perching_arm Namespace Reference

Classes
class	PerchingArm
class	PerchingArmNode
struct	PerchingArmRaw

Typedefs
typedef std::function< void(uint32_t)>	PerchingArmSleepMsCallback
typedef std::function< void(PerchingArmRaw const &)>	PerchingArmRawDataCallback

Enumerations
enum	PerchingArmResult {   RESULT_SUCCESS, RESULT_PORT_NOT_OPEN, RESULT_COMMAND_REJECTED, RESULT_INVALID_COMMAND,   RESULT_PORT_WRITE_FAILURE, RESULT_PORT_INIT_FAILURE, RESULT_FIRMWARE_ERROR, RESULT_RESPONSE_TIMEOUT,   RESULT_OUT_OF_BOUNDS }
enum	ToolState { WAITING_ON_PROX_POS, WAITING_ON_DIST_POS, WAITING_ON_GRIP_POS, WAITING_ON_COMMAND }

Functions
	PLUGINLIB_EXPORT_CLASS (perching_arm::PerchingArmNode, nodelet::Nodelet)
char	InputCharacter ()
void	SignalHandler (int sig)
bool	InputUnsignedShort (uint16_t &choice, uint16_t min, uint16_t max)
bool	InputSignedShort (int16_t &choice, int16_t min, int16_t max)
bool	InputFloat (float &choice, float min, float max)
bool	InputFile (std::string &choice)
void	WaitForResultWithTimeout (ToolState state, int16_t value)
void	DataCallback (PerchingArmRaw const &raw)
void	SleepCallback (uint32_t ms)
double	Scale (double scale, int32_t value)
void	PrintResult (PerchingArm &arm, PerchingArmResult ret)
void	PrintMenu ()
bool	GetCommand (PerchingArm &arm)

Variables
static const uint8_t	host_arm_comm_crc8_table [256]
ToolState	state_ = WAITING_ON_COMMAND
std::ofstream	logfile_
double	value_ = 0
bool	en_prox_ = true
bool	en_dist_ = true
bool	return_ = false
PerchingArmRaw	raw_
std::condition_variable	cv_
std::mutex	mutex_

Typedef Documentation

PerchingArmRawDataCallback

typedef std::function<void(PerchingArmRaw const&)> perching_arm::PerchingArmRawDataCallback

PerchingArmSleepMsCallback

typedef std::function<void(uint32_t)> perching_arm::PerchingArmSleepMsCallback

Enumeration Type Documentation

PerchingArmResult

enum perching_arm::PerchingArmResult

Enumerator
RESULT_SUCCESS
RESULT_PORT_NOT_OPEN
RESULT_COMMAND_REJECTED
RESULT_INVALID_COMMAND
RESULT_PORT_WRITE_FAILURE
RESULT_PORT_INIT_FAILURE
RESULT_FIRMWARE_ERROR
RESULT_RESPONSE_TIMEOUT
RESULT_OUT_OF_BOUNDS

ToolState

enum perching_arm::ToolState

Enumerator
WAITING_ON_PROX_POS
WAITING_ON_DIST_POS
WAITING_ON_GRIP_POS
WAITING_ON_COMMAND

Function Documentation

DataCallback()

void perching_arm::DataCallback

(

PerchingArmRaw const &

raw

)

GetCommand()

bool perching_arm::GetCommand

(

PerchingArm &

arm

)

InputCharacter()

char perching_arm::InputCharacter

(

)

InputFile()

bool perching_arm::InputFile

(

std::string &

choice

)

InputFloat()

bool perching_arm::InputFloat	(	float &	choice,
		float	min,
		float	max
	)

InputSignedShort()

bool perching_arm::InputSignedShort	(	int16_t &	choice,
		int16_t	min,
		int16_t	max
	)

InputUnsignedShort()

bool perching_arm::InputUnsignedShort	(	uint16_t &	choice,
		uint16_t	min,
		uint16_t	max
	)

PLUGINLIB_EXPORT_CLASS()

perching_arm::PLUGINLIB_EXPORT_CLASS	(	perching_arm::PerchingArmNode	,
		nodelet::Nodelet
	)

PrintMenu()

void perching_arm::PrintMenu

(

)

PrintResult()

void perching_arm::PrintResult	(	PerchingArm &	arm,
		PerchingArmResult	ret
	)

Scale()

double perching_arm::Scale	(	double	scale,
		int32_t	value
	)

SignalHandler()

void perching_arm::SignalHandler

(

int

sig

)

SleepCallback()

void perching_arm::SleepCallback

(

uint32_t

ms

)

WaitForResultWithTimeout()

void perching_arm::WaitForResultWithTimeout	(	ToolState	state,
		int16_t	value
	)

Variable Documentation

cv_

std::condition_variable perching_arm::cv_

en_dist_

bool perching_arm::en_dist_ = true

en_prox_

bool perching_arm::en_prox_ = true

host_arm_comm_crc8_table

const uint8_t perching_arm::host_arm_comm_crc8_table[256]

static

Initial value:

= {
    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
    0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
    0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
    0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
    0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
    0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
    0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
    0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
    0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
    0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
    0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
    0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
    0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
    0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
    0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
    0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
    0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
    0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
    0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
    0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
    0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
    0xfa, 0xfd, 0xf4, 0xf3}

logfile_

std::ofstream perching_arm::logfile_

mutex_

std::mutex perching_arm::mutex_

raw_

PerchingArmRaw perching_arm::raw_

return_

bool perching_arm::return_ = false

state_

ToolState perching_arm::state_ = WAITING_ON_COMMAND

value_

double perching_arm::value_ = 0