Implementation for the Technosoft iPOS as a single CAN bus joint (control board raw interfaces).

#include <TechnosoftIpos.hpp>

Inheritance diagram for TechnosoftIpos:

Public Types
using	return_t = bool

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

bool	close () override

std::string	id () const override

unsigned int	getId () override
	Retrieve CAN node ID.

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

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.

return_t	getAxisNameRaw (int axis, std::string &name) override

return_t	getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override

return_t	setLimitsRaw (int axis, double min, double max) override

return_t	getLimitsRaw (int axis, double min, double max) override

return_t	setVelLimitsRaw (int axis, double min, double max) override

return_t	getVelLimitsRaw (int axis, double min, double max) override

return_t	getControlModeRaw (int j, int *mode) override

return_t	getControlModesRaw (int *modes) override

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

return_t	setControlModeRaw (int j, int mode) override

return_t	setControlModesRaw (int *modes) override

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

return_t	getCurrentRaw (int m, double *curr) override

return_t	getCurrentsRaw (double *currs) override

return_t	getCurrentRangeRaw (int m, double min, double max) override

return_t	getCurrentRangesRaw (double min, double max) override

return_t	setRefCurrentRaw (int m, double curr) override

return_t	setRefCurrentsRaw (const double *currs) override

return_t	setRefCurrentsRaw (int n_motor, const int motors, const double currs) override

return_t	getRefCurrentRaw (int m, double *curr) override

return_t	getRefCurrentsRaw (double *currs) override

return_t	getAxes (int *ax) override

return_t	resetEncoderRaw (int j) override

return_t	resetEncodersRaw () override

return_t	setEncoderRaw (int j, double val) override

return_t	setEncodersRaw (const double *vals) override

return_t	getEncoderRaw (int j, double *v) override

return_t	getEncodersRaw (double *encs) override

return_t	getEncoderSpeedRaw (int j, double *sp) override

return_t	getEncoderSpeedsRaw (double *spds) override

return_t	getEncoderAccelerationRaw (int j, double *spds) override

return_t	getEncoderAccelerationsRaw (double *accs) override

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

return_t	getEncodersTimedRaw (double encs, double time) override

return_t	getImpedanceRaw (int j, double stiffness, double damping) override

return_t	setImpedanceRaw (int j, double stiffness, double damping) override

return_t	setImpedanceOffsetRaw (int j, double offset) override

return_t	getImpedanceOffsetRaw (int j, double *offset) override

return_t	getCurrentImpedanceLimitRaw (int j, double min_stiff, double max_stiff, double min_damp, double max_damp) override

return_t	getInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum *mode) override

return_t	getInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override

return_t	getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override

return_t	setInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum mode) override

return_t	setInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override

return_t	setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override

return_t	getLastJointFaultRaw (int j, int &fault, std::string &message) override

return_t	getNumberOfMotorsRaw (int *num) override

return_t	getTemperatureRaw (int m, double *val) override

return_t	getTemperaturesRaw (double *vals) override

return_t	getTemperatureLimitRaw (int m, double *temp) override

return_t	setTemperatureLimitRaw (int m, double temp) override

return_t	getGearboxRatioRaw (int m, double *val) override

return_t	setGearboxRatioRaw (int m, double val) override

return_t	getNumberOfMotorEncodersRaw (int *num) override

return_t	resetMotorEncoderRaw (int m) override

return_t	resetMotorEncodersRaw () override

return_t	setMotorEncoderCountsPerRevolutionRaw (int m, double cpr) override

return_t	getMotorEncoderCountsPerRevolutionRaw (int m, double *cpr) override

return_t	setMotorEncoderRaw (int m, double val) override

return_t	setMotorEncodersRaw (const double *vals) override

return_t	getMotorEncoderRaw (int m, double *v) override

return_t	getMotorEncodersRaw (double *encs) override

return_t	getMotorEncoderTimedRaw (int m, double encs, double stamp) override

return_t	getMotorEncodersTimedRaw (double encs, double stamps) override

return_t	getMotorEncoderSpeedRaw (int m, double *sp) override

return_t	getMotorEncoderSpeedsRaw (double *spds) override

return_t	getMotorEncoderAccelerationRaw (int m, double *spds) override

return_t	getMotorEncoderAccelerationsRaw (double *vaccs) override

return_t	setPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override

return_t	setPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override

return_t	setPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override

return_t	setPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override

return_t	setPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override

return_t	setPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override

return_t	getPidErrorRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override

return_t	getPidErrorsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override

return_t	getPidOutputRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override

return_t	getPidOutputsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override

return_t	getPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override

return_t	getPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override

return_t	getPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override

return_t	getPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override

return_t	getPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override

return_t	getPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override

return_t	resetPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override

return_t	disablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override

return_t	enablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override

return_t	setPidOffsetRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override

return_t	isPidEnabledRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override

return_t	positionMoveRaw (int j, double ref) override

return_t	positionMoveRaw (const double *refs) override

return_t	positionMoveRaw (int n_joint, const int joints, const double refs) override

return_t	relativeMoveRaw (int j, double delta) override

return_t	relativeMoveRaw (const double *deltas) override

return_t	relativeMoveRaw (int n_joint, const int joints, const double deltas) override

return_t	checkMotionDoneRaw (int j, bool *flag) override

return_t	checkMotionDoneRaw (bool *flag) override

return_t	checkMotionDoneRaw (int n_joint, const int joints, bool flag) override

return_t	setRefSpeedRaw (int j, double sp) override

return_t	setRefSpeedsRaw (const double *spds) override

return_t	setRefSpeedsRaw (int n_joint, const int joints, const double spds) override

return_t	setRefAccelerationRaw (int j, double acc) override

return_t	setRefAccelerationsRaw (const double *accs) override

return_t	setRefAccelerationsRaw (int n_joint, const int joints, const double accs) override

return_t	getRefSpeedRaw (int j, double *ref) override

return_t	getRefSpeedsRaw (double *spds) override

return_t	getRefSpeedsRaw (int n_joint, const int joints, double spds) override

return_t	getRefAccelerationRaw (int j, double *acc) override

return_t	getRefAccelerationsRaw (double *accs) override

return_t	getRefAccelerationsRaw (int n_joint, const int joints, double accs) override

return_t	stopRaw (int j) override

return_t	stopRaw () override

return_t	stopRaw (int n_joint, const int *joints) override

return_t	getTargetPositionRaw (int joint, double *ref) override

return_t	getTargetPositionsRaw (double *refs) override

return_t	getTargetPositionsRaw (int n_joint, const int joints, double refs) override

return_t	setPositionRaw (int j, double ref) override

return_t	setPositionsRaw (const double *refs) override

return_t	setPositionsRaw (int n_joint, const int joints, const double refs) override

return_t	getRefPositionRaw (int joint, double *ref) override

return_t	getRefPositionsRaw (double *refs) override

return_t	getRefPositionsRaw (int n_joint, const int joints, double refs) override

return_t	getRemoteVariableRaw (std::string key, yarp::os::Bottle &val) override

return_t	setRemoteVariableRaw (std::string key, const yarp::os::Bottle &val) override

return_t	getRemoteVariablesListRaw (yarp::os::Bottle *listOfKeys) override

return_t	getRefTorqueRaw (int j, double *t) override

return_t	getRefTorquesRaw (double *t) override

return_t	setRefTorqueRaw (int j, double t) override

return_t	setRefTorquesRaw (int n_joint, const int joints, const double t) override

return_t	setRefTorquesRaw (const double *t) override

return_t	getTorqueRaw (int j, double *t) override

return_t	getTorquesRaw (double *t) override

return_t	getTorqueRangeRaw (int j, double min, double max) override

return_t	getTorqueRangesRaw (double min, double max) override

return_t	getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params) override

return_t	setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params) override

return_t	velocityMoveRaw (int j, double sp) override

return_t	velocityMoveRaw (const double *sp) override

return_t	velocityMoveRaw (int n_joint, const int joints, const double spds) override

return_t	getRefVelocityRaw (int joint, double *vel) override

return_t	getRefVelocitiesRaw (double *vels) override

return_t	getRefVelocitiesRaw (int n_joint, const int joints, double vels) override

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

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

Public Member Functions inherited from TechnosoftIpos_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

bool	getParamValue (const std::string &paramName, std::string &paramValue) const override

std::string	getConfiguration () const override

Private Attributes
roboticslab::TechnosoftIposBase *	impl {nullptr}

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

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_canId_defaultValue = {""}

const std::string	m_useEmbeddedPid_defaultValue = {"true"}

const std::string	m_name_defaultValue = {""}

const std::string	m_type_defaultValue = {""}

const std::string	m_max_defaultValue = {""}

const std::string	m_min_defaultValue = {""}

const std::string	m_maxVel_defaultValue = {""}

const std::string	m_refSpeed_defaultValue = {""}

const std::string	m_refAcceleration_defaultValue = {""}

const std::string	m_extraTr_defaultValue = {"1.0"}

const std::string	m_samplingPeriod_defaultValue = {""}

const std::string	m_reverse_defaultValue = {""}

const std::string	m_heartbeatPeriod_defaultValue = {""}

const std::string	m_syncPeriod_defaultValue = {""}

const std::string	m_initialControlMode_defaultValue = {"idl"}

const std::string	m_sdoTimeout_defaultValue = {"0.02"}

const std::string	m_driveStateTimeout_defaultValue = {"2.0"}

const std::string	m_tpdo1InhibitTime_defaultValue = {"0.0"}

const std::string	m_tpdo1EventTimer_defaultValue = {"0.0"}

const std::string	m_tpdo2InhibitTime_defaultValue = {"0.0"}

const std::string	m_tpdo2EventTimer_defaultValue = {"0.0"}

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

const std::string	m_driver_peakCurrent_defaultValue = {""}

const std::string	m_motor_k_defaultValue = {""}

const std::string	m_gearbox_tr_defaultValue = {""}

const std::string	m_encoder_encoderPulses_defaultValue = {""}

const std::string	m_ipMode_defaultValue = {"pt"}

const std::string	m_ipPeriodMs_defaultValue = {"50"}

const std::string	m_enableIp_defaultValue = {"false"}

const std::string	m_enableCsv_defaultValue = {"false"}

const std::string	m_initialInteractionMode_defaultValue = {"unkn"}

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

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

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

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

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

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

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

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

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

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

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

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

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

const std::string	m_scale_defaultValue = {"1.0"}

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

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

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

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

int	m_canId = {0}

bool	m_useEmbeddedPid = {true}

std::string	m_name = {}

std::string	m_type = {}

double	m_max = {std::nan("1")}

double	m_min = {std::nan("1")}

double	m_maxVel = {std::nan("1")}

double	m_refSpeed = {std::nan("1")}

double	m_refAcceleration = {std::nan("1")}

double	m_extraTr = {1.0}

double	m_samplingPeriod = {std::nan("1")}

bool	m_reverse = {false}

double	m_heartbeatPeriod = {std::nan("1")}

double	m_syncPeriod = {std::nan("1")}

std::string	m_initialControlMode = {"idl"}

double	m_sdoTimeout = {0.02}

double	m_driveStateTimeout = {2.0}

double	m_tpdo1InhibitTime = {0.0}

double	m_tpdo1EventTimer = {0.0}

double	m_tpdo2InhibitTime = {0.0}

double	m_tpdo2EventTimer = {0.0}

double	m_monitorPeriod = {0.0}

double	m_driver_peakCurrent = {std::nan("1")}

double	m_motor_k = {std::nan("1")}

double	m_gearbox_tr = {std::nan("1")}

double	m_encoder_encoderPulses = {std::nan("1")}

std::string	m_ipMode = {"pt"}

int	m_ipPeriodMs = {50}

bool	m_enableIp = {false}

bool	m_enableCsv = {false}

std::string	m_initialInteractionMode = {"unkn"}

double	m_stiffness = {0.0}

double	m_damping = {0.0}

double	m_impedanceOffset = {0.0}

double	m_minStiffness = {0.0}

double	m_maxStiffness = {0.0}

double	m_minDamping = {0.0}

double	m_maxDamping = {0.0}

double	m_kp = {0.0}

double	m_ki = {0.0}

double	m_kd = {0.0}

double	m_maxInt = {0.0}

double	m_maxOutput = {0.0}

double	m_offset = {0.0}

double	m_scale = {1.0}

double	m_stictionUp = {0.0}

double	m_stictionDown = {0.0}

double	m_kff = {0.0}

double	m_errorLimit = {0.0}