Implementation of a CAN node on an Mbed board that publishes data from a JR3 sensor.

#include <Jr3Mbed.hpp>

Inheritance diagram for Jr3Mbed:

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.

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 &name) const override

bool	getSixAxisForceTorqueSensorMeasure (std::size_t sens_index, yarp::sig::Vector &out, double &timestamp) const 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 Jr3Mbed_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	can_ops : std::uint16_t { ACK = 0x100 , START_SYNC = 0x180 , START_ASYNC = 0x200 , STOP = 0x280 , ZERO_OFFS = 0x300 , SET_FILTER = 0x380 , GET_STATE = 0x400 , GET_FS_FORCES = 0x480 , GET_FS_MOMENTS = 0x500 , RESET = 0x580 , FORCES = 0x600 , MOMENTS = 0x680 , BOOTUP = 0x700 }

enum class	jr3_state : std::uint8_t { READY = 0x00 , NOT_INITIALIZED = 0x01 }

enum class	jr3_mode { SYNC , ASYNC , INVALID }

Private Member Functions
constexpr unsigned int	getCommandId (can_ops op) const

bool	performRequest (const std::string &cmd, const roboticslab::can_message &msg, std::uint8_t *response, bool quiet=false)

bool	sendStartSyncCommand (double filter)

bool	sendStartAsyncCommand (double filter, double delay)

bool	sendCommand (const std::string &cmd, can_ops op)

bool	ping ()

bool	queryFullScales ()

bool	monitorWorker (const yarp::os::YarpTimerEvent &event)

Private Attributes
std::array< double, 6 >	scales

bool	shouldQueryFullScales {false}

jr3_mode	mode {jr3_mode::INVALID}

roboticslab::ICanSenderDelegate *	sender {nullptr}

roboticslab::TypedStateObserver< std::uint8_t[]> *	ackStateObserver {nullptr}

std::mutex	mtx

std::array< std::int16_t, 3 >	buffer {}

std::array< std::int16_t, 6 >	raw {}

std::atomic< yarp::dev::MAS_status >	status {yarp::dev::MAS_UNKNOWN}

std::atomic_bool	isBooting {false}

double	timestamp {0.0}

std::uint16_t	frameCounter {0}

double	lastDiagnosticsTimestamp {0.0}

unsigned int	lastFrameCounter {0}

yarp::os::Timer *	monitorThread {nullptr}

Static Private Attributes
static constexpr unsigned int	FULL_SCALE = 16384

Additional Inherited Members
Public Attributes inherited from Jr3Mbed_ParamsParser
const std::string	m_device_classname = {"Jr3Mbed"}

const std::string	m_device_name = {"Jr3Mbed"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

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

const std::string	m_name_defaultValue = {""}

const std::string	m_filter_defaultValue = {"0.0"}

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

const std::string	m_fullScales_defaultValue = {""}

const std::string	m_asyncPeriod_defaultValue = {"0.0"}

const std::string	m_monitorPeriod_defaultValue = {"0.1"}

const std::string	m_diagnosticsPeriod_defaultValue = {"0.0"}

int	m_canId = {0}

std::string	m_name = {}

double	m_filter = {0.0}

double	m_ackTimeout = {0.25}

std::vector< int >	m_fullScales = {}

double	m_asyncPeriod = {0.0}

double	m_monitorPeriod = {0.1}

double	m_diagnosticsPeriod = {0.0}