The Rokubimini Bus Manager class. More...

#include <BusManager.hpp>

Inheritance diagram for rokubimini::RokubiminiBusManager:

Public Types
using	DiagnosticsUpdaterPtr = std::shared_ptr< diagnostic_updater::Updater >

using	NodeHandlePtr = std::shared_ptr< ros::NodeHandle >

Public Types inherited from bota_node::Node
typedef std::shared_ptr< ros::NodeHandle >	NodeHandlePtr

Public Member Functions
virtual bool	addRokubiminiToBus (const std::shared_ptr< Rokubimini > &rokubimini) const
	Adds a Rokubimini to Bus. More...

void	cleanup () override
	Cleans up the Bus Manager Node. More...

virtual bool	createRokubimini (const std::string &rokubiminiName)=0
	Creates an implementation-specific Rokubimini instance. More...

void	createRokubiminiRosDiagnostics () const
	Creates ROS Diagnostics for each attached rokubimini. More...

void	createRokubiminiRosPublishers () const
	Creates ROS Publishers for each attached rokubimini. More...

void	createRokubiminiRosServices () const
	Creates ROS Services for each attached rokubimini. More...

virtual bool	createRokubiminisFromParamServer ()
	Creates rokubiminis from the parameter server. More...

std::string	getName () const
	Gets the name of the bus. More...

std::shared_ptr< Rokubimini >	getRokubimini (const std::string &name) const
	Returns the Rokubimini instance with name name. More...

std::vector< std::shared_ptr< Rokubimini > >	getRokubiminis () const

bool	hasRokubimini (const std::string &name)
	Returns true if the rokubimini with name is found. More...

bool	init () override
	Initializes the Bus Manager Node. More...

virtual bool	load ()
	Loads the configuration of the bus (bus parameters and rokubiminis). More...

virtual bool	loadBusParameters ()=0
	Loads bus-specific parameters from parameter server. It's pure virtual since it's implementation-specific. More...

virtual double	loadTimeStep ()=0
	Loads the time_step from the Parameter Server. More...

virtual void	publishBusManagerRosDiagnostics ()=0
	Publish the ROS Diagnostics for the Bus Manager. It's virtual since it's implementation specific. More...

void	publishRokubiminiRosDiagnostics () const
	Publishes the ROS Diagnostics for each attached rokubimini. More...

void	publishRosMessages () const
	Publishes the ROS messages for each attached rokubimini. More...

virtual void	readBus ()
	Reads the bus. More...

	RokubiminiBusManager ()=delete
	Default constructor. More...

	RokubiminiBusManager (const NodeHandlePtr &nh)
	Constructor with initialization list for the NodeHandle. More...

	RokubiminiBusManager (const std::string &busName, NodeHandlePtr nh)
	Constructor with initialization list for the name and NodeHandle. More...

virtual void	setConfigMode ()
	Sets the devices controlled from the BusManager to config mode. More...

void	setNodeHandle (const NodeHandlePtr &nh)
	Sets the nodeHandle of the device. More...

virtual void	setRunMode ()
	Sets the devices controlled from the BusManager to run mode. More...

virtual void	shutdown ()
	Shuts down everything. More...

virtual void	shutdownBus ()
	Shuts down the bus. More...

void	shutdownWithCommunication () const
	Shuts down every Rokubimini device after communication has been closed. More...

void	shutdownWithoutCommunication () const

virtual bool	startup ()
	Starts the communication with all the Rokubimini devices. More...

virtual bool	startupCommunication ()
	Starts the communication through the bus. More...

void	startupWithCommunication () const
	Starts up all Rokubimini devices after communication has been established from the Bus Manager. More...

void	startupWithoutCommunication () const
	Starts up all Rokubimini devices before communication has been established by the Bus Manager. More...

virtual bool	update (const bota_worker::WorkerEvent &event)
	Updates with new values from/to the Rokubiminis. More...

void	updateProcessReading () const
	Updates all Rokubimini instances with new measurements. More...

virtual void	writeToBus ()
	Writes to the buses. More...

	~RokubiminiBusManager () override=default
	Default Destructor. More...

Public Member Functions inherited from bota_node::Node
bool	addWorker (const bota_worker::WorkerOptions &options)

bool	addWorker (const std::string &name, const double timestep, bool(T::fp)(const bota_worker::WorkerEvent &), T obj, const int priority=0)

void	cancelWorker (const std::string &name, const bool wait=true)

ros::NodeHandle &	getNodeHandle () const

bool	hasWorker (const std::string &name)

	Node ()=delete

	Node (NodeHandlePtr nh)

virtual void	preCleanup ()

void	shutdown ()

void	stopAllWorkers ()

void	stopAllWorkers (bool wait)

virtual	~Node ()=default

Protected Attributes
std::atomic< bool >	isRunning_ { false }
	Boolean that specifies if the Manager is already running. More...

std::string	name_
	The name of the bus. More...

NodeHandlePtr	nh_
	The internal NodeHandle variable. More...

std::vector< std::shared_ptr< Rokubimini > >	rokubiminis_

Protected Attributes inherited from bota_node::Node
NodeHandlePtr	nh_

Detailed Description

The Rokubimini Bus Manager class.

Base class which provides an extendable API. It's useful for creating a bus manager with an existing communication protocol.

Definition at line 22 of file BusManager.hpp.

Member Typedef Documentation

◆ DiagnosticsUpdaterPtr

using rokubimini::RokubiminiBusManager::DiagnosticsUpdaterPtr = std::shared_ptr<diagnostic_updater::Updater>

Definition at line 25 of file BusManager.hpp.

◆ NodeHandlePtr

using rokubimini::RokubiminiBusManager::NodeHandlePtr = std::shared_ptr<ros::NodeHandle>

Definition at line 26 of file BusManager.hpp.

Constructor & Destructor Documentation

◆ RokubiminiBusManager() [1/3]

rokubimini::RokubiminiBusManager::RokubiminiBusManager ( )

delete

Default constructor.

◆ RokubiminiBusManager() [2/3]

rokubimini::RokubiminiBusManager::RokubiminiBusManager	(	const std::string &	busName,
		NodeHandlePtr	nh
	)

inlineexplicit

Constructor with initialization list for the name and NodeHandle.

This method constructs a RokubiminiBusManager and clears the contents of the protected vector rokubiminis_.

Definition at line 44 of file BusManager.hpp.

◆ RokubiminiBusManager() [3/3]

rokubimini::RokubiminiBusManager::RokubiminiBusManager ( const NodeHandlePtr & nh )

inlineexplicit

Constructor with initialization list for the NodeHandle.

This method constructs a RokubiminiBusManager and clears the contents of the protected vector rokubiminis_.

Definition at line 58 of file BusManager.hpp.

◆ ~RokubiminiBusManager()

rokubimini::RokubiminiBusManager::~RokubiminiBusManager ( )

overridedefault

Default Destructor.

Definition at line 61 of file BusManager.hpp.

Member Function Documentation

◆ addRokubiminiToBus()

bool rokubimini::RokubiminiBusManager::addRokubiminiToBus ( const std::shared_ptr< Rokubimini > & rokubimini ) const

virtual

Adds a Rokubimini to Bus.

This method is used for adding a Rokubimini (implementation-specific) to the Bus (implementation-specific). This method is bound to each implementation and the reason that it's here, is because of runtime polymorphism through inheritance. It should be pointed that the methods in the children of this class, add the implementation pointer to the Rokubimini implementation (e.g. RokubiminiSerialImplPtr to the RokubiminiSerial instance).

Parameters

rokubimini The Rokubimini instance.

Definition at line 98 of file BusManager.cpp.

◆ cleanup()

void rokubimini::RokubiminiBusManager::cleanup ( )

overridevirtual

Cleans up the Bus Manager Node.

Used for shutting down the Bus Manager.

Implements bota_node::Node.

Definition at line 80 of file BusManager.cpp.

◆ createRokubimini()

bool rokubimini::RokubiminiBusManager::createRokubimini ( const std::string & rokubiminiName )

pure virtual

Creates an implementation-specific Rokubimini instance.

This function creates a Rokubimini instance based on a given name. It's virtual because it's implementation-specific.

Parameters

rokubiminiName The name of the Rokubimini.

Returns: True if the operation succeeded.

Definition at line 220 of file BusManager.hpp.

◆ createRokubiminiRosDiagnostics()

void rokubimini::RokubiminiBusManager::createRokubiminiRosDiagnostics ( ) const

inline

Creates ROS Diagnostics for each attached rokubimini.

Definition at line 382 of file BusManager.hpp.

◆ createRokubiminiRosPublishers()

void rokubimini::RokubiminiBusManager::createRokubiminiRosPublishers ( ) const

inline

Creates ROS Publishers for each attached rokubimini.

Definition at line 354 of file BusManager.hpp.

◆ createRokubiminiRosServices()

void rokubimini::RokubiminiBusManager::createRokubiminiRosServices ( ) const

inline

Creates ROS Services for each attached rokubimini.

Definition at line 368 of file BusManager.hpp.

◆ createRokubiminisFromParamServer()

bool rokubimini::RokubiminiBusManager::createRokubiminisFromParamServer ( )

virtual

Creates rokubiminis from the parameter server.

Definition at line 117 of file BusManager.cpp.

◆ getName()

std::string rokubimini::RokubiminiBusManager::getName ( ) const

inline

Gets the name of the bus.

Returns: The name value.

Definition at line 268 of file BusManager.hpp.

◆ getRokubimini()

std::shared_ptr< Rokubimini > rokubimini::RokubiminiBusManager::getRokubimini ( const std::string & name ) const

inline

Returns the Rokubimini instance with name name.

This method is used for getting a Rokubimini instance based on its name. If there isn't such a Rokubimini in the Manager's list, a nullptr is returned.

Parameters

name	The name of the Rokubimini to be found.

Definition at line 321 of file BusManager.hpp.

◆ getRokubiminis()

std::vector<std::shared_ptr<Rokubimini> > rokubimini::RokubiminiBusManager::getRokubiminis ( ) const

inline

Definition at line 343 of file BusManager.hpp.

◆ hasRokubimini()

bool rokubimini::RokubiminiBusManager::hasRokubimini ( const std::string & name )

inline

Returns true if the rokubimini with name is found.

Parameters

name	The name of the Rokubimini to be found.

Returns: True if the rokubimini with name is found.

Definition at line 298 of file BusManager.hpp.

◆ init()

bool rokubimini::RokubiminiBusManager::init ( )

overridevirtual

Initializes the Bus Manager Node.

Implements the initialization phase of the Bus Manager.

Implements bota_node::Node.

Definition at line 103 of file BusManager.hpp.

◆ load()

bool rokubimini::RokubiminiBusManager::load ( )

virtual

Loads the configuration of the bus (bus parameters and rokubiminis).

Definition at line 102 of file BusManager.cpp.

◆ loadBusParameters()

bool rokubimini::RokubiminiBusManager::loadBusParameters ( )

pure virtual

Loads bus-specific parameters from parameter server. It's pure virtual since it's implementation-specific.

◆ loadTimeStep()

double rokubimini::RokubiminiBusManager::loadTimeStep ( )

pure virtual

Loads the time_step from the Parameter Server.

It's virtual since it's implementation-specific.

◆ publishBusManagerRosDiagnostics()

void rokubimini::RokubiminiBusManager::publishBusManagerRosDiagnostics ( )

pure virtual

Publish the ROS Diagnostics for the Bus Manager. It's virtual since it's implementation specific.

◆ publishRokubiminiRosDiagnostics()

void rokubimini::RokubiminiBusManager::publishRokubiminiRosDiagnostics ( ) const

inline

Publishes the ROS Diagnostics for each attached rokubimini.

Definition at line 416 of file BusManager.hpp.

◆ publishRosMessages()

void rokubimini::RokubiminiBusManager::publishRosMessages ( ) const

inline

Publishes the ROS messages for each attached rokubimini.

Definition at line 395 of file BusManager.hpp.

◆ readBus()

void rokubimini::RokubiminiBusManager::readBus ( )

inlinevirtual

Reads the bus.

This method reads the bus which has been created by the BusManager.

Definition at line 196 of file BusManager.hpp.

◆ setConfigMode()

void rokubimini::RokubiminiBusManager::setConfigMode ( )

inlinevirtual

Sets the devices controlled from the BusManager to config mode.

This method allows the BusManager to set the devices to configuration mode before the startup() method is called for every Rokubimini instance.

Definition at line 208 of file BusManager.hpp.

◆ setNodeHandle()

void rokubimini::RokubiminiBusManager::setNodeHandle ( const NodeHandlePtr & nh )

inline

Sets the nodeHandle of the device.

Parameters

nh	The nodeHanlde of the device.

Definition at line 281 of file BusManager.hpp.

◆ setRunMode()

void rokubimini::RokubiminiBusManager::setRunMode ( )

inlinevirtual

Sets the devices controlled from the BusManager to run mode.

This method allows the BusManager to set the devices to run mode after the startup() method is called for every Rokubimini instance.

Definition at line 220 of file BusManager.hpp.

◆ shutdown()

void rokubimini::RokubiminiBusManager::shutdown ( )

virtual

Shuts down everything.

Shuts down all the Rokubimini devices. Also stops the updateWorker thread that is running in parallel.

Definition at line 85 of file BusManager.cpp.

◆ shutdownBus()

void rokubimini::RokubiminiBusManager::shutdownBus ( )

inlinevirtual

Shuts down the bus.

This method shuts down the bus which has been created by the BusManager.

Definition at line 173 of file BusManager.hpp.

◆ shutdownWithCommunication()

void rokubimini::RokubiminiBusManager::shutdownWithCommunication ( ) const

inline

Shuts down every Rokubimini device after communication has been closed.

Shuts down every Rokubimini device before communication has been closed.

This method shuts down every Rokubimini device after the BusManager has terminated communication with the device. It's virtual since it's implementation-specific.

This method shuts down every Rokubimini device before the BusManager has terminated communication with the device. It's virtual since it's implementation-specific.

Definition at line 465 of file BusManager.hpp.

◆ shutdownWithoutCommunication()

void rokubimini::RokubiminiBusManager::shutdownWithoutCommunication ( ) const

inline

Definition at line 447 of file BusManager.hpp.

◆ startup()

bool rokubimini::RokubiminiBusManager::startup ( )

virtual

Starts the communication with all the Rokubimini devices.

This method starts the communication with all the Rokubimini devices.

Definition at line 47 of file BusManager.cpp.

◆ startupCommunication()

bool rokubimini::RokubiminiBusManager::startupCommunication ( )

inlinevirtual

Starts the communication through the bus.

This method starts the communication with each attached Rokubimini through the bus.

Definition at line 100 of file BusManager.hpp.

◆ startupWithCommunication()

void rokubimini::RokubiminiBusManager::startupWithCommunication ( ) const

inline

Starts up all Rokubimini devices after communication has been established from the Bus Manager.

This method is virtual because it's implementation-specific.

Definition at line 481 of file BusManager.hpp.

◆ startupWithoutCommunication()

void rokubimini::RokubiminiBusManager::startupWithoutCommunication ( ) const

inline

Starts up all Rokubimini devices before communication has been established by the Bus Manager.

Definition at line 429 of file BusManager.hpp.

◆ update()

bool rokubimini::RokubiminiBusManager::update ( const bota_worker::WorkerEvent & event )

virtual

Updates with new values from/to the Rokubiminis.

This method updates the Manager with new values (Readings) from the Rokubimini devices.

Parameters

event The worker event.

Definition at line 68 of file BusManager.cpp.

◆ updateProcessReading()

void rokubimini::RokubiminiBusManager::updateProcessReading ( ) const

inline

Updates all Rokubimini instances with new measurements.

This method updates the internal Reading variable of all Rokubiminis, by getting the new values from its implementation.

Definition at line 497 of file BusManager.hpp.

◆ writeToBus()

void rokubimini::RokubiminiBusManager::writeToBus ( )

inlinevirtual

Writes to the buses.

This method writes to the bus which has been created by the BusManager.

Definition at line 185 of file BusManager.hpp.

Member Data Documentation

◆ isRunning_

std::atomic< bool > rokubimini::RokubiminiBusManager::isRunning_ { false }

protected

Boolean that specifies if the Manager is already running.

Definition at line 546 of file BusManager.hpp.

◆ name_

std::string rokubimini::RokubiminiBusManager::name_

protected

The name of the bus.

Definition at line 529 of file BusManager.hpp.

◆ nh_

NodeHandlePtr rokubimini::RokubiminiBusManager::nh_

protected

The internal NodeHandle variable.

Definition at line 536 of file BusManager.hpp.

◆ rokubiminis_

std::vector<std::shared_ptr<Rokubimini> > rokubimini::RokubiminiBusManager::rokubiminis_

protected

Definition at line 521 of file BusManager.hpp.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ DiagnosticsUpdaterPtr

◆ NodeHandlePtr

Constructor & Destructor Documentation

◆ RokubiminiBusManager() [1/3]

◆ RokubiminiBusManager() [2/3]

◆ RokubiminiBusManager() [3/3]

◆ ~RokubiminiBusManager()

Member Function Documentation

◆ addRokubiminiToBus()

◆ cleanup()

◆ createRokubimini()

◆ createRokubiminiRosDiagnostics()

◆ createRokubiminiRosPublishers()

◆ createRokubiminiRosServices()

◆ createRokubiminisFromParamServer()

◆ getName()

◆ getRokubimini()

◆ getRokubiminis()

◆ hasRokubimini()

◆ init()

◆ load()

◆ loadBusParameters()

◆ loadTimeStep()

◆ publishBusManagerRosDiagnostics()

◆ publishRokubiminiRosDiagnostics()

◆ publishRosMessages()

◆ readBus()

◆ setConfigMode()

◆ setNodeHandle()

◆ setRunMode()

◆ shutdown()

◆ shutdownBus()

◆ shutdownWithCommunication()

◆ shutdownWithoutCommunication()

◆ startup()

◆ startupCommunication()

◆ startupWithCommunication()

◆ startupWithoutCommunication()

◆ update()

◆ updateProcessReading()

◆ writeToBus()

Member Data Documentation

◆ isRunning_

◆ name_

◆ nh_

◆ rokubiminis_