#include <cp_ros_control_interface.h>

Inheritance diagram for smacc::components::CpRosControlInterface:

Collaboration diagram for smacc::components::CpRosControlInterface:

Public Member Functions
	CpRosControlInterface ()

virtual	~CpRosControlInterface ()

virtual void	onInitialize () override

std::vector< ControllerTypeInfo >	listControllerTypes ()

std::vector< controller_manager_msgs::ControllerState >	listControllers ()

bool	loadController (std::string name)

bool	unloadController (std::string name)

bool	reloadControllerLibraries (bool forceKill)

bool	switchControllers (std::vector< std::string > start_controllers, std::vector< std::string > stop_controllers, Strictness strictness)

Public Member Functions inherited from smacc::ISmaccComponent
	ISmaccComponent ()

virtual	~ISmaccComponent ()

virtual std::string	getName () const

Public Attributes
boost::optional< std::string >	serviceName_

Private Attributes
ros::NodeHandle	nh_

ros::ServiceClient	srvListControllers

ros::ServiceClient	srvListControllersTypes

ros::ServiceClient	srvLoadController

ros::ServiceClient	srvReloadControllerLibraries

ros::ServiceClient	srvSwitchControllers

ros::ServiceClient	srvUnloadController

Additional Inherited Members
Protected Member Functions inherited from smacc::ISmaccComponent
virtual void	initialize (ISmaccClient *owner)

void	setStateMachine (ISmaccStateMachine *stateMachine)

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage)

template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)

virtual void	onInitialize ()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)

Protected Attributes inherited from smacc::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

Detailed Description

Definition at line 21 of file cp_ros_control_interface.h.

Constructor & Destructor Documentation

◆ CpRosControlInterface()

smacc::components::CpRosControlInterface::CpRosControlInterface ( )

Definition at line 16 of file cp_ros_control_interface.cpp.

17{

18}

◆ ~CpRosControlInterface()

smacc::components::CpRosControlInterface::~CpRosControlInterface ( )

virtual

Definition at line 20 of file cp_ros_control_interface.cpp.

21{

22}

Member Function Documentation

◆ listControllers()

std::vector< controller_manager_msgs::ControllerState > smacc::components::CpRosControlInterface::listControllers ( )

Definition at line 35 of file cp_ros_control_interface.cpp.

{
    ListControllers::Request req;
    ListControllers::Response res;
 
    srvListControllers.call(req, res);
    return res.controller;
}

References srvListControllers.

◆ listControllerTypes()

std::vector< ControllerTypeInfo > smacc::components::CpRosControlInterface::listControllerTypes ( )

Definition at line 44 of file cp_ros_control_interface.cpp.

{
    ListControllerTypes::Request req;
    ListControllerTypes::Response res;
    srvListControllersTypes.call(req, res);
 
    std::vector<ControllerTypeInfo> ret;
    for (int i = 0; i < res.types.size(); i++)
    {
        ControllerTypeInfo entry;
        entry.type = res.types[i];
        entry.baseClass = res.base_classes[i];
 
        ret.push_back(entry);
    }
 
    return ret;
}

References smacc::components::ControllerTypeInfo::baseClass, srvListControllersTypes, and smacc::components::ControllerTypeInfo::type.

◆ loadController()

bool smacc::components::CpRosControlInterface::loadController ( std::string name )

Definition at line 63 of file cp_ros_control_interface.cpp.

{
    LoadController::Request req;
    LoadController::Response res;
    req.name = name;
 
    srvLoadController.call(req, res);
    return res.ok;
}

References srvLoadController.

◆ onInitialize()

void smacc::components::CpRosControlInterface::onInitialize ( )

overridevirtual

Reimplemented from smacc::ISmaccComponent.

Definition at line 24 of file cp_ros_control_interface.cpp.

{
    srvListControllers = nh_.serviceClient<ListControllers>(*serviceName_);
    srvListControllersTypes = nh_.serviceClient<ListControllerTypes>(*serviceName_);
 
    srvLoadController = nh_.serviceClient<LoadController>(*serviceName_);
    srvUnloadController = nh_.serviceClient<UnloadController>(*serviceName_);
    srvReloadControllerLibraries = nh_.serviceClient<ReloadControllerLibraries>(*serviceName_);
    srvSwitchControllers = nh_.serviceClient<SwitchController>(*serviceName_);
}

References nh_, srvListControllers, srvListControllersTypes, srvLoadController, srvReloadControllerLibraries, srvSwitchControllers, and srvUnloadController.

◆ reloadControllerLibraries()

bool smacc::components::CpRosControlInterface::reloadControllerLibraries ( bool forceKill )

Definition at line 83 of file cp_ros_control_interface.cpp.

{
    ReloadControllerLibraries::Request req;
    ReloadControllerLibraries::Response res;
    req.force_kill = forceKill;
 
    srvReloadControllerLibraries.call(req, res);
 
    return res.ok;
    //srvReloadControllerLibraries
}

References srvReloadControllerLibraries.

◆ switchControllers()

bool smacc::components::CpRosControlInterface::switchControllers	(	std::vector< std::string >	start_controllers,
		std::vector< std::string >	stop_controllers,
		Strictness	strictness
	)

Definition at line 95 of file cp_ros_control_interface.cpp.

{
    SwitchController::Request req;
    SwitchController::Response res;
 
    req.start_controllers = start_controllers;
    req.stop_controllers = stop_controllers;
    req.strictness = strictness;
 
    srvSwitchControllers.call(req, res);
 
    return res.ok;
}

References srvSwitchControllers.

◆ unloadController()

bool smacc::components::CpRosControlInterface::unloadController ( std::string name )

Definition at line 73 of file cp_ros_control_interface.cpp.

{
    UnloadController::Request req;
    UnloadController::Response res;
 
    req.name = name;
    srvUnloadController.call(req, res);
    return res.ok;
}

References srvUnloadController.

Member Data Documentation

◆ nh_

ros::NodeHandle smacc::components::CpRosControlInterface::nh_

private

Definition at line 50 of file cp_ros_control_interface.h.

Referenced by onInitialize().

◆ serviceName_

boost::optional<std::string> smacc::components::CpRosControlInterface::serviceName_

Definition at line 47 of file cp_ros_control_interface.h.

◆ srvListControllers

ros::ServiceClient smacc::components::CpRosControlInterface::srvListControllers

private

Definition at line 52 of file cp_ros_control_interface.h.

Referenced by listControllers(), and onInitialize().

◆ srvListControllersTypes

ros::ServiceClient smacc::components::CpRosControlInterface::srvListControllersTypes

private

Definition at line 53 of file cp_ros_control_interface.h.

Referenced by listControllerTypes(), and onInitialize().

◆ srvLoadController

ros::ServiceClient smacc::components::CpRosControlInterface::srvLoadController

private

Definition at line 54 of file cp_ros_control_interface.h.

Referenced by loadController(), and onInitialize().

◆ srvReloadControllerLibraries

ros::ServiceClient smacc::components::CpRosControlInterface::srvReloadControllerLibraries

private

Definition at line 55 of file cp_ros_control_interface.h.

Referenced by onInitialize(), and reloadControllerLibraries().

◆ srvSwitchControllers

ros::ServiceClient smacc::components::CpRosControlInterface::srvSwitchControllers

private

Definition at line 56 of file cp_ros_control_interface.h.

Referenced by onInitialize(), and switchControllers().

◆ srvUnloadController

ros::ServiceClient smacc::components::CpRosControlInterface::srvUnloadController

private

Definition at line 57 of file cp_ros_control_interface.h.

Referenced by onInitialize(), and unloadController().

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

smacc/include/smacc/client_base_components/cp_ros_control_interface.h
smacc/src/smacc/components/cp_ros_control_interface.cpp

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CpRosControlInterface()

◆ ~CpRosControlInterface()

Member Function Documentation

◆ listControllers()

◆ listControllerTypes()

◆ loadController()

◆ onInitialize()

◆ reloadControllerLibraries()

◆ switchControllers()

◆ unloadController()

Member Data Documentation

◆ nh_

◆ serviceName_

◆ srvListControllers

◆ srvListControllersTypes

◆ srvLoadController

◆ srvReloadControllerLibraries

◆ srvSwitchControllers

◆ srvUnloadController