Plc communication and control class. More...

#include <plc.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 (Plc) it works by calling the ros::spinOnce() at a predefined rate. Warning These functions are MANDATORY
	Plc (const ros::NodeHandle &nh, std::string ip, std::string port)
	Class constructor. More...

	~Plc ()
	Class destructor. More...

void	init ()
	Initialize the class. More...

void	setupMessaging ()
	Start ros message subscribing and advertising. More...

void	loop ()
	Start main control loop. More...

Private Member Functions
void	commandCallback (const atlascar_base::PlcCommandPtr &command)
	Command message handler. More...

void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Diagnostics function handler. More...

void	newData (string data)
	This function will be called (asynchronously) upon arrival of new data. More...

int	sendCommand (void)
	Send a global command down to the plc. More...

int	sendMessage (char *message_string)
	Send a message. More...

Private Attributes
Class variables
The class variables can be both public or private. They should preferably be private whenever possible.
SimpleCalibration	steering_wheel_calibration_
	Calibration of the steering wheel from the plc. More...

SimpleCalibration	steering_wheel_to_plc_calibration_
	Calibration of the steering wheel to the plc. More...

SimpleCalibration	brake_calibration_
	Calibration of the brake pedal. More...

SimpleCalibration	clutch_calibration_
	Calibration of the clutch pedal. More...

std::string	server_ip_
	Ip of the Plc server. More...

std::string	server_port_
	Port of the Plc server. More...

ros::NodeHandle	nh_
	Ros node handler. More...

ros::Subscriber	command_sub_
	Ros command subscriber. More...

ros::Publisher	status_pub_
	Ros status publisher. More...

TopicQueuePriority < atlascar_base::PlcCommandPtr >	command_queue_
	Command queue holding class. More...

int	connection_status_
	Current connection status. More...

bool	verbose_
	Verbose mode. More...

char	received_message_ [1024]
	Message received. More...

atlascar_base::PlcCommandPtr	command_
	Command message pointer. More...

atlascar_base::PlcCommandPtr	safety_command_
	Safety command message pointer. More...

atlascar_base::PlcStatus	status_
	Status message. More...

diagnostic_updater::Updater	updater_
	Diagnostics class. More...

diagnostic_updater::HeaderlessTopicDiagnostic	status_freq_
	Frequency diagnostics tool. More...

double	status_max_frequency_
	Maximum admissible frequency. More...

double	status_min_frequency_
	Minimum admissible frequency. More...

boost::asio::io_service	io_service_
	Input/Output communication service. More...

AsyncClient	comm_
	Asynchronous tcp/ip communication object. More...

Detailed Description

Plc communication and control class.

This class implements the Ethernet and Plc communication protocol in order to establish a communication with it. The communication is maintained and a status message is continuously published.

Definition at line 127 of file plc.h.

Constructor & Destructor Documentation

atlascar_base::Plc::Plc	(	const ros::NodeHandle &	nh,
		std::string	ip,
		std::string	port
	)

Class constructor.

Initialize variables, do not call any function

Definition at line 37 of file plc.cpp.

atlascar_base::Plc::~Plc ( )

Class destructor.

Do nothing.

Definition at line 50 of file plc.cpp.

Member Function Documentation

void atlascar_base::Plc::commandCallback ( const atlascar_base::PlcCommandPtr & command )

private

Command message handler.

Receive command messages and put them in the queue.

Parameters

command received command message

Definition at line 286 of file plc.cpp.

void atlascar_base::Plc::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

inlineprivate

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 194 of file plc.h.

void atlascar_base::Plc::init ( )

Initialize the class.

Add the safety message to the command queue.

Definition at line 53 of file plc.cpp.

void atlascar_base::Plc::loop ( )

Start main control loop.

Loop the module sending command messages to the plc, this function will only exit of the ros exit command. It currently loops at about 15Hz which is the plc maximum communication speed.

Definition at line 106 of file plc.cpp.

void atlascar_base::Plc::newData ( string data )

private

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 147 of file plc.cpp.

int atlascar_base::Plc::sendCommand ( void )

private

Send a global command down to the plc.

This function prepares the command message to send, sends it and receives the plc answer.

Returns: error code, 0 if no error <0 on error

Definition at line 195 of file plc.cpp.

int atlascar_base::Plc::sendMessage ( char * message_string )

private

Send a message.

Format the string to send, and send it.

Returns: error code, 0 if no error <0 on error

Definition at line 272 of file plc.cpp.

void atlascar_base::Plc::setupMessaging ( )

Start ros message subscribing and advertising.

Subscribe command messages and advertise status messages.

Definition at line 100 of file plc.cpp.

Member Data Documentation

SimpleCalibration atlascar_base::Plc::brake_calibration_

private

Calibration of the brake pedal.

Definition at line 259 of file plc.h.

SimpleCalibration atlascar_base::Plc::clutch_calibration_

private

Calibration of the clutch pedal.

Definition at line 261 of file plc.h.

AsyncClient atlascar_base::Plc::comm_

private

Asynchronous tcp/ip communication object.

Definition at line 301 of file plc.h.

atlascar_base::PlcCommandPtr atlascar_base::Plc::command_

private

Command message pointer.

Definition at line 283 of file plc.h.

TopicQueuePriority<atlascar_base::PlcCommandPtr> atlascar_base::Plc::command_queue_

private

Command queue holding class.

Definition at line 275 of file plc.h.

ros::Subscriber atlascar_base::Plc::command_sub_

private

Ros command subscriber.

Definition at line 271 of file plc.h.

int atlascar_base::Plc::connection_status_

private

Current connection status.

Definition at line 277 of file plc.h.

boost::asio::io_service atlascar_base::Plc::io_service_

private

Input/Output communication service.

Definition at line 299 of file plc.h.

ros::NodeHandle atlascar_base::Plc::nh_

private

Ros node handler.

Definition at line 269 of file plc.h.

char atlascar_base::Plc::received_message_[1024]

private

Message received.

Definition at line 281 of file plc.h.

atlascar_base::PlcCommandPtr atlascar_base::Plc::safety_command_

private

Safety command message pointer.

Definition at line 285 of file plc.h.

std::string atlascar_base::Plc::server_ip_

private

Ip of the Plc server.

Definition at line 264 of file plc.h.

std::string atlascar_base::Plc::server_port_

private

Port of the Plc server.

Definition at line 266 of file plc.h.

atlascar_base::PlcStatus atlascar_base::Plc::status_

private

Status message.

Definition at line 287 of file plc.h.

diagnostic_updater::HeaderlessTopicDiagnostic atlascar_base::Plc::status_freq_

private

Frequency diagnostics tool.

Definition at line 292 of file plc.h.

double atlascar_base::Plc::status_max_frequency_

private

Maximum admissible frequency.

Definition at line 294 of file plc.h.

double atlascar_base::Plc::status_min_frequency_

private

Minimum admissible frequency.

Definition at line 296 of file plc.h.

ros::Publisher atlascar_base::Plc::status_pub_

private

Ros status publisher.

Definition at line 273 of file plc.h.

SimpleCalibration atlascar_base::Plc::steering_wheel_calibration_

private

Calibration of the steering wheel from the plc.

Definition at line 254 of file plc.h.

SimpleCalibration atlascar_base::Plc::steering_wheel_to_plc_calibration_

private

Calibration of the steering wheel to the plc.

Definition at line 256 of file plc.h.

diagnostic_updater::Updater atlascar_base::Plc::updater_

private

Diagnostics class.

Definition at line 290 of file plc.h.

bool atlascar_base::Plc::verbose_

private

Verbose mode.

Definition at line 279 of file plc.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation