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

#include <TechnosoftIpos.hpp>

Inheritance diagram for TechnosoftIpos:

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.

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

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

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

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

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

bool	getVelLimitsRaw (int axis, double min, double max) 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	getCurrentRaw (int m, double *curr) override

bool	getCurrentsRaw (double *currs) override

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

bool	getCurrentRangesRaw (double min, double max) override

bool	setRefCurrentRaw (int m, double curr) override

bool	setRefCurrentsRaw (const double *currs) override

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

bool	getRefCurrentRaw (int m, double *curr) override

bool	getRefCurrentsRaw (double *currs) override

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

bool	getEncodersTimedRaw (double encs, double time) override

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

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

bool	setImpedanceOffsetRaw (int j, double offset) override

bool	getImpedanceOffsetRaw (int j, double *offset) override

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

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

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

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

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

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

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

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

bool	getNumberOfMotorsRaw (int *num) override

bool	getTemperatureRaw (int m, double *val) override

bool	getTemperaturesRaw (double *vals) override

bool	getTemperatureLimitRaw (int m, double *temp) override

bool	setTemperatureLimitRaw (int m, double temp) override

bool	getGearboxRatioRaw (int m, double *val) override

bool	setGearboxRatioRaw (int m, double val) override

bool	getNumberOfMotorEncodersRaw (int *num) override

bool	resetMotorEncoderRaw (int m) override

bool	resetMotorEncodersRaw () override

bool	setMotorEncoderCountsPerRevolutionRaw (int m, double cpr) override

bool	getMotorEncoderCountsPerRevolutionRaw (int m, double *cpr) override

bool	setMotorEncoderRaw (int m, double val) override

bool	setMotorEncodersRaw (const double *vals) override

bool	getMotorEncoderRaw (int m, double *v) override

bool	getMotorEncodersRaw (double *encs) override

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

bool	getMotorEncodersTimedRaw (double encs, double stamps) override

bool	getMotorEncoderSpeedRaw (int m, double *sp) override

bool	getMotorEncoderSpeedsRaw (double *spds) override

bool	getMotorEncoderAccelerationRaw (int m, double *spds) override

bool	getMotorEncoderAccelerationsRaw (double *vaccs) override

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

bool	positionMoveRaw (int j, double ref) override

bool	positionMoveRaw (const double *refs) override

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

bool	relativeMoveRaw (int j, double delta) override

bool	relativeMoveRaw (const double *deltas) override

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

bool	checkMotionDoneRaw (int j, bool *flag) override

bool	checkMotionDoneRaw (bool *flag) override

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

bool	setRefSpeedRaw (int j, double sp) override

bool	setRefSpeedsRaw (const double *spds) override

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

bool	setRefAccelerationRaw (int j, double acc) override

bool	setRefAccelerationsRaw (const double *accs) override

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

bool	getRefSpeedRaw (int j, double *ref) override

bool	getRefSpeedsRaw (double *spds) override

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

bool	getRefAccelerationRaw (int j, double *acc) override

bool	getRefAccelerationsRaw (double *accs) override

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

bool	stopRaw (int j) override

bool	stopRaw () override

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

bool	getTargetPositionRaw (int joint, double *ref) override

bool	getTargetPositionsRaw (double *refs) override

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

bool	setPositionRaw (int j, double ref) override

bool	setPositionsRaw (const double *refs) override

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

bool	getRefPositionRaw (int joint, double *ref) override

bool	getRefPositionsRaw (double *refs) override

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

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

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

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

bool	getRefTorqueRaw (int j, double *t) override

bool	getRefTorquesRaw (double *t) override

bool	setRefTorqueRaw (int j, double t) override

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

bool	setRefTorquesRaw (const double *t) override

bool	getTorqueRaw (int j, double *t) override

bool	getTorquesRaw (double *t) override

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

bool	getTorqueRangesRaw (double min, double max) override

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

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

bool	velocityMoveRaw (int j, double sp) override

bool	velocityMoveRaw (const double *sp) override

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

bool	getRefVelocityRaw (int joint, double *vel) override

bool	getRefVelocitiesRaw (double *vels) override

bool	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

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 = {}

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}