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CanBusBroker Class Reference
Libraries » YARP plugins » CanBusBroker

CAN-oriented control board that implements all YARP motor interfaces. More...

#include <CanBusBroker.hpp>

Inheritance diagram for CanBusBroker:
CanBusBroker_ParamsParser

Public Member Functions

bool open (yarp::os::Searchable &config) override
 
bool close () override
 
bool enableAmp (int j) override
 
bool disableAmp (int j) override
 
bool getAmpStatus (int j, int *v) override
 
bool getAmpStatus (int *st) override
 
bool getMaxCurrent (int j, double *v) override
 
bool setMaxCurrent (int j, double v) override
 
bool getNominalCurrent (int m, double *val) override
 
bool setNominalCurrent (int m, double val) override
 
bool getPeakCurrent (int m, double *val) override
 
bool setPeakCurrent (int m, double val) override
 
bool getPWM (int j, double *val) override
 
bool getPWMLimit (int j, double *val) override
 
bool setPWMLimit (int j, double val) override
 
bool getPowerSupplyVoltage (int j, double *val) override
 
bool getAxisName (int axis, std::string &name) override
 
bool getJointType (int axis, yarp::dev::JointTypeEnum &type) override
 
bool calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3) override
 
bool setCalibrationParameters (int axis, const yarp::dev::CalibrationParameters &params) override
 
bool calibrationDone (int j) override
 
bool setLimits (int axis, double min, double max) override
 
bool getLimits (int axis, double *min, double *max) override
 
bool setVelLimits (int axis, double min, double max) override
 
bool getVelLimits (int axis, double *min, double *max) override
 
bool getControlMode (int j, int *mode) override
 
bool getControlModes (int *modes) override
 
bool getControlModes (int n_joint, const int *joints, int *modes) override
 
bool setControlMode (int j, const int mode) override
 
bool setControlModes (int n_joint, const int *joints, int *modes) override
 
bool setControlModes (int *modes) override
 
bool getCurrent (int m, double *curr) override
 
bool getCurrents (double *currs) override
 
bool getCurrentRange (int m, double *min, double *max) override
 
bool getCurrentRanges (double *mins, double *maxs) override
 
bool setRefCurrent (int m, double curr) override
 
bool setRefCurrents (const double *currs) override
 
bool setRefCurrents (int n_motor, const int *motors, const double *currs) override
 
bool getRefCurrent (int m, double *curr) override
 
bool getRefCurrents (double *currs) override
 
bool getAxes (int *ax) override
 
bool resetEncoder (int j) override
 
bool resetEncoders () override
 
bool setEncoder (int j, double val) override
 
bool setEncoders (const double *vals) override
 
bool getEncoder (int j, double *v) override
 
bool getEncoders (double *encs) override
 
bool getEncoderSpeed (int j, double *spd) override
 
bool getEncoderSpeeds (double *spds) override
 
bool getEncoderAcceleration (int j, double *spds) override
 
bool getEncoderAccelerations (double *accs) override
 
bool getEncoderTimed (int j, double *encs, double *time) override
 
bool getEncodersTimed (double *encs, double *times) override
 
bool getImpedance (int j, double *stiffness, double *damping) override
 
bool setImpedance (int j, double stiffness, double damping) override
 
bool setImpedanceOffset (int j, double offset) override
 
bool getImpedanceOffset (int j, double *offset) override
 
bool getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
 
bool getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override
 
bool getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
 
bool getInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
 
bool setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override
 
bool setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
 
bool setInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
 
bool getLastJointFault (int j, int &fault, std::string &message) override
 
bool getNumberOfMotors (int *num) override
 
bool getTemperature (int m, double *val) override
 
bool getTemperatures (double *vals) override
 
bool getTemperatureLimit (int m, double *temp) override
 
bool setTemperatureLimit (int m, double temp) override
 
bool getGearboxRatio (int m, double *val) override
 
bool setGearboxRatio (int m, double val) override
 
bool getNumberOfMotorEncoders (int *num) override
 
bool resetMotorEncoder (int m) override
 
bool resetMotorEncoders () override
 
bool setMotorEncoderCountsPerRevolution (int m, double cpr) override
 
bool getMotorEncoderCountsPerRevolution (int m, double *cpr) override
 
bool setMotorEncoder (int m, double val) override
 
bool setMotorEncoders (const double *vals) override
 
bool getMotorEncoder (int m, double *v) override
 
bool getMotorEncoders (double *encs) override
 
bool getMotorEncoderTimed (int m, double *enc, double *stamp) override
 
bool getMotorEncodersTimed (double *encs, double *stamps) override
 
bool getMotorEncoderSpeed (int m, double *sp) override
 
bool getMotorEncoderSpeeds (double *spds) override
 
bool getMotorEncoderAcceleration (int m, double *acc) override
 
bool getMotorEncoderAccelerations (double *accs) override
 
bool setPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override
 
bool setPids (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override
 
bool setPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override
 
bool setPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
 
bool setPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override
 
bool setPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override
 
bool getPidError (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
 
bool getPidErrors (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
 
bool getPidOutput (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override
 
bool getPidOutputs (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
 
bool getPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override
 
bool getPids (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override
 
bool getPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override
 
bool getPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
 
bool getPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override
 
bool getPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
 
bool resetPid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
 
bool disablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
 
bool enablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
 
bool setPidOffset (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override
 
bool isPidEnabled (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override
 
bool positionMove (int j, double ref) override
 
bool positionMove (const double *refs) override
 
bool positionMove (int n_joint, const int *joints, const double *refs) override
 
bool relativeMove (int j, double delta) override
 
bool relativeMove (const double *deltas) override
 
bool relativeMove (int n_joint, const int *joints, const double *deltas) override
 
bool checkMotionDone (int j, bool *flag) override
 
bool checkMotionDone (bool *flag) override
 
bool checkMotionDone (int n_joint, const int *joints, bool *flag) override
 
bool setRefSpeed (int j, double sp) override
 
bool setRefSpeeds (const double *spds) override
 
bool setRefSpeeds (int n_joint, const int *joints, const double *spds) override
 
bool setRefAcceleration (int j, double acc) override
 
bool setRefAccelerations (const double *accs) override
 
bool setRefAccelerations (int n_joint, const int *joints, const double *accs) override
 
bool getRefSpeed (int j, double *spd) override
 
bool getRefSpeeds (double *spds) override
 
bool getRefSpeeds (int n_joint, const int *joints, double *spds) override
 
bool getRefAcceleration (int j, double *acc) override
 
bool getRefAccelerations (double *accs) override
 
bool getRefAccelerations (int n_joint, const int *joints, double *accs) override
 
bool stop (int j) override
 
bool stop () override
 
bool stop (int n_joint, const int *joints) override
 
bool getTargetPosition (int joint, double *ref) override
 
bool getTargetPositions (double *refs) override
 
bool getTargetPositions (int n_joint, const int *joints, double *refs) override
 
bool setPosition (int j, double ref) override
 
bool setPositions (const double *refs) override
 
bool setPositions (int n_joint, const int *joints, const double *refs) override
 
bool getRefPosition (int joint, double *ref) override
 
bool getRefPositions (double *refs) override
 
bool getRefPositions (int n_joint, const int *joints, double *refs) override
 
bool setRefDutyCycle (int m, double ref) override
 
bool setRefDutyCycles (const double *refs) override
 
bool getRefDutyCycle (int m, double *ref) override
 
bool getRefDutyCycles (double *refs) override
 
bool getDutyCycle (int m, double *val) override
 
bool getDutyCycles (double *vals) override
 
bool getRemoteVariable (std::string key, yarp::os::Bottle &val) override
 
bool setRemoteVariable (std::string key, const yarp::os::Bottle &val) override
 
bool getRemoteVariablesList (yarp::os::Bottle *listOfKeys) override
 
bool getRefTorque (int j, double *t) override
 
bool getRefTorques (double *t) override
 
bool setRefTorque (int j, double t) override
 
bool setRefTorques (const double *t) override
 
bool setRefTorques (int n_joint, const int *joints, const double *t) override
 
bool getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override
 
bool setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override
 
bool getTorque (int j, double *t) override
 
bool getTorques (double *t) override
 
bool getTorqueRange (int j, double *min, double *max) override
 
bool getTorqueRanges (double *min, double *max) override
 
bool velocityMove (int j, double spd) override
 
bool velocityMove (const double *spds) override
 
bool velocityMove (int n_joint, const int *joints, const double *spds) override
 
bool getRefVelocity (int joint, double *vel) override
 
bool getRefVelocities (double *vels) override
 
bool getRefVelocities (int n_joint, const int *joints, double *vels) override
 
std::size_t getNrOfContactLoadCellArrays () const override
 
yarp::dev::MAS_status getContactLoadCellArrayStatus (std::size_t sens_index) const override
 
bool getContactLoadCellArrayName (std::size_t sens_index, std::string &name) const override
 
bool getContactLoadCellArrayMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
std::size_t getContactLoadCellArraySize (std::size_t sens_index) const override
 
std::size_t getNrOfEncoderArrays () const override
 
yarp::dev::MAS_status getEncoderArrayStatus (std::size_t sens_index) const override
 
bool getEncoderArrayName (std::size_t sens_index, std::string &name) const override
 
bool getEncoderArrayMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
std::size_t getEncoderArraySize (std::size_t sens_index) const override
 
std::size_t getNrOfOrientationSensors () const override
 
yarp::dev::MAS_status getOrientationSensorStatus (std::size_t sens_index) const override
 
bool getOrientationSensorName (std::size_t sens_index, std::string &name) const override
 
bool getOrientationSensorFrameName (std::size_t sens_index, std::string &frameName) const override
 
bool getOrientationSensorMeasureAsRollPitchYaw (std::size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
 
std::size_t getNrOfPositionSensors () const override
 
yarp::dev::MAS_status getPositionSensorStatus (std::size_t sens_index) const override
 
bool getPositionSensorName (std::size_t sens_index, std::string &name) const override
 
bool getPositionSensorFrameName (std::size_t sens_index, std::string &frameName) const override
 
bool getPositionSensorMeasure (std::size_t sens_index, yarp::sig::Vector &xyz, double &timestamp) const override
 
std::size_t getNrOfSixAxisForceTorqueSensors () const override
 
yarp::dev::MAS_status getSixAxisForceTorqueSensorStatus (std::size_t sens_index) const override
 
bool getSixAxisForceTorqueSensorName (std::size_t sens_index, std::string &name) const override
 
bool getSixAxisForceTorqueSensorFrameName (std::size_t sens_index, std::string &frameName) const override
 
bool getSixAxisForceTorqueSensorMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
std::size_t getNrOfSkinPatches () const override
 
yarp::dev::MAS_status getSkinPatchStatus (std::size_t sens_index) const override
 
bool getSkinPatchName (std::size_t sens_index, std::string &name) const override
 
bool getSkinPatchMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
std::size_t getSkinPatchSize (std::size_t sens_index) const override
 
std::size_t getNrOfTemperatureSensors () const override
 
yarp::dev::MAS_status getTemperatureSensorStatus (std::size_t sens_index) const override
 
bool getTemperatureSensorName (std::size_t sens_index, std::string &name) const override
 
bool getTemperatureSensorFrameName (std::size_t sens_index, std::string &frameName) const override
 
bool getTemperatureSensorMeasure (std::size_t sens_index, double &out, double &timestamp) const override
 
bool getTemperatureSensorMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
std::size_t getNrOfThreeAxisGyroscopes () const override
 
yarp::dev::MAS_status getThreeAxisGyroscopeStatus (std::size_t sens_index) const override
 
bool getThreeAxisGyroscopeName (std::size_t sens_index, std::string &name) const override
 
bool getThreeAxisGyroscopeFrameName (std::size_t sens_index, std::string &frameName) const override
 
bool getThreeAxisGyroscopeMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
std::size_t getNrOfThreeAxisLinearAccelerometers () const override
 
yarp::dev::MAS_status getThreeAxisLinearAccelerometerStatus (std::size_t sens_index) const override
 
bool getThreeAxisLinearAccelerometerName (std::size_t sens_index, std::string &name) const override
 
bool getThreeAxisLinearAccelerometerFrameName (std::size_t sens_index, std::string &frameName) const override
 
bool getThreeAxisLinearAccelerometerMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
std::size_t getNrOfThreeAxisMagnetometers () const override
 
yarp::dev::MAS_status getThreeAxisMagnetometerStatus (std::size_t sens_index) const override
 
bool getThreeAxisMagnetometerName (std::size_t sens_index, std::string &name) const override
 
bool getThreeAxisMagnetometerFrameName (std::size_t sens_index, std::string &frameName) const override
 
bool getThreeAxisMagnetometerMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 
- Public Member Functions inherited from CanBusBroker_ParamsParser
bool parseParams (const yarp::os::Searchable &config) override
 
std::string getDeviceClassName () const override
 
std::string getDeviceName () const override
 
std::string getDocumentationOfDeviceParams () const override
 
std::vector< std::string > getListOfParams () const override
 

Private Attributes

roboticslab::DeviceMapper deviceMapper
 
std::vector< yarp::dev::PolyDriver * > busDevices
 
std::vector< yarp::dev::PolyDriver * > nodeDevices
 
std::vector< roboticslab::SingleBusBroker * > brokers
 
roboticslab::SyncPeriodicThread * syncThread {nullptr}
 

Additional Inherited Members

- Public Attributes inherited from CanBusBroker_ParamsParser
const std::string m_device_classname = {"CanBusBroker"}
 
const std::string m_device_name = {"CanBusBroker"}
 
bool m_parser_is_strict = false
 
const parser_version_type m_parser_version = {}
 
const std::string m_buses_defaultValue = {""}
 
const std::string m_syncPeriod_defaultValue = {"0.0"}
 
std::vector< std::string > m_buses = {}
 
double m_syncPeriod = {0.0}
 

Detailed Description

This control board wrapper subdevice exposes motor commands to CAN nodes modelled as wrapped motor raw subdevices (i.e. devices which implement the xxxRaw interface counterparts). At the core of this driver class, another set of wrapped devices implements hardware connection to a physical CAN bus, thus allowing CAN reads and writes that CanBusBroker manages asynchronously with regard to exposed YARP commands (see CanReaderWriterThread).

This device also supports fake CAN buses and fake CAN nodes, see instructions.

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