ConnectionDaemon Class Reference

#include <connection_daemon.h>

Inheritance diagram for ConnectionDaemon:

Public Member Functions
bool	CheckPassedTime ()
	ConnectionDaemon (float heartbeat)
std::string	createPublishTopic ()
void	LinkSubscriptionTopics (ros::NodeHandle *nh)
void	PublishConnection ()
void	ROSConnectionStateCallback (const std_msgs::Bool::ConstPtr &msg)
void	UpdateConnection ()
Public Member Functions inherited from Daemon
bool	CheckPassedTime ()
bool	CheckRange (double lowerRange, double upperRange, double value, std::string msg_name)
bool	CheckTopic (std::string str1, std::string str2)
bool	CompareStrings (std::string str1, std::string str2)
std::string	CreateTimestamp ()
void	createTopicStructurePrefix ()
	Daemon ()
	Daemon (ros::NodeHandle *nh, std::string daemonName)
vda5050_msgs::Header	GetHeader ()
std::vector< std::string >	GetMsgList (std::map< std::string, std::string > topicList)
std::string	GetParameter (std::string param)
std::string	GetTopic (std::string hierarchical_topic)
std::map< std::string, std::string >	GetTopicPublisherList ()
std::string	getTopicStructurePrefix ()
std::map< std::string, std::string >	GetTopicSubscriberList ()
void	InitHeaderInfo ()
void	LinkErrorTopics (ros::NodeHandle *nh)
void	PublishState ()
std::map< std::string, std::string >	ReadTopicParams (ros::NodeHandle *nh, std::string paramTopicName)
void	UpdateHeader ()
void	UpdateState ()

Private Attributes
vda5050_msgs::Connection	connectionMessage
ros::Publisher	connectionPublisher
ros::Subscriber	connectionSubscriber
ros::Time	lastUpdateTimestamp
ros::Duration	updateInterval

Additional Inherited Members
Protected Attributes inherited from Daemon
ros::Publisher	errorPublisher
std::map< std::string, ros::Publisher >	messagePublisher
ros::NodeHandle	nh
std::map< std::string, ros::Subscriber >	subscribers

Detailed Description

Daemon for processing VDA 5050 connection messages.

Definition at line 26 of file connection_daemon.h.

Constructor & Destructor Documentation

ConnectionDaemon()

ConnectionDaemon::ConnectionDaemon

(

float

heartbeat

)

Constructor for stateDaemon objects.

Parameters

heartbeat

Time interval between connection updates.

Definition at line 19 of file connection_daemon.cpp.

Member Function Documentation

CheckPassedTime()

bool ConnectionDaemon::CheckPassedTime

(

)

Calculates the passed time between last update interval and now.

Returns

Returns true if passed time since last publish is greater than 30 seconds, else returns false.

Definition at line 45 of file connection_daemon.cpp.

createPublishTopic()

std::string ConnectionDaemon::createPublishTopic

(

)

Generates the name of the topic to publish. The topic name is built by adding the VDA-5050 global topic

Definition at line 38 of file connection_daemon.cpp.

LinkSubscriptionTopics()

void ConnectionDaemon::LinkSubscriptionTopics

(

ros::NodeHandle *

nh

)

Creates the subscribers for the required topics given from the config file.

Parameters

nh	Pointer to node handler.

Definition at line 28 of file connection_daemon.cpp.

PublishConnection()

void ConnectionDaemon::PublishConnection

(

)

Fetches the header message and publishes the state message. Updates timestamp since last publishing.

Definition at line 51 of file connection_daemon.cpp.

ROSConnectionStateCallback()

void ConnectionDaemon::ROSConnectionStateCallback

(

const std_msgs::Bool::ConstPtr &

msg

)

Callback for receiving information about the connection status of the ROS node.

Parameters

msg	Incoming message.

Definition at line 71 of file connection_daemon.cpp.

UpdateConnection()

void ConnectionDaemon::UpdateConnection

(

)

Checks all the logic within the state daemon. For example, it checks if 30 seconds have passed without update.

Definition at line 63 of file connection_daemon.cpp.

Member Data Documentation

connectionMessage

vda5050_msgs::Connection ConnectionDaemon::connectionMessage

private

Message containing connection information.

Definition at line 29 of file connection_daemon.h.

connectionPublisher

ros::Publisher ConnectionDaemon::connectionPublisher

private

Publisher for connection messages.

Definition at line 32 of file connection_daemon.h.

connectionSubscriber

ros::Subscriber ConnectionDaemon::connectionSubscriber

private

Subscriber for connection messages.

Definition at line 35 of file connection_daemon.h.

lastUpdateTimestamp

ros::Time ConnectionDaemon::lastUpdateTimestamp

private

Last time the connection status was updated.

Definition at line 43 of file connection_daemon.h.

updateInterval

ros::Duration ConnectionDaemon::updateInterval

private

Update interval to use for sending information about the connection status.

Definition at line 38 of file connection_daemon.h.

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

• connection_daemon.h
• connection_daemon.cpp