#include <IOwd_ros.h>

Inheritance diagram for IOWatchdogROS:

Public Member Functions
	IOWatchdogROS (ros::NodeHandle nh, VMXPi vmx)
	Constructs the IOWatchdogROS object. More...

	~IOWatchdogROS ()
	Destructor for the IOWatchdogROS object. More...

bool	SetStatus (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)
	Provides the ROS service to enable or disable the IO Watchdog when this service is called on the io_watchdog/status server. More...

void	Run_t ()
	Provides a method to regularly "feed" the IO Watchdog while it is enabled before the watchdog timeout period (250ms). If the IO Watchdog is not fed within the timeout period or has expired, the VMXErrorCode will be returned. More...

void	Disable ()
	Disables all IO Watchdog managed outputs and displays the error code via the pointer to the VMXErrorCode. More...

Public Member Functions inherited from Utils
void	DisplayVMXError (VMXErrorCode vmxerr)
	Displays the VMXError. More...

Constructor & Destructor Documentation

◆ IOWatchdogROS()

IOWatchdogROS::IOWatchdogROS	(	ros::NodeHandle *	nh,
		VMXPi *	vmx
	)

Constructs the IOWatchdogROS object.

Parameters

nh	Internal reference to the ROS node that the program will use to interact with the ROS system.
vmx	VMX-pi parameter used to initialize the VMX-pi HAL.

◆ ~IOWatchdogROS()

IOWatchdogROS::~IOWatchdogROS ( )

Destructor for the IOWatchdogROS object.

Member Function Documentation

◆ Disable()

void IOWatchdogROS::Disable ( )

Disables all IO Watchdog managed outputs and displays the error code via the pointer to the VMXErrorCode.

◆ Run_t()

void IOWatchdogROS::Run_t ( )

Provides a method to regularly "feed" the IO Watchdog while it is enabled before the watchdog timeout period (250ms). If the IO Watchdog is not fed within the timeout period or has expired, the VMXErrorCode will be returned.

◆ SetStatus()

bool IOWatchdogROS::SetStatus	(	std_srvs::SetBool::Request &	req,
		std_srvs::SetBool::Response &	res
	)

Provides the ROS service to enable or disable the IO Watchdog when this service is called on the io_watchdog/status server.