human_driver_monitor::HumanDriverMonitor Class Reference

Human driver monitor class. More...

#include <human_driver_monitor.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. Warning: These functions are MANDATORY
	HumanDriverMonitor (const ros::NodeHandle &nh, std::string ip, std::string port)
	Class constructor.
void	init ()
	Initialize the class.
void	loop ()
	Start main control loop.
void	setupMessaging ()
	Start ros message subscribing and advertising.
	~HumanDriverMonitor ()
	Class destructor.
Protected Member Functions
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.
Protected Attributes
AsyncClient	comm_
	Asynchronous tcp/ip communication object.
boost::asio::io_service	io_service_
	Input/Output communication service.
ros::NodeHandle	nh_
	Ros node handler.
std::string	server_ip_
	Ip of the Arduino server.
std::string	server_port_
	Port of the Arduino server.
human_driver_monitor::HumanDriverMonitorStatus	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.

Detailed Description

Human driver monitor class.

This class handles all communication with the human driver monitor Arduino. This system monitors the human driver interaction with some of the vehicle actuators, namely: lights and pedals.

Definition at line 62 of file human_driver_monitor.h.

Constructor & Destructor Documentation

human_driver_monitor::HumanDriverMonitor::HumanDriverMonitor	(	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 83 of file human_driver_monitor.h.

human_driver_monitor::HumanDriverMonitor::~HumanDriverMonitor ( ) [inline]

Class destructor.

Definition at line 96 of file human_driver_monitor.h.

Member Function Documentation

void human_driver_monitor::HumanDriverMonitor::connectHandler ( void ) [inline, protected]

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 174 of file human_driver_monitor.h.

void human_driver_monitor::HumanDriverMonitor::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline, protected]

Diagnostics function handler.

Parameters:

stat

diagnostics information storage

This function preforms diagnostics on the communication with the Arduino and reports back to the diagnostics tool.

Definition at line 263 of file human_driver_monitor.h.

void human_driver_monitor::HumanDriverMonitor::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 107 of file human_driver_monitor.h.

void human_driver_monitor::HumanDriverMonitor::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 only. Once the ros::ok() returns false the io service is stopped the thread closed and the loop quits.

Definition at line 141 of file human_driver_monitor.h.

void human_driver_monitor::HumanDriverMonitor::newData ( string data ) [inline, protected]

This function will be called (asynchronously) upon arrival of new data.

Parameters:

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.

Definition at line 191 of file human_driver_monitor.h.

void human_driver_monitor::HumanDriverMonitor::setupMessaging ( ) [inline]

Start ros message subscribing and advertising.

Mandatory. Subscribe command messages and advertise status messages.

This function only advertises the status messages.