules_

private

Definition at line 72 of file robotis_controller.h.

std::map<std::string, double> robotis_framework::RobotisController::sensor_result_

private

Definition at line 75 of file robotis_controller.h.

boost::thread robotis_framework::RobotisController::set_module_thread_

private

Definition at line 62 of file robotis_controller.h.

bool robotis_framework::RobotisController::stop_timer_

private

Definition at line 67 of file robotis_controller.h.

pthread_t robotis_framework::RobotisController::timer_thread_

private

Definition at line 68 of file robotis_controller.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation