A thread that attends CAN writes. More...

Inheritance diagram for roboticslab::CanWriterThread:

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

	~CanWriterThread () override
	Destructor.

ICanSenderDelegate *	getDelegate ()
	Retrieve a handle to the CAN sender delegate.

void	flush ()
	Send awaiting messages and clear the queue.

void	run () override

Public Member Functions inherited from roboticslab::CanReaderWriterThread
	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.

Private Member Functions
void	handlePartialWrite (unsigned int sent)
	In case a write did not succeed, rearrange the CAN message buffer.

Additional Inherited Members
Static Protected Member Functions inherited from roboticslab::CanReaderWriterThread
static void	dumpMessage (const can_message &msg, yarp::os::Bottle &b)
	Dump a CAN message to a YARP bottle.

Protected Attributes inherited from roboticslab::CanReaderWriterThread
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

Uses YarpCanSenderDelegate to let raw subdevices register outgoing CAN messages. Those are written to the CAN network in FIFO batches on each step.

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

Public Member Functions