#include <ros/node_handle.h>
#include <cob_hand_bridge/InitFinger.h>
#include <cob_hand_bridge/InitPins.h>
#include <cob_hand_bridge/SetPWM.h>
#include <cob_hand_bridge/UpdatePins.h>
#include <cob_hand_bridge/Status.h>
#include <std_msgs/UInt8.h>
#include <std_srvs/Trigger.h>
#include <boost/thread/thread.hpp>
#include <boost/scoped_ptr.hpp>
#include "hardware.h"
#include "gpio.h"
#include "sdhx.h"

Include dependency graph for bridge.cpp:

Functions
void	handleClearPin (const std_msgs::UInt8 &mgs)

void	handleHaltFinger (const Trigger::Request &req, Trigger::Response &res)

void	handleInitFinger (const InitFinger::Request &req, InitFinger::Response &res)

void	handleInitPins (const InitPins::Request &req, InitPins::Response &res)

void	handleJointCommand (const cob_hand_bridge::JointValues &j)

void	handleRecover (const Trigger::Request &req, Trigger::Response &res)

void	handleSetPin (const std_msgs::UInt8 &mgs)

void	handleSetPWM (const SetPWM::Request &req, SetPWM::Response &res)

void	handleUpdatePins (const UpdatePins::Request &req, UpdatePins::Response &res)

bool	initFinger (const InitFinger::Request &req)

int	main (int argc, char **argv)

void	step ()

Variables
GPIO	g_gpio

InitFinger::Request	g_init_req

ros::NodeHandle_< HandBridgeHardware >	g_nh

std::string	g_port

ros::Publisher	g_pub ("status", &g_status_msg)

boost::scoped_ptr< SDHX >	g_sdhx

ros::ServiceServer< Trigger::Request, Trigger::Response >	g_srv_halt_finger ("halt",&handleHaltFinger)

ros::ServiceServer< InitFinger::Request, InitFinger::Response >	g_srv_init_finger ("init_finger",&handleInitFinger)

ros::ServiceServer< InitPins::Request, InitPins::Response >	g_srv_init_pins ("init_pins",&handleInitPins)

ros::ServiceServer< Trigger::Request, Trigger::Response >	g_srv_recover ("recover",&handleRecover)

ros::ServiceServer< SetPWM::Request, SetPWM::Response >	g_srv_set_pwm ("set_pwm",&handleSetPWM)

ros::ServiceServer< UpdatePins::Request, UpdatePins::Response >	g_srv_update_pins ("update_pins",&handleUpdatePins)

cob_hand_bridge::Status	g_status_msg

ros::Subscriber< std_msgs::UInt8 >	g_sub_clear_pin ("clear_pin", handleClearPin)

ros::Subscriber< cob_hand_bridge::JointValues >	g_sub_command ("command", handleJointCommand)

ros::Subscriber< std_msgs::UInt8 >	g_sub_set_pin ("set_pin", handleSetPin)

Function Documentation

◆ handleClearPin()

void handleClearPin ( const std_msgs::UInt8 & mgs )

Definition at line 118 of file bridge.cpp.

◆ handleHaltFinger()

void handleHaltFinger	(	const Trigger::Request &	req,
		Trigger::Response &	res
	)

Definition at line 66 of file bridge.cpp.

◆ handleInitFinger()

void handleInitFinger	(	const InitFinger::Request &	req,
		InitFinger::Response &	res
	)

Definition at line 60 of file bridge.cpp.

◆ handleInitPins()

void handleInitPins	(	const InitPins::Request &	req,
		InitPins::Response &	res
	)

Definition at line 97 of file bridge.cpp.

◆ handleJointCommand()

void handleJointCommand ( const cob_hand_bridge::JointValues & j )

Definition at line 87 of file bridge.cpp.

◆ handleRecover()

void handleRecover	(	const Trigger::Request &	req,
		Trigger::Response &	res
	)

Definition at line 71 of file bridge.cpp.

◆ handleSetPin()

void handleSetPin ( const std_msgs::UInt8 & mgs )

Definition at line 123 of file bridge.cpp.

◆ handleSetPWM()

void handleSetPWM	(	const SetPWM::Request &	req,
		SetPWM::Response &	res
	)

Definition at line 132 of file bridge.cpp.

◆ handleUpdatePins()

void handleUpdatePins	(	const UpdatePins::Request &	req,
		UpdatePins::Response &	res
	)

Definition at line 111 of file bridge.cpp.

◆ initFinger()

bool initFinger ( const InitFinger::Request & req )

Definition at line 47 of file bridge.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 170 of file bridge.cpp.

◆ step()

void step ( )

Definition at line 146 of file bridge.cpp.

Variable Documentation

◆ g_gpio

GPIO g_gpio

Definition at line 93 of file bridge.cpp.

◆ g_init_req

InitFinger::Request g_init_req

Definition at line 44 of file bridge.cpp.

◆ g_nh

ros::NodeHandle_<HandBridgeHardware> g_nh

Definition at line 35 of file bridge.cpp.

◆ g_port

std::string g_port

Definition at line 45 of file bridge.cpp.

◆ g_pub

ros::Publisher g_pub("status", &g_status_msg)

◆ g_sdhx

boost::scoped_ptr<SDHX> g_sdhx

Definition at line 40 of file bridge.cpp.

◆ g_srv_halt_finger

ros::ServiceServer<Trigger::Request, Trigger::Response> g_srv_halt_finger("halt",&handleHaltFinger)

◆ g_srv_init_finger

ros::ServiceServer<InitFinger::Request, InitFinger::Response> g_srv_init_finger("init_finger",&handleInitFinger)

◆ g_srv_init_pins

ros::ServiceServer<InitPins::Request, InitPins::Response> g_srv_init_pins("init_pins",&handleInitPins)

◆ g_srv_recover

ros::ServiceServer<Trigger::Request, Trigger::Response> g_srv_recover("recover",&handleRecover)

◆ g_srv_set_pwm

ros::ServiceServer<SetPWM::Request, SetPWM::Response> g_srv_set_pwm("set_pwm",&handleSetPWM)

◆ g_srv_update_pins

ros::ServiceServer<UpdatePins::Request, UpdatePins::Response> g_srv_update_pins("update_pins",&handleUpdatePins)

◆ g_status_msg

cob_hand_bridge::Status g_status_msg

Definition at line 36 of file bridge.cpp.

◆ g_sub_clear_pin

ros::Subscriber<std_msgs::UInt8> g_sub_clear_pin("clear_pin", handleClearPin)

◆ g_sub_command

ros::Subscriber<cob_hand_bridge::JointValues> g_sub_command("command", handleJointCommand)

◆ g_sub_set_pin

ros::Subscriber<std_msgs::UInt8> g_sub_set_pin("set_pin", handleSetPin)

Functions

Variables