fp_perception::DriverBase Class Reference

#include <driver_base.hpp>

Inheritance diagram for fp_perception::DriverBase:

Public Member Functions
virtual	~DriverBase ()=default
virtual void	initialize (const rclcpp::Node::SharedPtr &node)
	Initialize the driver.
virtual void	deinitialize ()=0
	Deinitialize the driver.
virtual std::string	getName () const
	Get the name of the driver.
virtual void	test ()
	Test the driver.
void	check_directory (std::string folder_name)
	Check if the test directory exists, create it if not.
const std::filesystem::path	check_file (const std::string &file_name)

Protected Member Functions
void	initialize_base (const rclcpp::Node::SharedPtr &node)
	Initializer base driver in place of constructor due to plugin semantics.
bool	diagnostics_enabled () const
void	enable_diagnostics (const std::string &hardware_id, const std::string &task_name, std::function< void(diagnostic_updater::DiagnosticStatusWrapper &)> task, std::chrono::milliseconds period=std::chrono::seconds(1))
void	disable_diagnostics ()

Protected Attributes
rclcpp::Node::SharedPtr	node_
	ROS node for the driver.
std::string	name_
	Name of the driver.
std::mutex	buffer_mutex_
	Mutex to protect access to the driver data.
std::condition_variable	buffer_cv_
	Condition variable to notify when new data is available.
std::atomic< bool >	is_running_ { false }
	Flag to indicate if the driver thread is running.
bool	diagnostics_enabled_ { false }
	Flag to enable standard ROS diagnostics publishing.
std::unique_ptr< diagnostic_updater::Updater >	diagnostics_updater_
rclcpp::TimerBase::SharedPtr	diagnostics_timer_

Constructor & Destructor Documentation

~DriverBase()

virtual fp_perception::DriverBase::~DriverBase ( )

virtualdefault

Member Function Documentation

check_directory()

void fp_perception::DriverBase::check_directory ( std::string  folder_name )

inline

Check if the test directory exists, create it if not.

This function checks if a directory named "test" exists in the current working directory. If it does not exist, it creates the directory.

Parameters

folder_name

The name of the folder to check or create.

check_file()

const std::filesystem::path fp_perception::DriverBase::check_file ( const std::string &  file_name )

inline

deinitialize()

virtual void fp_perception::DriverBase::deinitialize ( )

pure virtual

Deinitialize the driver.

Implemented in fp_perception::MicrophoneAudioDriver, fp_perception::SpeakerAudioDriver, fp_perception::OpenAIImageAnalysisDriver, fp_perception::SentimentDriver, fp_perception::OpenAISpeechDriver, fp_perception::OpenAIDriver, fp_perception::DefaultDriver, and fp_perception::OpenCVDriver.

diagnostics_enabled()

bool fp_perception::DriverBase::diagnostics_enabled ( ) const

inlineprotected

disable_diagnostics()

void fp_perception::DriverBase::disable_diagnostics ( )

inlineprotected

enable_diagnostics()

void fp_perception::DriverBase::enable_diagnostics ( const std::string &  hardware_id, const std::string &  task_name, std::function< void(diagnostic_updater::DiagnosticStatusWrapper &)>  task, std::chrono::milliseconds  period = std::chrono::seconds(1)  )

inlineprotected

getName()

virtual std::string fp_perception::DriverBase::getName ( ) const

inlinevirtual

Get the name of the driver.

Returns

std::string The name of the driver

initialize()

virtual void fp_perception::DriverBase::initialize ( const rclcpp::Node::SharedPtr &  node )

inlinevirtual

Initialize the driver.

This function should be overridden in derived classes to provide specific initialization.

Parameters

node	Shared pointer to the ROS node

Reimplemented in fp_perception::MicrophoneAudioDriver, fp_perception::SpeakerAudioDriver, fp_perception::OpenAIImageAnalysisDriver, fp_perception::SentimentDriver, fp_perception::OpenAISpeechDriver, fp_perception::OpenAIDriver, fp_perception::DefaultDriver, and fp_perception::OpenCVDriver.

initialize_base()

void fp_perception::DriverBase::initialize_base ( const rclcpp::Node::SharedPtr &  node )

inlineprotected

Initializer base driver in place of constructor due to plugin semantics.

Parameters

node	shared pointer to the ROS node.

test()

virtual void fp_perception::DriverBase::test ( )

inlinevirtual

Test the driver.

Reimplemented in fp_perception::MicrophoneAudioDriver, fp_perception::SpeakerAudioDriver, fp_perception::OpenAIImageAnalysisDriver, fp_perception::SentimentDriver, fp_perception::OpenAISpeechDriver, fp_perception::OpenAIDriver, fp_perception::DefaultDriver, and fp_perception::OpenCVDriver.

Member Data Documentation

buffer_cv_

std::condition_variable fp_perception::DriverBase::buffer_cv_

protected

Condition variable to notify when new data is available.

buffer_mutex_

std::mutex fp_perception::DriverBase::buffer_mutex_

protected

Mutex to protect access to the driver data.

diagnostics_enabled_

bool fp_perception::DriverBase::diagnostics_enabled_ { false }

protected

Flag to enable standard ROS diagnostics publishing.

diagnostics_timer_

rclcpp::TimerBase::SharedPtr fp_perception::DriverBase::diagnostics_timer_

protected

diagnostics_updater_

std::unique_ptr<diagnostic_updater::Updater> fp_perception::DriverBase::diagnostics_updater_

protected

is_running_

std::atomic<bool> fp_perception::DriverBase::is_running_ { false }

protected

Flag to indicate if the driver thread is running.

name_

std::string fp_perception::DriverBase::name_

protected

Name of the driver.

node_

rclcpp::Node::SharedPtr fp_perception::DriverBase::node_

protected

ROS node for the driver.

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

• fp_perception_base/include/fp_perception_base/driver_base.hpp