Implementation for the Cui Absolute Encoder custom UC3M circuit as a single CAN bus joint (control board raw interfaces).

#include <CuiAbsolute.hpp>

Inheritance diagram for CuiAbsolute:

Public Member Functions
bool	open (yarp::os::Searchable &config) override

bool	close () override

unsigned int	getId () override
	Retrieve CAN node ID.

bool	notifyMessage (const roboticslab::can_message &message) override
	Notify observers that a new CAN message has arrived.

bool	initialize () override
	Perform CAN node initialization.

bool	finalize () override
	Finalize CAN node communications.

bool	registerSender (roboticslab::ICanSenderDelegate *sender) override
	Pass a handle to a CAN sender delegate instance.

bool	synchronize (double timestamp) override
	Perform synchronized action on CAN master's request.

bool	getAxes (int *ax) override

bool	resetEncoderRaw (int j) override

bool	resetEncodersRaw () override

bool	setEncoderRaw (int j, double val) override

bool	setEncodersRaw (const double *vals) override

bool	getEncoderRaw (int j, double *v) override

bool	getEncodersRaw (double *encs) override

bool	getEncoderSpeedRaw (int j, double *sp) override

bool	getEncoderSpeedsRaw (double *spds) override

bool	getEncoderAccelerationRaw (int j, double *spds) override

bool	getEncoderAccelerationsRaw (double *accs) override

bool	getEncodersTimedRaw (double encs, double time) override

bool	getEncoderTimedRaw (int j, double encs, double time) override

Public Member Functions inherited from roboticslab::ICanBusSharer
virtual	~ICanBusSharer ()=default
	Destructor.

virtual std::vector< unsigned int >	getAdditionalIds ()
	Retrieve more associated CAN node IDs, if any.

Public Member Functions inherited from roboticslab::ICanMessageNotifier
virtual	~ICanMessageNotifier ()=default
	Virtual destructor.

Public Member Functions inherited from CuiAbsolute_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 Types
enum class	CuiMode { PUSH , PULL , OFF }

enum class	CuiCommand : std::uint8_t { PUSH_START = 1 , PUSH_STOP = 2 , POLL = 3 }

using	encoder_t = yarp::conf::float32_t

Private Member Functions
bool	performRequest (const std::string &name, unsigned int len, const std::uint8_t msgData, encoder_t resp=nullptr)

bool	startPushMode ()

bool	stopPushMode ()

bool	pollEncoderRead (encoder_t *enc)

void	normalize (encoder_t *v)

Private Attributes
CuiMode	cuiMode {CuiMode::OFF}

encoder_t	encoder {}

double	encoderTimestamp {0.0}

roboticslab::ICanSenderDelegate *	sender {nullptr}

roboticslab::StateObserver *	pushStateObserver {nullptr}

roboticslab::TypedStateObserver< encoder_t > *	pollStateObserver {nullptr}

std::mutex	mutex

Additional Inherited Members
Public Attributes inherited from CuiAbsolute_ParamsParser
const std::string	m_device_classname = {"CuiAbsolute"}

const std::string	m_device_name = {"CuiAbsolute"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_canId_defaultValue = {""}

const std::string	m_reverse_defaultValue = {""}

const std::string	m_timeout_defaultValue = {"0.25"}

const std::string	m_maxRetries_defaultValue = {"10"}

const std::string	m_mode_defaultValue = {""}

const std::string	m_pushDelay_defaultValue = {"0"}

int	m_canId = {0}

bool	m_reverse = {false}

double	m_timeout = {0.25}

int	m_maxRetries = {10}

std::string	m_mode = {}

int	m_pushDelay = {0}