Throttle monitor and control class. More...
#include <throttle.h>
Public Member Functions | |
Mandatory common functions | |
These functions are mandatory to all low level classes in the atlacar_base namespace. All these must operate in a similar fashion across class. The constructor must only initialize variable values, all major initializations must be done in the init() function, setupMessaging() subscribes and advertises command messages and status (in that order). The loop() function will block the program in a constant loop relaying information to the hardware. The loop() function can operate in two fashions: setting a spin rate and calling ros::spinOnce() or calling directly ros::spin() if the command callback has been setup properly. In this class (Throttle) it works by calling the ros::spinOnce() at a predefined rate.
| |
| void | init () |
| Initialize the class. | |
| void | loop () |
| Start main control loop. | |
| void | setupMessaging () |
| Start ros message subscribing and advertising. | |
| Throttle (const ros::NodeHandle &nh, std::string ip, std::string port) | |
| Class constructor. | |
| ~Throttle () | |
| Class destructor. | |
Private Types | |
| enum | { MANUAL = 0, AUTO = 1 } |
Private Member Functions | |
| void | commandCallback (const atlascar_base::ThrottleCommandPtr &command) |
| This function handles newly received commands. | |
| void | connectHandler (void) |
| This function will be called (asynchronously) on a successful connection. | |
| void | diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat) |
| Diagnostics function handler. | |
| void | newData (string data) |
| This function will be called (asynchronously) upon arrival of new data. | |
Private Attributes | |
| AsyncClient | comm_ |
| Asynchronous tcp/ip communication object. | |
| atlascar_base::ThrottleCommandPtr | command_ |
| Command message pointer. | |
| TopicQueuePriority < atlascar_base::ThrottleCommandPtr > | command_queue_ |
| Command queue holding class. | |
| ros::Subscriber | command_sub_ |
| Ros command subscriber. | |
| int | current_mode_ |
| Current working mode. | |
| boost::asio::io_service | io_service_ |
| Input/Output communication service. | |
| ros::NodeHandle | nh_ |
| Ros node handler. | |
| atlascar_base::ThrottleCommandPtr | safety_command_ |
| Safety command message pointer. | |
| std::string | server_ip_ |
| Throttle server ip. | |
| std::string | server_port_ |
| Throttle server port. | |
| atlascar_base::ThrottleStatus | status_ |
| Status message. | |
| diagnostic_updater::HeaderlessTopicDiagnostic | status_freq_ |
| Frequency diagnostics tool. | |
| double | status_max_frequency_ |
| Maximum admissible frequency. | |
| double | status_min_frequency_ |
| Minimum admissible frequency. | |
| ros::Publisher | status_pub_ |
| Ros status publisher. | |
| diagnostic_updater::Updater | updater_ |
| Diagnostics class. | |
Throttle monitor and control class.
This class handles all communication with the atlascar throttle controller. This system controls the vehicle throttle.
Definition at line 66 of file throttle.h.
anonymous enum [private] |
Definition at line 226 of file throttle.h.
| atlascar_base::Throttle::Throttle | ( | const ros::NodeHandle & | nh, | |
| std::string | ip, | |||
| std::string | port | |||
| ) | [inline] |
Class constructor.
Mandatory. Should only be used for variable initialization.
The constructor is used to set the server ip and port, initializing the communications service and object and the ros node handler. It also initializes the frequency diagnostics tool with the allowed maximum and minimum frequency.
Definition at line 91 of file throttle.h.
| atlascar_base::Throttle::~Throttle | ( | ) | [inline] |
Class destructor.
Definition at line 104 of file throttle.h.
| void atlascar_base::Throttle::commandCallback | ( | const atlascar_base::ThrottleCommandPtr & | command | ) | [inline, private] |
This function handles newly received commands.
| command | received command message This function pushes the message to the command queue. |
Definition at line 278 of file throttle.h.
| void atlascar_base::Throttle::connectHandler | ( | void | ) | [inline, private] |
This function will be called (asynchronously) on a successful connection.
This function sends the start command to the Arduino, this order will signal the Arduino to start sending data.
Definition at line 260 of file throttle.h.
| void atlascar_base::Throttle::diagnostics | ( | diagnostic_updater::DiagnosticStatusWrapper & | stat | ) | [inline, private] |
Diagnostics function handler.
| stat | diagnostics information storage |
This function preforms diagnostics on the communication with the Arduino and reports back to the diagnostics tool.
Definition at line 234 of file throttle.h.
| void atlascar_base::Throttle::init | ( | ) | [inline] |
Initialize the class.
Mandatory. To specific initialization tasks, anything that cannot be preformed in the constructor should be done here.
This function initializes the diagnostics tool and sets the communication handlers for received data and connection established.
Definition at line 115 of file throttle.h.
| void atlascar_base::Throttle::loop | ( | ) | [inline] |
Start main control loop.
Mandatory. Do the main loop of the program, call ros spin or spinOnce as needed, should only quit on ros exit command.
This function launches the io service in a separate thread and then starts to do spin ros. The while cycle is used to update the diagnostics tool and send commands to the controller. Once the ros::ok() returns false the io service is stopped the thread closed and the loop quits.
Definition at line 161 of file throttle.h.
| void atlascar_base::Throttle::newData | ( | string | data | ) | [inline, private] |
This function will be called (asynchronously) upon arrival of new data.
| data | incoming data in std::string format |
This function handles new data coming from the Arduino. The new data is interpreted and a status message is published. This function uses boost::qi parser to interpret the message, this parser is quite complicated but very expansible, see the documentation for a tutorial on its use (it's pretty funny).
Definition at line 290 of file throttle.h.
| void atlascar_base::Throttle::setupMessaging | ( | ) | [inline] |
Start ros message subscribing and advertising.
Mandatory. Subscribe command messages and advertise status messages.
This function advertises the status messages and subscribes command messages.
Definition at line 146 of file throttle.h.
AsyncClient atlascar_base::Throttle::comm_ [private] |
Asynchronous tcp/ip communication object.
Definition at line 347 of file throttle.h.
atlascar_base::ThrottleCommandPtr atlascar_base::Throttle::command_ [private] |
Command message pointer.
Definition at line 322 of file throttle.h.
TopicQueuePriority<atlascar_base::ThrottleCommandPtr> atlascar_base::Throttle::command_queue_ [private] |
Command queue holding class.
Definition at line 320 of file throttle.h.
ros::Subscriber atlascar_base::Throttle::command_sub_ [private] |
Ros command subscriber.
Definition at line 316 of file throttle.h.
int atlascar_base::Throttle::current_mode_ [private] |
Current working mode.
Definition at line 328 of file throttle.h.
boost::asio::io_service atlascar_base::Throttle::io_service_ [private] |
Input/Output communication service.
Definition at line 345 of file throttle.h.
ros::NodeHandle atlascar_base::Throttle::nh_ [private] |
Ros node handler.
Definition at line 314 of file throttle.h.
atlascar_base::ThrottleCommandPtr atlascar_base::Throttle::safety_command_ [private] |
Safety command message pointer.
Definition at line 324 of file throttle.h.
std::string atlascar_base::Throttle::server_ip_ [private] |
Throttle server ip.
Definition at line 331 of file throttle.h.
std::string atlascar_base::Throttle::server_port_ [private] |
Throttle server port.
Definition at line 333 of file throttle.h.
atlascar_base::ThrottleStatus atlascar_base::Throttle::status_ [private] |
Status message.
Definition at line 326 of file throttle.h.
diagnostic_updater::HeaderlessTopicDiagnostic atlascar_base::Throttle::status_freq_ [private] |
Frequency diagnostics tool.
Definition at line 338 of file throttle.h.
double atlascar_base::Throttle::status_max_frequency_ [private] |
Maximum admissible frequency.
Definition at line 340 of file throttle.h.
double atlascar_base::Throttle::status_min_frequency_ [private] |
Minimum admissible frequency.
Definition at line 342 of file throttle.h.
ros::Publisher atlascar_base::Throttle::status_pub_ [private] |
Ros status publisher.
Definition at line 318 of file throttle.h.
diagnostic_updater::Updater atlascar_base::Throttle::updater_ [private] |
Diagnostics class.
Definition at line 336 of file throttle.h.
