Server interface for robot driver ROS topics. More...

#include <sas_robot_driver_server.hpp>

Inheritance diagram for sas::RobotDriverServer:

Public Member Functions
	RobotDriverServer (const RobotDriverServer &)=delete

	RobotDriverServer (const std::shared_ptr< Node > &node, const std::string &node_prefix="GET_FROM_NODE")
	Construct a new RobotDriverServer.

VectorXd	get_target_joint_positions () const
	Get the most recent target joint positions received from clients.

VectorXd	get_target_joint_velocities () const
	Get the most recent target joint velocities received from clients.

VectorXd	get_target_joint_forces () const
	Get the most recent target joint forces received from clients.

VectorXi	get_homing_signal () const
	Get the last received homing signal vector.

VectorXi	get_clear_positions_signal ()
	Get the last received clear positions signal vector.

RobotDriver::Functionality	get_currently_active_functionality () const
	Get the currently active functionality of the robot driver.

bool	is_enabled (const RobotDriver::Functionality &supported_functionality=RobotDriver::Functionality::PositionControl) const
	Check whether the server supports and is enabled for a functionality.

void	send_joint_states (const VectorXd &joint_positions, const VectorXd &joint_velocities, const VectorXd &joint_forces)
	Publish joint states (positions, velocities and forces) to clients.

void	send_joint_limits (const std::tuple< VectorXd, VectorXd > &joint_limits)
	Publish joint limits (min and max) to clients.

void	send_home_state (const VectorXi &home_state)
	Publish the home state vector to clients.

std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	get_watchdog_time_point_from_the_client () const
	Get the time point received from the client for watchdog synchronization.

std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	get_watchdog_time_point_from_the_server () const
	Get the time point captured on the server for watchdog synchronization.

bool	get_watchdog_trigger_status () const
	Get the current watchdog trigger status as last received from the client.

bool	is_watchdog_enabled () const
	Query whether the watchdog is enabled on the server.

double	get_watchdog_period () const
	Get the configured watchdog period in seconds.

double	get_watchdog_maximum_acceptable_delay () const
	Get the configured maximum acceptable delay for the watchdog in seconds.

bool	get_shutdown_signal () const
	Get the current shutdown signal state as last received from clients.

Detailed Description

Server interface for robot driver ROS topics.

RobotDriverServer exposes publishers for joint states, joint limits and home state, and subscribes to control-related topics (target joint commands, homing/clear signals and watchdog triggers). It provides getters for the latest received commands, watchdog information and shutdown signal.

Constructor & Destructor Documentation

◆ RobotDriverServer()

sas::RobotDriverServer::RobotDriverServer	(	const std::shared_ptr< Node > &	node,
		const std::string &	node_prefix = `"GET_FROM_NODE"`
	)

Construct a new RobotDriverServer.

Parameters

node	Shared pointer to the rclcpp::Node used for communication.
node_prefix	Prefix used to compose ROS topic names (defaults to "GET_FROM_NODE").

Member Function Documentation

◆ get_clear_positions_signal()

VectorXi sas::RobotDriverServer::get_clear_positions_signal ( )

Get the last received clear positions signal vector.

RobotDriverProvider::get_clear_positions_signal. Getting the clear positions signal also clears it.

Returns: VectorXi Clear positions signal per joint.; a VectorXi with 0s for configurations that should not be cleared and 1 for positions that should be cleared.

◆ get_currently_active_functionality()

RobotDriver::Functionality sas::RobotDriverServer::get_currently_active_functionality ( ) const

Get the currently active functionality of the robot driver.

Returns: RobotDriver::Functionality Currently active functionality.

◆ get_homing_signal()

VectorXi sas::RobotDriverServer::get_homing_signal ( ) const

Get the last received homing signal vector.

get_homing_signal

Returns: VectorXi Homing signal per joint.; a VectorXi with 1s for the joints that should be homed and 0s for the joints that should not be homed.

◆ get_shutdown_signal()

bool sas::RobotDriverServer::get_shutdown_signal ( ) const

Get the current shutdown signal state as last received from clients.

RobotDriverServer::get_shutdown_signal returns the shutdown signal sent by the client. If no client sent any signal, this method returns false.

Returns: true if a shutdown signal was received, false otherwise.; The desired signal.

◆ get_target_joint_forces()

VectorXd sas::RobotDriverServer::get_target_joint_forces ( ) const

Get the most recent target joint forces received from clients.

Returns: VectorXd Target joint forces vector.

◆ get_target_joint_positions()

VectorXd sas::RobotDriverServer::get_target_joint_positions ( ) const

Get the most recent target joint positions received from clients.

Returns: VectorXd Target joint positions vector.

◆ get_target_joint_velocities()

VectorXd sas::RobotDriverServer::get_target_joint_velocities ( ) const

Get the most recent target joint velocities received from clients.

Returns: VectorXd Target joint velocities vector.

◆ get_watchdog_maximum_acceptable_delay()

double sas::RobotDriverServer::get_watchdog_maximum_acceptable_delay ( ) const

Get the configured maximum acceptable delay for the watchdog in seconds.

RobotDriverServer::get_watchdog_maximum_acceptable_delay returns the maximum acceptable delay in seconds. This delay could be related to unsynchronised clocks between different computers or network delays.

Returns: double Maximum acceptable delay in seconds.; returns the maximum acceptable delay in seconds.

◆ get_watchdog_period()

double sas::RobotDriverServer::get_watchdog_period ( ) const

Get the configured watchdog period in seconds.

RobotDriverServer::get_watchdog_period returns the watchdog period.

Returns: double Watchdog period in seconds.; The watchdog period in seconds.

◆ get_watchdog_time_point_from_the_client()

std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > sas::RobotDriverServer::get_watchdog_time_point_from_the_client ( ) const

Get the time point received from the client for watchdog synchronization.

RobotDriverServer::get_watchdog_trigger_time_point returns the time point received by the Watchdog functionality. This time point corresponds to the moment the signal was sent, as recorded by the client computer's clock.

Returns: std::chrono::time_point Time point from the client.; The desired time point

◆ get_watchdog_time_point_from_the_server()

std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > sas::RobotDriverServer::get_watchdog_time_point_from_the_server ( ) const

Get the time point captured on the server for watchdog synchronization.

RobotDriverServer::get_watchdog_trigger_time_point_when_received returns the time point when the watchdog signal is received. This time point uses the computer's clock on which the server (robot) is running.

Returns: std::chrono::time_point Time point from the server.; The time point when the watchdog signal is received.

◆ get_watchdog_trigger_status()

bool sas::RobotDriverServer::get_watchdog_trigger_status ( ) const

Get the current watchdog trigger status as last received from the client.

RobotDriverServer::get_watchdog_trigger_status returns the status received by the Watchdog functionality.

Returns: true if watchdog trigger is active, false otherwise.; The Watchdog status

◆ is_enabled()

bool sas::RobotDriverServer::is_enabled ( const RobotDriver::Functionality & supported_functionality = RobotDriver::Functionality::PositionControl ) const

Check whether the server supports and is enabled for a functionality.

Parameters

supported_functionality The functionality to check (default: PositionControl).

Returns: true if supported and enabled, false otherwise.

◆ is_watchdog_enabled()

bool sas::RobotDriverServer::is_watchdog_enabled ( ) const

Query whether the watchdog is enabled on the server.

RobotDriverServer::is_watchdog_enabled returns true if the Watchdog functionality is enabled.

Returns: true if enabled, false otherwise.; A flag denoting if the Watchdog functionality is enabled.

◆ send_home_state()

void sas::RobotDriverServer::send_home_state ( const VectorXi & home_state )

Publish the home state vector to clients.

Parameters

home_state Vector representing home states per joint.

◆ send_joint_limits()

void sas::RobotDriverServer::send_joint_limits ( const std::tuple< VectorXd, VectorXd > & joint_limits )

Publish joint limits (min and max) to clients.

Parameters

joint_limits Tuple containing (min_limits, max_limits).

◆ send_joint_states()

void sas::RobotDriverServer::send_joint_states	(	const VectorXd &	joint_positions,
		const VectorXd &	joint_velocities,
		const VectorXd &	joint_forces
	)

Publish joint states (positions, velocities and forces) to clients.

Sends the current joint states through ROS.

Parameters

joint_positions	Vector of joint positions.
joint_velocities	Vector of joint velocities.
joint_forces	Vector of joint forces.
joint_positions	vector of . If not needed, use joint_positions=VectorXd().
joint_velocities.	If not needed, use joint_velocities=VectorXd().
joint_forces.	If not needed, use joint_forces=VectorXd().

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

src/sas_robot_driver/include/sas_robot_driver/sas_robot_driver_server.hpp
src/sas_robot_driver/src/sas_robot_driver_server.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RobotDriverServer()

Member Function Documentation

◆ get_clear_positions_signal()

◆ get_currently_active_functionality()

◆ get_homing_signal()

◆ get_shutdown_signal()

◆ get_target_joint_forces()

◆ get_target_joint_positions()

◆ get_target_joint_velocities()

◆ get_watchdog_maximum_acceptable_delay()

◆ get_watchdog_period()

◆ get_watchdog_time_point_from_the_client()

◆ get_watchdog_time_point_from_the_server()

◆ get_watchdog_trigger_status()

◆ is_enabled()

◆ is_watchdog_enabled()

◆ send_home_state()

◆ send_joint_limits()

◆ send_joint_states()