Implementation for the Lacquey Fetch hand custom UC3M circuit as a single CAN bus joint (control board raw interfaces).

#include <LacqueyFetch.hpp>

Inheritance diagram for LacqueyFetch:

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	getAxisNameRaw (int j, std::string &name) override

bool	getJointTypeRaw (int j, yarp::dev::JointTypeEnum &type) override

bool	getControlModeRaw (int j, int *mode) override

bool	getControlModesRaw (int *modes) override

bool	getControlModesRaw (int n_joint, const int joints, int modes) override

bool	setControlModeRaw (int j, int mode) override

bool	setControlModesRaw (int *modes) override

bool	setControlModesRaw (int n_joint, const int joints, int modes) override

bool	getNumberOfMotorsRaw (int *number) override

bool	setRefDutyCycleRaw (int m, double ref) override

bool	setRefDutyCyclesRaw (const double *refs) override

bool	getRefDutyCycleRaw (int m, double *ref) override

bool	getRefDutyCyclesRaw (double *refs) override

bool	getDutyCycleRaw (int m, double *val) override

bool	getDutyCyclesRaw (double *vals) 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 LacqueyFetch_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 Member Functions
bool	send (unsigned int len, const std::uint8_t *msgData)

Private Attributes
yarp::conf::float32_t	refDutyCycles {0}

roboticslab::ICanSenderDelegate *	sender {nullptr}

Static Private Attributes
static constexpr unsigned int	CAN_OP = 0x780

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

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_canId_defaultValue = {""}

const std::string	m_name_defaultValue = {""}

int	m_canId = {0}

std::string	m_name = {}