Class ImuBufRos2

Class Documentation

class ImuBufRos2

Class for ADRD2121.

Public Functions

ImuBufRos2(const rclcpp::Node::SharedPtr &node, adi_imu_Device_t *p_device)

ImuBufRos2 Constructor.

Parameters:

  • node – [in] Pointer to ROS2 node(adrd2121_imu_node)

  • p_device – [in] Pointer to adi_imu_device_t

~ImuBufRos2()

ImuBufRos2 Destructor.

void loadParams(void)

Loads Parameters for ADRD2121.

bool init(void)

Initializes the ADRD2121.

Returns:

Boolean if successful (true) or not (false)

bool config(msg_type_e msg_type)

Configures the ADRD2121 based on parameters.

Parameters:

msg_type – [in] Determine the msg_type the topic will be published on

Returns:

Boolean if successful (true) or not (false)

bool dataReadAndPub(std::string frame_name, msg_type_e msg_type)

An all-in-one function for reading the burst_data from the IMU, handle the data, and publish it to a topic.

Parameters:

  • frame_name – [in] ROS Frame of data to be published

  • msg_type – [in] Determine the msg_type the topic will be published on

Returns:

Boolean if successful (true) or not (false)

bool validateData(void)

Validate data.

Returns:

Boolean if successful (true) or not (false)

bool startBufferRead(void)

Starts capture of ADRD2121 Data Performs an initial read and discards it.

Returns:

Boolean if successful (true) or not (false)

bool stopBufferRead(void)

Stops capture of ADRD2121 Data.

Returns:

Boolean if successful (true) or not (false)

int getBufferStatus(uint16_t *status)

Checks status of ADRD2121.

Parameters:

status – [in] Pointer to holder of status

Returns:

Return if function call is successful

bool factoryReset(void)

Reverts the ADRD2121 to its factory settings.

Returns:

Return if function call is successful

bool clearFault(void)

Clears FAULT status in Buffer Board.

Returns:

Return if function call is successful

bool flashUpdate(void)

Saves current board configuration in flash memory, to be loaded in next bootup.

Returns:

Return if function call is successful

bool recoverBoard(void)

Executes recovery operation to clear status back to 0000.

Will only be called if enable_init_recovery is TRUE

Returns:

Return if function call is successful

void initServiceServers(uint8_t mode_of_operation)

Initializes service servers based on operation mode.

Parameters:

mode_of_operation – [in] Determine if operation is STREAM or RECOVERY

Returns:

Return if function call is successful

std::string getStatusDescription(uint16_t status)

Callback when /bias_estimate is called.

Parameters:

  • status – [in] Status to be evaluated

  • res – [in] Result

Returns:

String of current status of Buffer Board.

bool factoryResetCB(std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr res)

Callback when /factory_reset is called.

Parameters:

  • req – [in] Request

  • res – [in] Result

Returns:

Boolean if successful (true) or not (false)

bool clearFaultCB(std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr res)

Callback when /clear_fault is called.

Parameters:

  • req – [in] Request

  • res – [in] Result

Returns:

Boolean if successful (true) or not (false)

bool flashUpdateCB(std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr res)

Callback when /flash_update is called.

Parameters:

  • req – [in] Request

  • res – [in] Result

Returns:

Boolean if successful (true) or not (false)

bool getBufferStatusCB(adrd2121_imu::srv::BufStatus::Request::SharedPtr req, adrd2121_imu::srv::BufStatus::Response::SharedPtr res)

Callback when /check_status is called.

Parameters:

  • req – [in] Request

  • res – [in] Result

Returns:

Boolean if successful (true) or not (false)

void setModeofOperation(uint8_t mode_of_operation)

Initializes service servers based on operation mode.

Parameters:

mode_of_operation – [in] Acquire value from param in AdiImuBufRos2

Returns:

Return if function call is successful

bool detect(void)

Checks if ADRD2121 device can be detected.

Returns:

Return bool if device is found