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ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE > Class Template Reference

#include <node_handle.h>

Inheritance diagram for ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >:
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Collaboration diagram for ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >:
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Public Member Functions

 NodeHandle_ ()
 
Hardware * getHardware ()
 
void initNode ()
 
void initNode (char *portName)
 
virtual int spinOnce ()
 
virtual bool connected ()
 
void requestSyncTime ()
 
void syncTime (uint8_t *data)
 
Time now ()
 
void setNow (Time &new_now)
 
bool advertise (Publisher &p)
 
template<typename MsgT >
bool subscribe (Subscriber< MsgT > &s)
 
template<typename MReq , typename MRes >
bool advertiseService (ServiceServer< MReq, MRes > &srv)
 
template<typename MReq , typename MRes >
bool serviceClient (ServiceClient< MReq, MRes > &srv)
 
void negotiateTopics ()
 
virtual int publish (int id, const Msg *msg)
 
void logdebug (const char *msg)
 
void loginfo (const char *msg)
 
void logwarn (const char *msg)
 
void logerror (const char *msg)
 
void logfatal (const char *msg)
 
bool getParam (const char *name, int *param, int length=1)
 
bool getParam (const char *name, float *param, int length=1)
 
bool getParam (const char *name, char **param, int length=1)
 

Protected Attributes

Hardware hardware_
 
uint32_t rt_time
 
uint32_t sec_offset
 
uint32_t nsec_offset
 
uint8_t message_in [INPUT_SIZE]
 
uint8_t message_out [OUTPUT_SIZE]
 
Publisher * publishers [MAX_PUBLISHERS]
 
Subscriber_ * subscribers [MAX_SUBSCRIBERS]
 
int mode_
 
int bytes_
 
int topic_
 
int index_
 
int checksum_
 
bool configured_
 
uint32_t last_sync_time
 
uint32_t last_sync_receive_time
 
uint32_t last_msg_timeout_time
 

Private Member Functions

void log (char byte, const char *msg)
 
bool requestParam (const char *name, int time_out=1000)
 

Private Attributes

bool param_recieved
 
rosserial_msgs::RequestParamResponse req_param_resp
 

Constructor & Destructor Documentation

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::NodeHandle_ ( )
inline

Member Function Documentation

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::advertise ( Publisher &  p)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
template<typename MReq , typename MRes >
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::advertiseService ( ServiceServer< MReq, MRes > &  srv)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
virtual bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::connected ( )
inlinevirtual

Implements ros::NodeHandleBase_.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
Hardware* ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::getHardware ( )
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::getParam ( const char *  name,
int *  param,
int  length = 1 
)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::getParam ( const char *  name,
float *  param,
int  length = 1 
)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::getParam ( const char *  name,
char **  param,
int  length = 1 
)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::initNode ( )
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::initNode ( char *  portName)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::log ( char  byte,
const char *  msg 
)
inlineprivate
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::logdebug ( const char *  msg)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::logerror ( const char *  msg)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::logfatal ( const char *  msg)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::loginfo ( const char *  msg)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::logwarn ( const char *  msg)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::negotiateTopics ( )
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
Time ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::now ( )
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
virtual int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::publish ( int  id,
const Msg *  msg 
)
inlinevirtual

Implements ros::NodeHandleBase_.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::requestParam ( const char *  name,
int  time_out = 1000 
)
inlineprivate
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::requestSyncTime ( )
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
template<typename MReq , typename MRes >
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::serviceClient ( ServiceClient< MReq, MRes > &  srv)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::setNow ( Time &  new_now)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
virtual int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::spinOnce ( )
inlinevirtual

Implements ros::NodeHandleBase_.

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
template<typename MsgT >
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::subscribe ( Subscriber< MsgT > &  s)
inline
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
void ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::syncTime ( uint8_t *  data)
inline

Member Data Documentation

template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::bytes_
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::checksum_
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::configured_
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
Hardware ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::hardware_
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::index_
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::last_msg_timeout_time
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::last_sync_receive_time
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::last_sync_time
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
uint8_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::message_in[INPUT_SIZE]
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
uint8_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::message_out[OUTPUT_SIZE]
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::mode_
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::nsec_offset
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
bool ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::param_recieved
private
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
Publisher* ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::publishers[MAX_PUBLISHERS]
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
rosserial_msgs::RequestParamResponse ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::req_param_resp
private
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::rt_time
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
uint32_t ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::sec_offset
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
Subscriber_* ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::subscribers[MAX_SUBSCRIBERS]
protected
template<class Hardware , int MAX_SUBSCRIBERS = 25, int MAX_PUBLISHERS = 25, int INPUT_SIZE = 512, int OUTPUT_SIZE = 512>
int ros::NodeHandle_< Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE >::topic_
protected
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