Base class for a thread that attends CAN reads or writes. More...

Inheritance diagram for roboticslab::CanReaderWriterThread:

Public Member Functions
	CanReaderWriterThread (const std::string &type, const std::string &id, double delay, unsigned int bufferSize)
	Constructor.

	~CanReaderWriterThread () override=default
	Virtual destructor.

bool	threadInit () override
	Invoked by the thread right before it is started.

void	threadRelease () override
	Invoked by the thread right after it is started.

void	beforeStart () override
	Invoked by the caller right before the thread is started.

void	afterStart (bool success) override
	Invoked by the caller right before the thread is joined.

void	onStop () override
	Callback on thread stop.

void	setCanHandles (yarp::dev::ICanBus iCanBus, yarp::dev::ICanBufferFactory iCanBufferFactory)
	Configure CAN interface handles.

void	attachDumpWriter (yarp::os::Contactable dumpPort, yarp::os::PortWriterBuffer< yarp::os::Bottle > dumpWriter, std::mutex *dumpMutex)
	Attach YARP port writer for CAN message dumping.

void	attachBusLoadMonitor (ICanMessageNotifier *busLoadMonitor)
	Attach CAN bus load monitor.

Static Protected Member Functions
static void	dumpMessage (const can_message &msg, yarp::os::Bottle &b)
	Dump a CAN message to a YARP bottle.

Protected Attributes
yarp::dev::ICanBus *	iCanBus

yarp::dev::ICanBufferFactory *	iCanBufferFactory

yarp::dev::CanBuffer	canBuffer

yarp::os::Contactable *	dumpPort

yarp::os::PortWriterBuffer< yarp::os::Bottle > *	dumpWriter

std::mutex *	dumpMutex

yarp::os::Stamp	lastStamp

ICanMessageNotifier *	busLoadMonitor

unsigned int	bufferSize

double	delay

Detailed Description

Child classes take advantage of CAN message buffers to perform bulk reads and writes.

The documentation for this class was generated from the following files:

Public Member Functions