#include <daemon.h>

Inheritance diagram for Daemon:

[legend]

Public Member Functions
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 ()

Protected Attributes
ros::Publisher	errorPublisher

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

ros::NodeHandle	nh

std::map< std::string, ros::Subscriber >	subscribers

Private Attributes
vda5050_msgs::Header	messageHeader

std::string	mqttTopicStructurePrefix

bool	testMode

std::map< std::string, std::string >	topicPublisherList

std::map< std::string, std::string >	topicSubscriberList

Detailed Description

Model for all daemons. Every daemon provides some functionality to translate messages between the robot's internal communication and the VDA-5050-based client-server communication.

Definition at line 29 of file daemon.h.

Constructor & Destructor Documentation

◆ Daemon() [1/2]

Daemon::Daemon ( )

Default constructor for daemon objects. TODO: Do we need this?

Definition at line 30 of file src/daemon.cpp.

◆ Daemon() [2/2]

Daemon::Daemon	(	ros::NodeHandle *	nh,
		std::string	daemonName
	)

Constructor for daemon objects.

Parameters

nh	ROS node handle object.
daemonName	Name of the daemon.

Definition at line 35 of file src/daemon.cpp.

Member Function Documentation

◆ CheckPassedTime()

bool Daemon::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.

◆ CheckRange()

bool Daemon::CheckRange	(	double	lowerRange,
		double	upperRange,
		double	value,
		std::string	msg_name
	)

Check if a value is in given boundaries. If not, a warning is raised.

Parameters

lowerRange	Lower limit of the variable.
upperRange	Upper limit of the variable.
value	Value to be checked.
msg_name	Name of the message type.

Definition at line 134 of file src/daemon.cpp.

◆ CheckTopic()

bool Daemon::CheckTopic	(	std::string	str1,
		std::string	str2
	)

Checks if the second topic is a child topic of the first topic.

Parameters

str1	Name of the first topic.
str2	Name of the topic that might be a child topic of the other topic.

Definition at line 117 of file src/daemon.cpp.

◆ CompareStrings()

bool Daemon::CompareStrings	(	std::string	str1,
		std::string	str2
	)

Checks if the second string is contained in the first string.

Parameters

str1	Some string.
str2	Second string that might be a substring of the other string.

Definition at line 112 of file src/daemon.cpp.

◆ CreateTimestamp()

std::string Daemon::CreateTimestamp ( )

Create a timestamp string of the current instant.

Returns: Formatted timestamp.

Definition at line 204 of file src/daemon.cpp.

◆ createTopicStructurePrefix()

void Daemon::createTopicStructurePrefix ( )

Create the prefix of the topic structure.

Definition at line 87 of file src/daemon.cpp.

◆ GetHeader()

vda5050_msgs::Header Daemon::GetHeader ( )

Get the header of a ROS message. TODO which message is processed?

Returns: Header of the message.

Definition at line 106 of file src/daemon.cpp.

◆ GetMsgList()

std::vector< std::string > Daemon::GetMsgList ( std::map< std::string, std::string > topicList )

Get all message types. This is achieved by reading in the message keys that are used in the topic config file.

Parameters

topicList All topic keys and names as a map.

Returns: All message types as a vector of topic keys.

Definition at line 56 of file src/daemon.cpp.

◆ GetParameter()

std::string Daemon::GetParameter ( std::string param )

Read a parameter from the ROS parameter server.

Parameters

param Key of the parameter.

Returns: Value of the parameter.

Definition at line 64 of file src/daemon.cpp.

◆ GetTopic()

std::string Daemon::GetTopic ( std::string hierarchical_topic )

Extract a topic string from a fully-qualified topic name.

Definition at line 128 of file src/daemon.cpp.

◆ GetTopicPublisherList()

std::map< std::string, std::string > Daemon::GetTopicPublisherList ( )

Get names of all published topics.

Returns: Map from topic keys to topic names.

Definition at line 46 of file src/daemon.cpp.

◆ getTopicStructurePrefix()

std::string Daemon::getTopicStructurePrefix ( )

Get the prefix of the topic structure.

Returns: Topic structure prefix.

Definition at line 95 of file src/daemon.cpp.

◆ GetTopicSubscriberList()

std::map< std::string, std::string > Daemon::GetTopicSubscriberList ( )

Get names of all subscribed topics.

Returns: Map from topic keys to topic names.

Definition at line 51 of file src/daemon.cpp.

◆ InitHeaderInfo()

void Daemon::InitHeaderInfo ( )

Initialize the message header. Message objects are used multiple times, so this only needs to be done once at startup.

Definition at line 79 of file src/daemon.cpp.

◆ LinkErrorTopics()

void Daemon::LinkErrorTopics ( ros::NodeHandle * nh )

Link the error topics.

Parameters

nh	Pointer to the ROS node handle.

Definition at line 196 of file src/daemon.cpp.

◆ PublishState()

void Daemon::PublishState ( )

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

◆ ReadTopicParams()

std::map< std::string, std::string > Daemon::ReadTopicParams	(	ros::NodeHandle *	nh,
		std::string	paramTopicName
	)

Read in the user-specified topic names. The user can specify names for the topics that contain the needed information. For mapping the contents to the topic names, this method scans the parameter server.

Parameters

nh	Pointer to the ROS node handle.
paramTopicName	Name of the param family to scan through.

Returns: Map from topic descriptor to user-defined topic name.

Definition at line 164 of file src/daemon.cpp.

◆ UpdateHeader()

void Daemon::UpdateHeader ( )

Update the message header for the next publish. This includes updating the timestamp of the message.

Definition at line 100 of file src/daemon.cpp.

◆ UpdateState()

void Daemon::UpdateState ( )

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

Member Data Documentation

◆ errorPublisher

ros::Publisher Daemon::errorPublisher

protected

ROS Publisher for error messages.

Definition at line 64 of file daemon.h.

◆ messageHeader

vda5050_msgs::Header Daemon::messageHeader

private

TODO: is this variable even used?

Definition at line 32 of file daemon.h.

◆ messagePublisher

std::map<std::string,ros::Publisher> Daemon::messagePublisher

protected

All publishers the daemon uses. Map from topic keys to ROS Publisher objects.

Definition at line 54 of file daemon.h.

◆ mqttTopicStructurePrefix

std::string Daemon::mqttTopicStructurePrefix

private

Prefix that should be placed at the beginning of the MQTT topics.

Definition at line 45 of file daemon.h.

◆ nh

ros::NodeHandle Daemon::nh

protected

ROS node handle, needed to call ROS functions.

Definition at line 67 of file daemon.h.

◆ subscribers

std::map<std::string,ros::Subscriber> Daemon::subscribers

protected

All subscribers the daemon uses. Map from topic keys to ROS Subscriber objects.

Definition at line 59 of file daemon.h.

◆ testMode

bool Daemon::testMode

private

Toggle for test/debugging mode.

Definition at line 49 of file daemon.h.

◆ topicPublisherList

std::map<std::string,std::string> Daemon::topicPublisherList

private

All topics to publish on. Map from topic keys to user-defined topic names.

Definition at line 35 of file daemon.h.

◆ topicSubscriberList

std::map<std::string,std::string> Daemon::topicSubscriberList

private

All topics to subscribe to. Map from topic keys to user-defined topic names.

Definition at line 40 of file daemon.h.

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

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Daemon() [1/2]

◆ Daemon() [2/2]

Member Function Documentation

◆ CheckPassedTime()

◆ CheckRange()

◆ CheckTopic()

◆ CompareStrings()

◆ CreateTimestamp()

◆ createTopicStructurePrefix()

◆ GetHeader()

◆ GetMsgList()

◆ GetParameter()

◆ GetTopic()

◆ GetTopicPublisherList()

◆ getTopicStructurePrefix()

◆ GetTopicSubscriberList()

◆ InitHeaderInfo()

◆ LinkErrorTopics()

◆ PublishState()

◆ ReadTopicParams()

◆ UpdateHeader()

◆ UpdateState()

Member Data Documentation

◆ errorPublisher

◆ messageHeader

◆ messagePublisher

◆ mqttTopicStructurePrefix

◆ nh

◆ subscribers

◆ testMode

◆ topicPublisherList

◆ topicSubscriberList