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. Warning These functions are MANDATORY
	Throttle (const ros::NodeHandle &nh, std::string ip, std::string port)
	Class constructor. More...

	~Throttle ()
	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 Types
enum	{ MANUAL =0, AUTO =1 }

Private Member Functions
void	commandCallback (const atlascar_base::ThrottleCommandPtr &command)
	This function handles newly received commands. More...

void	connectHandler (void)
	This function will be called (asynchronously) on a successful connection. 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...

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

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

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

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

int	current_mode_
	Current working mode. More...

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

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

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

std::string	server_ip_
	Throttle server ip. More...

std::string	server_port_
	Throttle server port. More...

atlascar_base::ThrottleStatus	status_
	Status message. 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...

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

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

Detailed Description

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.

Member Enumeration Documentation

anonymous enum

private

Enumerator
MANUAL
AUTO

Definition at line 226 of file throttle.h.

Constructor & Destructor Documentation

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.

Member Function Documentation

void atlascar_base::Throttle::commandCallback ( const atlascar_base::ThrottleCommandPtr & command )

inlineprivate

This function handles newly received commands.

Parameters

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 )

inlineprivate

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 )

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 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 )

inlineprivate

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. 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.

Member Data Documentation

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.

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

throttle.h

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation